Popp / Schiehlen Ground Vehicle Dynamics

1. Auflage 2010
ISBN: 978-3-540-68553-1
Verlag: Springer Berlin Heidelberg
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 348 Seiten

Ground Vehicle Dynamics is devoted to the mathematical modelling and dynamical analysis of ground vehicle systems composed of the vehicle body, the guidance and suspension devices and the corresponding guideway. Automobiles on uneven roads and railways on flexible tracks are prominent representatives of ground vehicle systems. All these different kinds of systems are treated in a common way by means of analytical dynamics and control theory. In addition to a detailed modelling of vehicles as multibody systems, the contact theory for rolling wheels and the modelling of guideways by finite element systems as well as stochastic processes are presented. As a particular result of this integrated approach the state equations of the global systems are obtained including the complete interactions between the subsystems considered as independent modules. The fundamentals of vehicle dynamics for longitudinal, lateral and vertical motions and vibrations of automobiles and railways are discussed in detail.

Autoren/Hrsg.

Popp, Karl

Schiehlen, Werner

Inhaltsverzeichnis

1;Preface;7
2;Contents;11
3;List of Problems and their Solutions;15
4;System Definition and Modeling;17
5;Vehicle Models;26
5.1;Elements of Multibody Systems ;26
5.2;Kinematics ;28
5.2.1;Frames of Reference for Vehicle Kinematics ;28
5.2.2;Kinematics of a Rigid Body in an Inertial Frame ;28
5.2.3;Kinematics of a Rigid Body in a Moving Reference Frame ;43
5.2.4;Kinematics of Multibody Systems ;47
5.3;Dynamics ;60
5.3.1;Inertia Properties ;60
5.3.2;Newton-Euler Equations ;64
5.3.3;Principles of d'Alembert and Jourdain ;74
5.3.4;Energy Considerations and Lagrange's Equations ;76
5.4;Equations of Motion for Multibody Systems ;81
5.5;Formalisms for Multibody Systems ;88
5.5.1;Non-recursive Formalisms ;88
5.5.2;Recursive Formalisms ;92
6;Models for Support and Guidance Systems;111
6.1;Models for Passive Spring and Damper Systems ;112
6.2;Models of Force Actuators ;122
6.2.1;Models of Magnetic Actuators ;122
6.2.2;General Linear Model of Force Actuators ;128
6.3;Comparison of Passive and Active Elements ;129
6.4;Contact Forces between Wheel and Guideway ;130
6.4.1;Rolling of Rigid and Deformable Wheels ;130
6.4.2;Definition of the Rigid Body Slip ;137
6.4.3;Contact Forces for Elastic Wheels on Elastic Rails ;140
6.4.4;Contact Forces of Elastic Tires on a Rigid Road ;163
7;Guideway Models;186
7.1;Models for Elastic Guideways ;186
7.1.1;Models for Periodically Pillared Beams ;188
7.1.2;Modal Analysis of Beam Structures for Bending Vibrations ;191
7.1.3;Models for Continuously Bedded Beams ;204
7.2;Perturbation Models for Rigid Guideways ;208
7.2.1;Mathematical Description of Stochastic Processes ;210
7.2.2;Models for Unevenness Profiles ;221
7.2.3;Models for Vehicle Excitation Processes ;223
8;Models for Vehicle-Guideway-Systems;227
8.1;State Equations of the Subsystems ;227
8.2;State Equations of the Complete System ;230
9;Assessment Criteria;236
9.1;Driving Stability ;237
9.2;Ride Comfort ;238
9.2.1;Deterministic Excitation ;239
9.2.2;Stochastic Excitation ;242
9.2.3;Shape Filter for the Human Perception ;243
9.2.4;Revised Standards for Human Exposure to Whole-body Vibration ;244
9.3;Ride Safety ;245
9.4;Durability of Components ;248
10;Computational Methods;250
10.1;Numerical Simulation ;250
10.1.1;Simulation of Vertical Motions of Vehicles ;251
10.2;Linear Systems ;256
10.2.1;Stability ;256
10.2.2;Frequency Response Analysis ;258
10.2.3;Random Vibration ;260
10.3;Nonlinear Systems ;265
10.3.1;7.3.1 Harmonic Linearization ;265
10.3.2;7.3.2 Statistical Linearization ;269
10.3.3;7.3.3 Investigation of Linearized Systems ;270
10.4;Optimization Problems ;272
11;Longitudinal Motions;273
11.1;Elastic Wheel ;273
11.2;Entire Vehicle ;277
11.3;Aerodynamic Forces and Torques ;279
11.4;Driving and Braking Torques ;280
11.5;Driving Performance ;283
12;Lateral Motions;286
12.1;Handling of Road Vehicles ;286
12.1.1;Elastic Wheel ;286
12.1.2;Vehicle Model ;288
12.1.3;Steady-state Cornering ;291
12.1.4;Driving Stability ;292
12.1.5;Experimental Studies ;294
12.2;Driving Stability of Railways ;294
12.2.1;Equation of Motion of a Railway Wheelset ;295
12.2.2;Stability of a Free Wheelset ;295
13;Vertical Motions;300
13.1;Principles of Vehicles Suspension ;300
13.2;Random Vibrations of a Two Axle Vehicle ;309
13.3;A Complex Vehicle Model ;313
13.4;Magnetically Levitated Vehicles ;318
14;Appendix: Optimal Control of Multivariable Systems;320
14.1;A.1 Mathematical Model ;320
14.2;A.2 Task Formulation and Structure Issues ;321
14.3;A.3 Structure and Properties of Controllers ;322
14.4;A.4 Controller Design ;322
14.5;A.5 Structure and Properties of Observers ;326
14.6;A.6 Observer Design ;328
14.7;A.7 Structure of (Optimal) Controlled Multivariable Systems ;330
15;Appendix: Key Words;332
15.1;B.1 English - German;332
15.2;B.2 Deutsch - Englisch;338
16;References;344