Professional Documents
Culture Documents
Unless otherwise noted, all images from: Gillespie, Thomas D. Fundamentals of Vehicle Dynamics
Outline
Background Robotic Vehicles Vehicle Dynamics Basics Two Wheel (Bicycle) Model Stability Steering Control System
Background Information
MTS Systems Vehicle Dynamics Division SAE Mini-Baja Formula SAE Mini-Indy Legend Air Suspension Arctic Cat Snowmobiles Robotic Vehicles Other
Robot Vehicles
What Distinguishes a Robot? Autonomous? Intelligent Mechanism? Useful Task?
Segway Cadillac Night Vision System Kodiak- Univ of Alberta
Tires Slip During All Cornering Center of Turn Dictated by Front vs. Rear Slip
Tire Model
Tires Behavior is Not Linear Camber Creates Lateral Force
Camber Thrust
Camber: Angle of Tire Lean From Vertical Examples: Motorcycle Road Grader Tracking Grooves in Road
Rear Lateral Traction Exceeded Vehicle Enters a Spin Completely Unstable Above Critical Speed
Oversteer Video
r=Yaw Rate (deg/sec) =Steer Angle (deg) V=Velocity (ft/sec) L=Wheelbase (ft) K=Understeer Gradient (deg/g) C=Tire Cornering Stiffness (lb/deg) W=Weight (lb)
Understeer (Push)
Front Lateral Traction Exceeded Vehicle Slides Straight Most Production Vehicles are Understeer
Understeer Video
Stability Examples
Shopping Cart
Push Forwards Understeer Push Backwards Oversteer (No Rear Lateral Force)
Bicycle Model
Inherent Downfalls: Lateral Weight Transfer Steering Geometry Camber and Roll Center Motorcycle Camber Force
4 Wheel Model
Turning Radius Ackerman Steering: Ideal Steering Geometry
Inner Tire Turns More than Outer Tire Perpendicular Bisectors Meet
P, D, and I Control
Proportional Control: Decreases Rise Time Derivative Control: Decreases Overshoot Integral Control: Minimizes St-St Error
KDs + KP s 2 + (4 + K D ) s + 3 + K P KPs + KI s 2 + 4 s + (3 + K P ) s + K I
KDs2 + KPs + KI s 3 + (4 + K D ) s 2 + (3 + K P ) s + K I