Vehicle Dynamics and Control

Jan Åslund
[email protected]
Associate Professor

Dept. Electrical Engineering

Vehicular Systems
Linköping University
Sweden

Lecture 2

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 1 / 23

Longitudinal dynamics
Model:

Ftot = ma

Forces acting on the vehicle in the longitudinal direction:

Tractive/braking force from the wheels: F

Rolling resistance: Rr
Horizontal component of the gravitational force: Rg
Aerodynamic resistance: Ra

Equation of motion in x-direction:

dV
m = F − Rr − Rg − Ra
dt
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 2 / 23
Longitudinal dynamics: Forces

Some models for Tractive/braking force from the wheels, F , and rolling
resistance, Rr , were presented the previous lecture.

The horizontal component of the gravitational force is

Rg = W sin θs

where W = mg och θs is the slope angle.

I will use the convention that θs is positive in uphill slopes and negative in
downhill slopes. (In the course book, it is assumed that θs is always
positive and Rg = ±W sin θs .)

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 3 / 23

Longitudinal dynamics: Aerodynamic resistance
Model for the aerodynamic resistance
ρ
Ra = CD Af Vr2
2
where
ρ: Air density
CD : Coefficient of aerodynamic resistance
Af : Frontal area
Vr : Speed of the vehicle relative to the wind
It will be assumed that ρ = 1.225kg /m3
Empirical formula for frontal area

Af = 1.6 + 0.00056(m − 765)

The frontal area Af and the coefficient CD for som car models can be
found in Table 3.1.
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 4 / 23
Aerodynamic resistance: Wind Tunnel Experiments

To get similar air flow of air the product of the characteristic length and
the velocity should be the same:
v
8v
3

3l
l 8

The flow of air is also influenced by

The cross-sectional area of the wind tunnel

The speed of the road relative the speed of the vehicle

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 5 / 23

Aerodynamic resistance
The figure shows CD for two trucks as a function of the distance between
them

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 6 / 23

Aerodynamic Lift

The flow of air also causes a lift force

ρ
RL = CL Af Vr2
2
where CL is the coefficient of aerodynamic lift.

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 7 / 23

Application: Mass Estimation

The mass of a truck varies depending the load carried on the trailer. To
know the mass can be valuable when controlling the vehicle, e.g., when
accelerating before an uphill slope.
Assume that we want to estimate the mass m and using the longitudinal
equation motion
ma = F − Rr − Rg − Ra

If everything else in the equation is known except m, then the equation

can be used to calculate m (using e.g. a Kalman filter).

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 8 / 23

Application: Mass estimation

Assume that rotational speed of the wheels are measured and used to
estimate the speed V

Main challenges:
It may be difficult to estimate the longitudinal acceleration accurately.
The models for the propelling force F , rolling resistance Rr , and
aerodynamic resistance Ra are usually not very accurate.
The slope angle θS is not known.

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 9 / 23

Application: Mass estimation

Assume that the signal from an accelerometer, measuring the longitudinal

acceleration, is available. How can this information be used?

The longitudinal equation of motion

ma = F − Rr − Rg − Ra

can be rewritten as

m(a + g sin θ) = F − Rr − Ra

and the accelerometer is measuring

a + g sin θ

Hence, it is not necessary to know the slope angle θ.

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 10 / 23

Longitudinal model
Now, the normal forces will included in the model.
Figure 3.1 shows the forces acting on a vehicle during an acceleration.
Assume that the slope angle θ is equal to zero and the vehicle isn’t
moving. Then the equations of equilibrium are

W f + Wr = W
Wf l1 − Wr l2 = 0

and the solution is

l2
Wf = W
L
l1
Wr = W
L

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 11 / 23

Figure 3.1

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 12 / 23

Longitudinal model

Now, a moving vehicle will be considered.

It will be assumed that ha = hd = h and equilibrium of moments about
two point the distance h above the points A and B gives the equations

−Wl2 + LWf + h(Ff − Rrf ) + h(Fr − Rrr ) = 0

Wl1 − LWr + h(Ff − Rrf ) + h(Fr − Rrr ) = 0

with the solutions

l2 h
Wf = W − (F − Rr )
L L
and
l1 h
Wr = W + (F − Rr )
L L

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 13 / 23

Maximal acceleration
Assume that the car is rear-wheel driven. What is the maximal propelling
force that is possible to accomplish? The limit case is
 
l1 h
Fmax = µWr + fr Wr = (µ + fr ) W + (Fmax − Rr )
L L
Solve for Fmax and use Rr = fr W
(µ + fr )W (l1 − fr h)
Fmax =
L − (µ + fr )h

The corresponding result for a front-wheel driven car is

 
l2 h
Fmax = (µ + fr )Wf = (µ + fr ) W − (Fmax − Rr )
L L
och
(µ + fr )W (l2 + fr h)
Fmax =
L + (µ + fr )h
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 14 / 23
Lateral forces and stability: Introduction
Assume that a car is moving on a straight line and the motion is perturbed:

Direction of motion

The figure shows that

Front wheels turns the car counterclockwise (bad!?)
Rear wheel turns the car clockwise (good!?)
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 15 / 23
Lateral forces and stability: Braking
Assume that the rear wheels are used for braking causing a wheel lock-up:

Direction of motion

The figure shows that the car will turn away from the intended direction
and the car will probably become unstable.
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 16 / 23
Lateral forces and stability: Braking

Let the front wheels be used instead causing a wheel lock-up:

Direction of motion

The figure shows that rear wheel turns the car towards the direction of the
unperturbed direction. The drawback is that it becomes difficult to
maneuver the car.

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 17 / 23

Brake force distribution

The objective is to distribute the forces so that the front and rear begin to
slide at the same time. Given a braking force Fb , we will find coefficients
Kbf and Kbr , Kbf + Kbr = 1, and distribute the braking force Fbf = Kbf Fb
and Fbr = Kbr Fb to reach the objective.
Figure 3.47 shows the forces acting on the vehicle
In this case we get
1
Wf = (Wl2 + h(Fb + fr W ))
L
och
1
Wr = (Wl1 − h(Fb + fr W ))
L

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 18 / 23

Figure 3.47

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 19 / 23

Brake force distribution

In the case where all wheels begin to slide we have

Fbmax = Fbf + Fbr = µWf − fr Wf + µWr − fr Wr = µW − fr W

Hence, Fb + fr W = µW and

(µ − fr )W (l2 + hµ)
Fbf = Kbf Fbmax = (µ − fr )Wf =
L
and
(µ − fr )W (l1 − hµ)
Fbr = Kbr Fbmax = (µ − fr )Wr =
L
The ratio of the brake forces is then
Fbf Kbf l2 + hµ
= =
Fbr Kbr l1 − hµ

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 20 / 23

Brake force distribution: Alternative approach
Assume now that brake force distribution is given, i.e., Kbf and Kbr where
Kbf + Kbr = 1. Will the front or the rear wheel lock first?
Only the brake force and rolling resistance will be considered in this case.
Hence
W
ma = Fb + Fr and Fb + fr W = a,
g

First, the front wheels will be considered. The normal force is

 
W a
Wf = l2 + h ,
L g

In this case the brake force is

 
a
Fbf = Kbf Fb = Kbf W − fr
g

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 21 / 23

Brake force distribution: Alternative approach
The front wheel will lock when
 
W a
Fbf = µWf − fr Wf = (µ − fr ) l2 + h
L g

It follows that
   
a (µ − fr )W a
Kbf W − fr = l2 + h
g L g
and the front wheels lock when
 
a (µ − fr )l2 /L + Kbf fr
=
g f Kbf − (µ − fr )h/L

In the same way wed get that the rear wheels lock when
 
a (µ − fr )l1 /L + Kbr fr
=
g r Kbr + (µ − fr )h/L
Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 22 / 23
Brake force distribution: Alternative approach

Given a brake force distribution.

The front wheels will lock first if
   
a a
<
g f g r

and the rear wheels will lock first if

   
a a
<
g r g f

Jan Åslund (Linköping University) Vehicle Dynamics and Control Lecture 2 23 / 23