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dinamica della velocit di imbardata dovuta allingresso armonico usando
questi valori:
a) =0.55 rad/s, M=1500 kg, Iz=2420 kgm2, l=2.54 m, a=1.14 m, C, A=44.00
kN/rad (singolo pneumatico), C,P=47.00 kN/rad (singolo pneumatico),
V=25 m/s.
b) =0.55 Hz, M=1365 kg, Iz= 2400 kgm2, l=2.58 m, a=0.912 m,
C, A=73.00 kN/rad (intero asse), C, P=90.00 kN/rad (intero asse), V=33.3
m/s.
Parte 2:
1) Scarica i dati dall'Intranet (data_hw1.txt, Time (sec), Vel (m/s), Yaw Rate
(deg/s), Longitudinal Accel (m/s2)
2) ) Scrivi una function MATlab che legge il tempo, vehicle yaw rate e vehicle
velocity e restituisce vehicle heading angle (tra 0 e 360 deg) e vehicle
acceleration.
3) Scrivi un Matlab SCRIPT che usa la funzione precedente e diagramma vehicle
heading, yaw rate, and vehicle speed and longitudinal acceleration versus time.
Che manovra sta eseguendo l'autovettura?
4) Scarica i dati dall'Intranet (data_hw2a.txt e data_hw2b.txt, time (s),
Longitudinal speed (m/s), angular velocity (rad/s)). Assumi il raggio effettivo
di rotolamento uguale a 0.35 m.
a. Per il primo set di dati plotta GPS Velocity e Tire Velocity (hold on).
Plotta tire slip vs time. A che cosa dovuta la differenza nei dati?
b. Per il secondo data set, plotta tire slip vs. time, e tire slip vs. Force (mass
of the car 1500 kg). Stima la rigidezza longitudinale.
Parte 3:
Below is data for the Infiniti G35 4-door sedan. What is the understeer gradient?
m =1573 kg (unloaded)
a = 1.311 m
Cf = 45,000 N/rad/tire
2
Iz = 3200 kgm
b = 1.539 m
Cr = 70,000 N/rad/tire
1) In class we developed the model for slip angle and yaw rate given steer angle. Given
the parameters above (for the G35), write a program to simulate the vehicle yaw rate and
slip angle as a function of the steer angle and vehicle velocity.
a) Download the TWO G35 data files from the web. Note that you simply calculate
the front and rear tire slip angles as a function of the velocity, steer angle, slip angle
and yaw rate.
b) Provide clearly labeled plots of the simulated vs. experimental yaw rate vehicle
sideslip and tire sideslip angles (two pages at the most). Simulated and
experimental plots should be on the same figure (use solid for experimental and
dashed for simulated with a legend).
B1) A simple non-linear tire model is the Duggoff Tire model which is described by the
following equations:
Fz
2 if 1
Fy C tan( ) f ( )
f ( )
2C tan( )
if 1
1
a) Plot Fy vs. for the Duggoff Tire model. What do you notice is different that
the magic tire model?
b) Using the Duggoff Model, repeat problem #1. What coefficient of friction
value () did you find seems to fit the data the best.
2) Simulate the G35 performing a step steer input that provides a final yaw rate of 50
deg/s. You can use lsim or step or your simulation for problem #1 to perform the
simulation
a) Write a formula to calculate the desired steer angle input.
b) Simulate the Step Steer at 15 m/s (plot yaw rate and sideslip angle)
c) Simulate the Step Steer at 30 m/s
d) Swap the front and rear cornering stiffnesses and move the CG back 20 cm. What
is the new understeer gradient? Repeat parts b and c. What happens? Why?
Turn in all 8 plots (clearly labeled) on one page (subplot(4,2,#)) and use >>orient tall
Label the pole locations (including n and ) for each run.
3) Repeat problem #2 using the magic tire model from HW#5 OR the Duggoff Tire
Model (state which you use). Compare the results to problem #2.
B2) Using your non-linear tire model generate phase plane plots for Problem #3