Ground Vehicle Dynamics (eBook)

Preface 7
Contents 11
List of Problems and their Solutions 15
System Definition and Modeling 17
Vehicle Models 26
Elements of Multibody Systems 26
Kinematics 28
Frames of Reference for Vehicle Kinematics 28
Kinematics of a Rigid Body in an Inertial Frame 28
Kinematics of a Rigid Body in a Moving Reference Frame 43
Kinematics of Multibody Systems 47
Dynamics 60
Inertia Properties 60
Newton-Euler Equations 64
Principles of d'Alembert and Jourdain 74
Energy Considerations and Lagrange's Equations 76
Equations of Motion for Multibody Systems 81
Formalisms for Multibody Systems 88
Non-recursive Formalisms 88
Recursive Formalisms 92
Models for Support and Guidance Systems 111
Models for Passive Spring and Damper Systems 112
Models of Force Actuators 122
Models of Magnetic Actuators 122
General Linear Model of Force Actuators 128
Comparison of Passive and Active Elements 129
Contact Forces between Wheel and Guideway 130
Rolling of Rigid and Deformable Wheels 130
Definition of the Rigid Body Slip 137
Contact Forces for Elastic Wheels on Elastic Rails 140
Contact Forces of Elastic Tires on a Rigid Road 163
Guideway Models 186
Models for Elastic Guideways 186
Models for Periodically Pillared Beams 188
Modal Analysis of Beam Structures for Bending Vibrations 191
Models for Continuously Bedded Beams 204
Perturbation Models for Rigid Guideways 208
Mathematical Description of Stochastic Processes 210
Models for Unevenness Profiles 221
Models for Vehicle Excitation Processes 223
Models for Vehicle-Guideway-Systems 227
State Equations of the Subsystems 227
State Equations of the Complete System 230
Assessment Criteria 236
Driving Stability 237
Ride Comfort 238
Deterministic Excitation 239
Stochastic Excitation 242
Shape Filter for the Human Perception 243
Revised Standards for Human Exposure to Whole-body Vibration 244
Ride Safety 245
Durability of Components 248
Computational Methods 250
Numerical Simulation 250
Simulation of Vertical Motions of Vehicles 251
Linear Systems 256
Stability 256
Frequency Response Analysis 258
Random Vibration 260
Nonlinear Systems 265
7.3.1 Harmonic Linearization 265
7.3.2 Statistical Linearization 269
7.3.3 Investigation of Linearized Systems 270
Optimization Problems 272
Longitudinal Motions 273
Elastic Wheel 273
Entire Vehicle 277
Aerodynamic Forces and Torques 279
Driving and Braking Torques 280
Driving Performance 283
Lateral Motions 286
Handling of Road Vehicles 286
Elastic Wheel 286
Vehicle Model 288
Steady-state Cornering 291
Driving Stability 292
Experimental Studies 294
Driving Stability of Railways 294
Equation of Motion of a Railway Wheelset 295
Stability of a Free Wheelset 295
Vertical Motions 300
Principles of Vehicles Suspension 300
Random Vibrations of a Two Axle Vehicle 309
A Complex Vehicle Model 313
Magnetically Levitated Vehicles 318
Appendix: Optimal Control of Multivariable Systems 320
A.1 Mathematical Model 320
A.2 Task Formulation and Structure Issues 321
A.3 Structure and Properties of Controllers 322
A.4 Controller Design 322
A.5 Structure and Properties of Observers 326
A.6 Observer Design 328
A.7 Structure of (Optimal) Controlled Multivariable Systems 330
Appendix: Key Words 332
B.1 English - German 332
B.2 Deutsch - Englisch 338
References 344