Lateral Dynamics

Part-3
Testing of Handling Characteristics
Constant radius, Constant Speed & Constant steer angle Test
Safety Feature
Vehicle Stability Control
Exercise
Transient Analysis, Frequency domain analysis, Stability analysis
Steady State response
Chassis system effect

Reference: Gillespie, Fund. Vehicle Dynamics, Chapter 6 Page 209-

Wong, Theory of Ground vehicle, Chapter 5, Page 355-
Dukkipati, Road vehicle Dynamics, Chapter 6, Page 372-
Dynamic Characteristics of Handling
 Handling Damping and Natural Frequency
 Dynamic Equation of Motion for steering input to the front and rear wheel

[ ( )(
] [
)
]
( − a C αf + b C αr )
C αf +C αr
( )( )C αf Cα 𝑟

{} { } { }
β̇ − −1 β δ f (t )
mU mU 2 mU mU
¿ = ¿ + ¿

( ) ( ) ( ) ( )
a C αf bC α 𝑟
2 2
ṙ aC αf − b C αr a C αf +b C αr r δ r (t )
− − −
I zz I zz U I zz I zz

{ }[ ( )( )
] [ ( )( )
]
C αf +C αr ( − a C αf + b C αr ) C αf Cα 𝑟

{ } { }
V̇ − −U V δf
mU mU m m
¿ = ¿ + ¿

( ) ( ) ( ) ( )
2 2
ṙ aC αf − b C αr a C αf + b C αr r a C αf bC α 𝑟 δr
− − −
I zz U I zz U I zz I zz

( )(
[ )
]
C αf + C αr a C αf − b C αr

[ ] { } ( aC U− b C ) ( a C U+ b C ) { ¿r } [ a C¿ ] [ − b¿C ]
m0 V̇ V C C +m U
U U αf α𝑟
¿ ¿ + = δ +
2 2
f δr
0 I zz ṙ αf αr αf αr αf α𝑟

[mS + ( )( U )+ m U V¿ = C¿ δ + C¿ δ
]
C +C aC −bC

r } [a C ] [ −b C ]
αf αr αf αr

aC −bC
U

( U ) ( U )
αf
I S +
a C +b Cαr
{ zz
2
αf
2
αr
αf

αf
f
α𝑟

α𝑟
r

{ ẋ } =[ A ] { x } + [ B ] {U }
Eigen Value Solution
 The above equations can be written in State Space form
 For Free response system
 →
 Where is the coefficient matrix
[
[ A ] = a 11 a1 2
a 21 a 22 ]
 Let assume the solution = →

{ ẋ } =[ A ] { x } st
S [ I ] { x } e =[ A ] { x } e
st
( [ A ] − S [ I ] ) { x } e st =0

[ ]
 For Non-trivial roots when a11 − S a12
det [ A − SI ] =0 det
a 21 a22 − S
=0
 The characteristics equation become

2

a o& Sdamping
This equation can be expressed in terms of Natural Frequency () − a1 S+ a 2()=0
factor

 Where and
 Eigen Value Solution
 The roots of the characteristic Equation
S1 , S 2=− ξ ωn ± ( √ ξ −1 ) ω n
2
S2 + 2ξ ω n S +ω 2n= 0
 If =0 un damped Condition If <1 Under damped Condition
 If >1 Over damped Condition If =1 Critically damped Condition
 For Under damped Condition (<1)
 The roots will be in Complex Conjugate (a+jb)

S1 , S 2=− ξ ωn ± i ( ω n √ ξ −1 )=−ξ ωn ± i ω d
2
Where damped frequency
 The Solution Will be
−i ω n t
x (t)= A e cos ( ωd t − ϕ ) A and are determined from initial condition
 For Over damped Condition (>1)
 The roots will be real S1 , S 2=− ξ ωn ± ( √ ξ 2 −1 ) ω n =(− ξ ± ( √ ξ 2 −1 ) ) ω n
The Solution will be (− ξ + √ξ 2 − 1) ωn t (− ξ− √ ξ 2 −1) ωn t
x ( t ) = A1 e

+ A2 e
 For Critically damped condition(=1)
 The roots will be identical

 The Solution will be −ω n t

x ( t ) =( A 1+ A 2 ) e
Dynamic Characteristics of Handling
 Handling Damping and Natural Frequency
 The coefficient matrix
and

 The Characteristics Equation

S − ( a11 + a22 ) S+ ( ( a11 a 22 ) − ( a1 2 a2 1 ) ) = 0 S2 + 2ξ ω n S +ω 2n= 0

2

[( )( )] 𝐬 + [( m I )( )]
2 2 2
𝟐 a C αf +b C αr C αf +C αr C αf C αr l b C αr − a C αf
𝐒 + + 2
+
I zz U mU zz U I zz

 Natural Frequency ()

√ √ ( )
2
2 m U ( b C αr − a C αf ) +C αf C αr l /U L C αf C αr K3U
2
ω = ( a 11 a 22 ) − ( a 1 2 a 2 1 )
n ω n= = 1+
m I zz U U m I zz L
 Damping Factor (Ratio),

2 ξ ωn =− ( a11 + a 22 ) ξ=
1
2 ωn [
I zz ( C αf +C αr ) + m ( a 2 C αf + b 2 C αr )
m I zz U ]
Lateral Dynamics

The Part three

End