TME102 Vehicle Dynamics, Advanced

Transcription

1 TME102 Vehicle Dynamics, Advanced Course Information 2016, Sp Examiner, Lecturer, Teaching Assistant Mathias Lidberg, tel , e-post: mathias.lidberg@chalmers.se Lecturer Manjurul Islam, tel , e-post: manjurul.islam@chalmers.se Teaching Assistant, Measurement Laboratory Anton Albinsson, e-post: anton.albinsson@chalmers.se Teaching Assistant, Problem Solving Sessions Adithya Arikere, e-post: adithya.arikere@chalmers.se Teaching Assistants, Assignment Sessions Anton Albinsson, e-post: anton.albinsson@chalmers.se Adithya Arikere, e-post: adithya.arikere@chalmers.se Course Administrator Sonja Laakso, tel , e-post: sonja.laakso@chalmers.se, Applied Mechanics, Vehicle Engineering & Autonomous Systems Division, Hörsalsvägen 7, Prerequisites MMF062 Vehicle dynamics and/or MMA092 Rigid body dynamics ERE033 Control theory or similar Aim In this course the focus is put on the understanding of the coupled planar dynamics of road vehicles during steering and braking or driving including various non-linear effects. The course also aims to introduce some vehicle-specific signal processing and control theory used in automated vehicle subsystems. The course does not intend to cover systems engineering, i.e. the step from customer demands to vehicle requirements. Neither does the course intend to cover detailed component design. 1(10)

2 Learning Outcome After completion of this course, the student should be able to: Identify and discuss factors that cause interactions (e.g. different vehicle subsystems, e.g. braking and steering. load transfer) between the Develop and implement computer models of vehicle dynamics behaviour and critically analyze results from numerical simulations. Identify and mathematically characterize linear and nonlinear tire behaviour and the influence of this behaviour on vehicle performance using the handling diagram. Identify suspension and tire characteristics influencing vehicle chassis performance and stability in both low and high-speed manoeuvres, under both steady-state and transient manoeuvres, with the ability to mathematically justify how changes in vehicle parameters (e.g. mass or weight distribution) can be stabilizing or destabilizing. Understand how to extend the mathematical analysis of the passenger car to heavy vehicles. Understand and characterize the change in vehicle performance and vehicle/roadway interaction due to automated subsystems such as e.g. ABS, ESC and Rear Wheel Steering. Construct specifications for vehicle control systems (actuators, sensors). Content The mathematics and mechanics concepts and notations used in the course are reviewed. The tire and vehicle models suitable for analyzing the coupled dynamics during steering and braking or driving are developed and then used to evaluate handling performance in various maneuvers. Some aspects about vehicle stability and the principles, basic implementation and specifications for automated vehicle control systems are included. The challenges posed by heavy vehicles are discussed but not covered in detail. The course content is separated in six modules: Preliminaries (covered during the course) Vehicle Dynamics Terminology & Notation Fundamental Vehicle Dynamics Relative Planar Motion, Rigid Body Kinematics & Dynamics (Newton 2.5D) 1 Linearization, Linear Analysis (Eigenvalues, Transfer Functions, Bode Plots) Linear and Non-Linear Stability Concepts Basic Signal Processing and Control Theory 1 The equations of motion describing the rotational motion of a rigid body are coupled. As an approximation the equations can be considered uncoupled by neglecting cross terms. We call this Newton 2.5D. 2(10)

3 Module 1: Vehicle Modeling for Planar Dynamics Tire Properties Influence on Vehicle Dynamics Tire Forces/Moments & Kinematics Modified ISO Tire Axes & Terminology Introduction to Tire Modeling (Magic Formula) Definition of Effective Tire & Axle Characteristics The Planar Rigid One Track Model (Bicycle Model) Suspension and Steering Effects The Planar Two Track Model Vehicle Model Block Diagram Module 2: Vehicle Handling and Stability Steady State Cornering Stability Analysis Handling Diagram Quasi Steady State Cornering (Moderate Driving/Braking) Milliken Moment Method Straight Line Braking Stability Analysis Module 3: Heavy Vehicles Steady State Cornering of Single Unit Heavy Trucks Effect of Tandem Axles and Dual Tires Equivalent Wheelbase Handling Diagram of Complex Vehicles V-Handling & R-Handling Curves Steady State Cornering of a Tractor-Semitrailer Tractor Jackknife & Trailer Swing Module 4: Vehicle Stability Control Transient Cornering (Step Steer, Throttle On/Off) Dynamic Cornering (Double Lane Change, Sine with Dwell) Principles for ABS and ESP Basic Powertrain Modeling Brake System Modeling (Saturation and Delays) Basic Implementation and Specifications for Vehicle Control Systems, e.g.: - Anti-lock Braking System (ABS) - Electronic Stability Control (ESC) Module 5: Tire Modeling Basic Tire Modeling Consideration Brush Tire Model Steady State Lateral/Longitudinal Slip Force Generation Interaction between Lateral Slip and Longitudinal Slip (Combined Slip) Transient Tire Forces Review of Industry Standard Tire Models (Magic Formula, etc) The teaching approach will be problem oriented. Methods to find realistic solutions are outlined. The learning phase is basically concentrated on solving assignments undertaken in the course. Obtained solutions are partially verified in a measurement laboratory. 3(10)

4 Organization The course includes formal lectures, assignments and a measurement laboratory. Lectures Intended to introduce problems and present underlying theory. Problem Solving Sessions During problem solving sessions, material from lectures will be used and applied to solve typical analytical problems by the teaching assistant, and students can get help from teaching assistant to solve similar problems, e.g. from old exams. Measurement Laboratory The aim of the measurement laboratory is to introduce measurement techniques used in experimental vehicle dynamics to both provide data for and verify the results obtained in the assignments. The measurement laboratory is obligatory and done in groups at the test track ASTAZero 08:00-17:00 April 21. The transportation to ASTAZero will be managed by dedicated bus or public transportation. Details regarding the measurement laboratory will be posted on the course home page. Questions related to the measurement laboratory may appear in written exam. Assignments The course include 3 assignments. The assignments have a theoretical part and a computer simulation part. This is intended to keep the students focused on the vehicle dynamics aspects rather than computer programming. Sessions in the computer rooms are scheduled, when appropriate, so that the students have access to teaching assistants. The content of the assignments are: Assignment 1: Modeling and Parameter Identification (15p) Anton Albinsson and Adithya Arikere Assignment 2: Transient Vehicle Dynamics and Yaw Rate Frequency Response (15p) Anton Albinsson and Adithya Arikere Assignment 3: Electronic Stability Control (20p) Adithya Arikere and Anton Albinsson The assignments are done in groups of two, and each group can submit one report. Always name group members on the front page of the report. The reports are handed in digitally through Ping Pong. The details of the assignments will be distributed during the course in separate documents (provided in the introduction session for each assignment and available from the course home page on Ping Pong). 4(10)

5 Literature Lecture notes will be distributed during the course (provided in the lectures). Lidberg, M., Lecture Notes for TME102 Vehicle Dynamics, Advanced, Department of Applied Mechanics, Chalmers University of Technology. The intention of the lecture notes is to document the lectures, guide students studying the course content. The lecture notes are based on and include references to the following textbooks: Jacobson, B., and Thomson, R., Lecture Notes for MMF062, Department of Applied Mechanics, Chalmers University of Technology (provided in the lectures). Pacejka, H.B., Tyre and Vehicle Dynamics, 2002, Chapter 1-4 (Chalmers Library Chans e-book). Kiencke, U. and Nielsen, L., Automotive Control Systems, 2005, Chapter 8-11 (Chalmers Library Chans e-book). References Wong, J.Y., Theory of Ground Vehicle, Gillespie, T.D., Fundamentals of Vehicle Dynamics, Dixon, J.C., Tires, Suspension and Handling, 2nd Edition, SAE Press, Ellis, J.R., Vehicle Handling Dynamics, Mechanical Engineering Publication Limited, London, Matschinsky, W., Road Vehicle Suspensions, Professional Engineering Publishing, Matlab/Simulink Users Guide, Mathworks Inc. Rajamani, R., Vehicle Dynamics and Control, Springer, Mitscke, M. and Wallentowitz H., Dynamik der Kraftfahrzeuge, Springer, (10)

6 Examination and Grading The course mark will be based on the assignments in the course (50%) and a written exam (50%). The grade for the course is based on the Chalmers system (not approved (0% - 39%), 3 (40% - 59%), 4 (60% - 79%) or 5 (80% - 100%)). To receive a passing grade for the course, the student must write and pass the written exam as well as the assignments. The grade of the exam is based on the Chalmers system but to pass the assignments the student need 50% of each assignments mark. The course mark is then calculated as follows: Course Mark = (0.5*(Exam Mark/Max Exam Marks) + 0.5*(Assignment Mark/Max Assignment Marks)). Written Exam The written exam will be a closed book exam. Relevant reference information will be provided with the examination information. Material covered in the lectures and the assignments will appear in the exam. The exam must be written in English for all students according to Chalmers rules. Language dictionaries are allowed. Basic calculators can be used in the exam according to Chalmers Type Approved (Casio FX82, Texas TI30 and Sharp EL531) or equivalent. Examination Day The examination day of the course can be found in the student portal: ( Always verify the date and time for the written exam prior to the exam day. TME Examination , AM Halls at Johanneberg, 4 hours. Re-examination by written exams of assignments and written exam take place during the re-sit examination days in August Course Material on www Course Information like Slides, Notes etc., are available from the course homepage on Ping Pong 6(10)

7 Schedule Week 1 Week 2 Week 3 Week 4 Tue 22/3 12/4 19/4 26/ , MA Lecture 1: Lecture 3: Lecture 5: Lecture 6: Vehicle Modeling I Vehicle Modeling Vehicle Handling Vehicle Handling III and Stability I and Stability II 15-17, MT11, MT12 Assignment 1 Assignment 1 Assignment 2 Assignment 2 Introduction Introduction (23:55) Hand-in Assignment 1 Thu 24/3 14/4 21/4 28/ , MA Lecture 2: Lecture 4: Measurement Lecture 7: Vehicle Modeling II Vehicle Modeling Laboratory Vehicle Handling IV and Stability III Lab Introduction 15-17, MT11, MT12 Assignment 1 Assignment 1 Measurement Laboratory Lab Tutorial Assignment 2 Fri 25/3 15/4 22/4 29/ , MA Problem Solving 1 Problem Solving 2: Problem Solving 3 Lab Discussion 7(10)

8 Week 5 Week 6 Week 7 Week 8 Tue 3/5 10/5 17/5 24/ , MA Lecture 9: Lecture 8: Lecture 11: Lecture 13: Heavy Vehicles Vehicle Handling Vehicle Stability Tire I and Stability IV Control II 15-17, MT11, MT12 Assignment 2 Assignment 3: Assignment 3 Assignment 3 Introduction Thu 5/5 12/5 19/5 26/ , MA Lecture 10: Lecture 12: Lecture 14: Vehicle Stability Vehicle Stability Tire II Control I Control III 15-17, MT11, MT12 Assignment 2 Assignment 3 Assignment 3 Fri 6/5 13/5 20/5 27/ , MC Problem Solving 4 Problem Solving 5 Problem Solving 6 (23:55) Hand-in (23:55) Hand-in Assignment 2 Assignment 3 8(10)

9 Lectures Lect. Date Content Literature LNVD = Lecture Notes Vehicle Dynamics, TVD = Tyre & Vehicle Dynamics, ACS = Automotive Control Systems. 1 Tue 22/3 Introduction. Preliminaries. Fundamental Vehicle Dynamics LNVD 1 Vehicle Dynamics Terminology & Notation LNVD 1 Relative Motion, Rigid Body Kinematics & Dynamics (Newton LNVD 4 2.5D) Module 1: Vehicle Modeling for Planar Motion I. Tire Properties Influence on Vehicle Dynamics TVD 1.1 ISO Vehicle and Tire Axes & Terminology TVD Tire Forces/Moments & Kinematics TVD Introduction to Tire Modeling (Magic Formula) TVD Transient Tire Forces TVD Thu 24/3 Module 1: Vehicle Modeling for Planar Motion II. The Planar Rigid One Track Model (Bicycle Model) TVD 1.3, ACS 8 - Equations of Motion LNVD 4 - Instantaneous Center of Motion (ICM) - Tire Forces The Planar Two Track Model TVD 1.3, ACS 8 - Lagrange Equations of Motion - Instantaneous Center of Motion (ICM) - Tire Forces Vehicle Model Block Diagram 3 Tue 12/4 Module 1: Vehicle Modeling for Planar Motion III. Definition of Effective Tire & Axle Characteristics TVD Suspension and Steering Effects I: TVD Roll dynamics & Lateral load transfer - Pitch dynamics, Longitudinal load transfer - Suspension kinematic & compliance (K&C) factors Roll steer & camber Lateral force steer & camber Steering compliance - Effective tire & axle characteristics 4 Thu 14/4 Module 1: Vehicle Modeling for Planar Motion IV. Suspension and Steering Effects II: TVD Nonlinear tire and suspension effects to be incorporated: TVD Load Transfer Effect on Cornering Stiffness - Combined Slip Tire Forces - Effective Axle Characteristics 5 Tue 19/4 Preliminaries. Linear Analysis (Eigenvalues, Transfer Functions, Bode Plots) Linear and Non-Linear Stability Concepts Module 2: Vehicle Handling and Stability I. Linear Analysis of The Planar One Track Model TVD Steady State Cornering - Stability Analysis - Free Motion - Forced Vibrations 9(10)

10 Lect. Date Content Literature 6 Tue 26/4 Module 2: Vehicle Handling and Stability II. Non-Linear Analysis of The Planar One Track Model TVD Steady State Cornering - Stability Analysis 7 Tue 28/4 Module 2: Vehicle Handling and Stability III. Handling Diagram TVD Tue 10/5 Module 2: Vehicle Handling and Stability IV. Quasi Steady State Cornering TVD Large Deviations with Respect to Steady-State Motion (Phase TVD Portrait) Stability Analysis of Car Trailer Combination TVD Tue 3/5 Module 3: Heavy Vehicles. Steady State Cornering of Single Unit Heavy Trucks Effect of Tandem Axles and Dual Tires Equivalent Wheelbase Handling Diagram of Complex Vehicles V-Handling & R-Handling Curves Steady State Cornering of a Tractor-Semitrailer Tractor Jackknife & Trailer Swing 10 Thu 12/5 Module 4: Vehicle Stability Control I. ACS 9, 10 Transient Cornering (Step Steer, Throttle On/Off) Dynamic Cornering (Double Lane Change, Sine with Dwell) Principles for Vehicle Control Systems (ABS and ESP) TVD 8.5, ACS 10.1, 10.2 Preliminaries. Basic Signal Processing and Control Theory 11 Tue 17/5 Module 4: Vehicle Stability Control II. ACS 10, 11 Basic Powertrain Modeling Brake System Modeling (Saturation and Delays) Basic Implementation and Specifications for Vehicle Control Systems: ACS 10.1, Anti-lock Braking System (ABS) - Traction Control Systems (TCS) - Electronic Stability Control (ESC) - Active Front/Rear Steering (AFS/RAS) - Direct Yaw Control (DYC) 12 Thu 19/5 Module 4: Vehicle Stability Control III. 13 Tue 24/5 Module 5: Tire Modeling Theory I. TVD 2,3 Basic Tire Modelling Consideration TVD 2.1,2.2,2.5 Brush Tire Model TVD 3.1, 3.2 Steady State Lateral/Longitudinal Slip Force Generation TVD Thu 26/5 Module 5: Tire Modeling Theory II. TVD 3,5,4 Brush Tire Model (cont ) Interaction between Lateral and Longitudinal Slip (Combined TVD Slip) Transient Tire Forces TVD 5.4 Review of Industry Standard Tire Models (Magic Formula etc) TVD (10)