Karnopp Vehicle Dynamics, Stability, and Control, Second Edition

2. Auflage 2013
ISBN: 978-1-4665-6086-4
Verlag: Taylor & Francis
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 326 Seiten

Reihe: Dekker Mechanical Engineering

Anyone who has experience with a car, bicycle, motorcycle, or train knows that the dynamic behavior of different types of vehicles and even different vehicles of the same class varies significantly. For example, stability (or instability) is one of the most intriguing and mysterious aspects of vehicle dynamics. Why do some motorcycles sometimes exhibit a wobble of the front wheel when ridden "no hands" or a dangerous weaving motion at high speed? Why does a trailer suddenly begin to oscillate over several traffic lanes just because its load distribution is different from the usual? Other questions also arise: How do humans control an inherently unstable vehicle such as a bicycle and how could a vehicle be designed or modified with an automatic control system to improve its dynamic properties?

Using mainly linear vehicle dynamic models as well as discussion of nonlinear limiting effects, Vehicle Dynamics, Stability, and Control, Second Edition answers these questions and more. It illustrates the application of techniques from kinematics, rigid body dynamics, system dynamics, automatic control, stability theory, and aerodynamics to the study of the dynamic behavior of a number of vehicle types. In addition, it presents specialized topics dealing specifically with vehicle dynamics such as the force generation by pneumatic tires, railway wheels, and wings.

The idea that vehicles can exhibit dangerous behavior for no obvious reason is in itself fascinating. Particularly obvious in racing situations or in speed record attempts, dynamic problems are also ubiquitous in everyday life and are often the cause of serious accidents. Using relatively simple mathematical models, the book offers a satisfying introduction to the dynamics, stability, and control of vehicles.

Autoren/Hrsg.

Karnopp, Dean

Fachgebiete

• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Fahrzeugtechnik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik

Inhaltsverzeichnis

Introduction: Elementary Vehicles
Tapered Wheelset on Rails
The Dynamics of a Shopping Cart

Rigid Body Motion
Inertial Frame Description
Body-Fixed Coordinate Frame Description
Spin Stabilization of Satellites
Bond Graphs for Rigid Body Dynamics

Stability of Motion: Concepts and Analysis
Static and Dynamic Stability
Eigenvalue Calculations and the Routh Criterion

Pneumatic Tire Force Generation
Tire-Road Interaction
Lateral Forces
Longitudinal Forces
Combined Lateral and Longitudinal Forces

Stability of Trailers
Single-Degree-of-Freedom Model
Two-Degree-of-Freedom Model
A Third-Order Model
A Model Including Rotary Damping

Automobiles
Stability and Dynamics of an Elementary Automobile Model
Transfer Functions for Front- and Rear-Wheel Steering
Yaw Rate and Lateral Acceleration Gains
Steady Cornering
Acceleration and Yaw Rate Gains
Dynamic Stability in a Steady Turn
Limit Cornering

Two-Wheeled and Tilting Vehicles
Steering Control of Banking Vehicles
Steering Control of Lean Angle

Stability of Casters
A Vertical Axis Caster
An Inclined Axis Caster
A Vertical Axis Caster with Pivot Flexibility
A Vertical Axis Caster with Pivot Flexibility and a Finite Cornering Coefficient
A Caster with Dynamic Side Force Generation

Aerodynamics and the Stability of Aircraft
A Little Airfoil Theory
Derivation of the Static Longitudinal Stability Criterion for Aircraft
The Phugoid Mode
Dynamic Stability Considerations: Comparison of Wheels and Wings
The Effect of Elevator Position on Trim Conditions

Rail Vehicle Dynamics
Introduction
Modeling a Wheelset
Wheel-Rail Interaction
Creepage Equations
The Equations of Motion
The Characteristic Equation
Stability Analysis and Critical Speed

Vehicle Dynamics Control
Stability and Control
From ABS to VDC and TVD
Active Steering Systems
Limitations of Active Vehicle Dynamics Control

Appendix: Bond Graphs for Vehicle Dynamics
A Bond Graph for the Two-Degree-of-Freedom Trailer
A Bond Graph for a Simple Car Model
A Bond Graph for a Simple Airplane Model