Nonlinear Dynamics of a Wheeled VehicleOn average, 60% of the world's people and cargo is transported by vehicle that move on rubber tires over roadways of various construction, composition, and quality. The number of such vehicles, including automobiles and all manner of trucks, increases continually with a growing positive impact on accessibility and a growing negative impact on interactions among humans and their relationship to the surrounding environment. This multiplicity of vehicles, through their physical impact and their emissions, is responsible for, among other negative results: waste of energy, pollution through emission of harmful compounds, degradation of road surfaces, crowding of roads leading to waste of time and increase of social stress, and decrease in safety and comfort. In particular, the safety of vehicular traffic depends on a man-vehicle-road system that includes both active and passive security controls. In spite of the drawbacks mentioned above, the governments of almost every country in the world not only expect but facilitate improvements in vehicular transport performance in order to increase such parameters as load capacity and driving velocity, while decreasing such parameters as costs to passengers, energy resources investments, fuel consumption, etc. Some of the problems have clear, if not always easily attainable, solutions. |
Contents
INTRODUCTION | 11 |
2 Historical Reference | 17 |
THE PRINCIPLES OF THE THEORY OF STABILITY | 27 |
2 Stability in Lyapunovs Sense | 29 |
21 Lyapunovs functions and Lyapunovs second method | 39 |
3 Stability in Lagranges Sense | 50 |
4 Stability in Poincares SenseOrbital Stability | 51 |
5 Stability in Poissons Sense | 53 |
3 Shimmy | 173 |
VERTICAL DYNAMICS | 183 |
2 Analysis of Suspension Vibrations | 193 |
TRANSVERSAL TILT DYNAMICS | 211 |
2 Roll of a Vehicle Body Instantaneous Roll Centre and Stability | 224 |
LONGITUDINAL TILT DYNAMICS | 237 |
2 Dynamics of a Longitudinal Tilt of a Road Vehicle with a Semitrailer trailer | 242 |
ROAD WHEEL ROTATIONAL DYNAMICS | 251 |
7 Stability in Szpunars Sense | 60 |
8 General Stability Estimation | 62 |
82 Linear System | 63 |
83 NonLinear System | 65 |
AN INTRODUCTION TO STABILITY OF A WHEELED VEHICLE | 73 |
2 A Wheeled Car Stability | 74 |
22 Dynamics of an Elastic Tire and Stability of a Wheeled Car | 75 |
3 Pneumatic Tire Properties | 77 |
31 Tire Characteristics | 79 |
32 Tires modelling | 84 |
4 Travelling System Model | 92 |
5 Introduction to Stability of a Moving Car | 99 |
LONGITUDINAL DYNAMICS | 103 |
2 Longitudinal Tank Vehicle Dynamics | 113 |
A TRANSVERSAL DYNAMICS | 127 |
12 The Road Vehicle Properties | 133 |
13 Stability Investigation of a Two Axle Wheeled Vehicle | 137 |
2 Stability of Wheeled Articulated Vehicles | 146 |
21 Articulated Vehicle Model | 148 |
22 Stability in the Lyapunov Sense | 154 |
23 Stability in the Sense of Bogusz | 156 |
DriverVehicle | 164 |
2 The Driven Road Wheel Rotational Motion | 258 |
22 The Driven Road Wheel Rotational Motion Two Axle Vehicle | 261 |
MODELING OF A PISTON CONNECTING ROD CRANKSHAFT SYSTEM | 269 |
2 The Model of a Rigid MultiBody Mechanical System With Unilateral Frictionless Constraints | 270 |
3 Generalized Impact Law | 271 |
4 Sliding States Along Some Obstacles | 273 |
5 Computational Model | 274 |
7 Piston Connecting Rod Crankshaft System | 278 |
8 Numerical Examples | 286 |
MODELING OF A DUOSERVO BRAKE | 295 |
2 The Modeled System With Friction | 298 |
3 Numerical Analysis | 300 |
32 Phase Spaces | 302 |
34 Bifurcation Diagrams | 305 |
35 Lagrange Interpolation and Lyapunov Exponents | 307 |
4 Experimental Investigations | 308 |
41 Results of Experimental Measurements | 310 |
42 Friction Force Model | 311 |
43 Comparisons | 315 |
REFERENCES | 319 |
325 | |
Other editions - View all
Nonlinear Dynamics of a Wheeled Vehicle Ryszard Andrzejewski,Jan Awrejcewicz No preview available - 2010 |
Common terms and phrases
active suspension adhesion analysed articulated vehicles assumed bifurcation diagrams braking process C₁ circumferential coefficient constraints crankshaft curve cylinder damping defined differential equations displacement driving equilibrium excitation frequencies F₂ function initial conditions investigated Jk Mk Jk Ukx kinematics L₂ linear longitudinal Lyapunov exponents Lyapunov function Lyapunov stability Lyapunov's sense matrix N/rad non-linear numerical numerical analysis obtained Pacejka parameters pendulum phase phase plane piston Poincaré Poincaré maps Poincaré section position quasi-periodic motion rad/s rear wheels road surface road wheel rotational semi-trailer shown in Figure simulation slip angle solutions stability conditions stability factor stability in Lyapunov's steering stiffness technical stability theorem tractor trajectory transversal unstable values vector vehicle body vehicle model vehicle motion vertical vibrations wheeled car wheeled vehicle zone бр
Popular passages
Page 322 - Computer Simulation of StickSlip Friction in Mechanical Dynamic Systems," Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, Vol.
Page 320 - Awrejcewicz, J., Kudra, G. and Lamarque C.-H. "Analysis of bifurcations and chaos in three coupled physical pendulums with impacts.
Page 324 - Wolf, A., Swift, JB, Swinney, HL, Vastano, JA: Determining Lyapunov exponents from a time series, Physica D 16, 285-317 (1985).
Page 322 - Hong, KS, Sohn, HC, and Hedrick, JK, "Modified Skyhook Control of Semi-active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-loop tuning", Journal of Dynamic Systems Measurement and Control - Transactions of the ASME, 124 (1), pp.
Page 324 - The problem of estimating the stability domain of the origin of an n-order polynomial system is considered. Exploiting the structure of this...
References to this book
Nonsmooth Dynamics of Contacting Thermoelastic Bodies Jan Awrejcewicz,Yuriy Pyr'yev Limited preview - 2008 |