Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications
Författare
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.
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.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Publikation/Tidskrift/Serie
Technical Reports TFRT-7627
Fulltext
- Available as PDF - 189 kB
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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