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Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications

Författare

  • Karl Berntorp

Summary, in English

This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled

as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulting chassis model is of fifth order. In addition, a first-order approach to take load transfer into account is discussed, which gives an additional degree of freedom. The model is derived with the aim of accurate simulation, but should also be possible to utilize for nonlinear control design.

Publiceringsår

2013

Språk

Engelska

Publikation/Tidskrift/Serie

Technical Reports TFRT-7627

Dokumenttyp

Rapport

Förlag

Department of Automatic Control, Lund Institute of Technology, Lund University

Ämne

  • Control Engineering

Status

Published

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 0280-5316