Low-order modeling of vehicle roll dynamics

Hamblin, Bridget C.; Martini, R.D.; Cameron, John T.; Brennan, Sean

doi:10.1109/acc.2006.1657345

Cited by 12 publications

(8 citation statements)

References 9 publications

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“…The full-sized vehicle is equipped with a high-accuracy Novatel SPAN L1/L2 global positioning system factory integrated with a Honeywell HG1700 inertial navigation system to measure the states of the vehicle. The parameter values for the full-sized vehicle are summarised in Table 3, and details on the measurement of these parameters can be found in the literature [55,56]. The parameter definitions are consistent with those previously given in Table 2.…”

Section: Dimensionless Parametersmentioning

confidence: 97%

“…In previous full-sized vehicle studies within our research group [55,56], it has been shown that the tire-lag phenomenon significantly influences the dynamics of the full-sized vehicle, especially the phase of the frequency responses. Since, in this work, dynamic behaviours are compared between the full-sized and scaled vehicles, the effects of the tire lag must also be considered in the vehicle dynamic models.…”

Section: Tire-lag Dynamicsmentioning

confidence: 99%

“…In order to verify this statement, the tire-lag dynamics in Equations (6) and (7) are appended to the dimensionless bicycle model. The relaxation lengths of the front and rear tires are assumed to be identical for this particular full-sized vehicle [56]. Two additional dimensionless parameters are needed:…”

Section: Downloaded By [University Of California Davis] At 00:39 28 Dmentioning

confidence: 99%

“…Since, in this work, dynamic behaviours are compared between the full-sized and scaled vehicles, the effects of the tire lag must also be considered in the vehicle dynamic models. The front and rear tire lags are modelled as follows [56]:…”

Section: Tire-lag Dynamicsmentioning

confidence: 99%

“…Bode plots showing the dimensionless lateral velocity, dimensionless yaw rate, and dimensionless roll rate are, respectively, shown in Figures 25-27. Data of the full-sized vehicle are taken and modified from [56].…”

Section: Behaviour Comparison Between Full-sized Vehicle and Scaled Vmentioning

confidence: 99%

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Fidelity of using scaled vehicles for chassis dynamic studies

Lapapong

Gupta

Callejas

et al. 2009

Vehicle System Dynamics

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There are many situations where physical testing of a vehicle or vehicle controller is necessary, yet use of a full-size vehicle is not practical. Some situations include implementation testing of novel actuation strategies, analysing the behaviour of chassis feedback control under system faults, or nearunstable situations such as limit handling under driver-assist feedback control. Historically, many have advocated the use of scale vehicles as surrogates for larger vehicles. This article presents analysis and experimental testing that examines the fidelity of using scaled vehicles for vehicle chassis dynamics and control studies. In support of this effort, this work introduces an experimental system called the Pennsylvania State University Rolling Roadway Simulator (the PURRS). In the PURRS, a custom-built scale-sized vehicle is freely driven on a moving roadway surface. While others have used scalevehicle rolling roadway simulators in the past, this work is the first to attempt to directly match the planar dynamic performance of the scale-sized vehicle to a specific full-sized vehicle by careful design of the scale vehicle. This article explains details of this effort including vehicle dynamic modelling, detailed measurement of model parameters, conditions for dynamic similitude, validation of the resulting experimental vehicle in the time, frequency, and dimensionless domains. The results of the dynamic comparisons between scale-and full-sized vehicles clearly illustrate operational regimes where agreement is quite good, and other regimes where agreement is quite poor. Both are useful to understand the applicability of scale-vehicle results to full-size vehicle analysis.

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Section: Dimensionless Parametersmentioning

confidence: 97%

Section: Tire-lag Dynamicsmentioning

confidence: 99%

Section: Downloaded By [University Of California Davis] At 00:39 28 Dmentioning

confidence: 99%

Section: Tire-lag Dynamicsmentioning

confidence: 99%

Section: Behaviour Comparison Between Full-sized Vehicle and Scaled Vmentioning

confidence: 99%

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