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Disturbance force application if (t>=tdon & t
For Nominal Case, Vehicle Stabilizes Given case: R factor = 4200.4 V c = non-existent v x =V= 5L/sec A lateral pulse disturbance is applied at front wheel. Afterwards, the vehicle stabilizes (lateral and yaw velocities go to zero). ME 360/390 – Prof. R.G. Longoria Vehicle System Dynamics and Control 4 x 10-3 Lateral Velocity 2 0 -2 -4 -6 0 5 10 15 50 0 -50 Position 0 50 100 150 200 6 x 10-3 Yaw Velocity 4 2 0 -2 0 5 10 15 x 10-3 Yaw 3 2 1 0 0 5 10 15 Used: simple_bicycle.m Department of Mechanical Engineering The University of Texas at Austin
Page 1 and 2: Steering and Turning Vehicles ME 36
Page 3 and 4: Classical steering mechanisms δ =
Page 5 and 6: Kinematic model of single-axle turn
Page 7 and 8: Example: Differentially-driven basi
Page 9 and 10: Simulation of differentially-steere
Page 11 and 12: Turning at low (Ackermann) speed
Page 13 and 14: Additional notes/comments on Ackerm
Page 15 and 16: Example: 2D vehicle with front-stee
Page 17 and 18: Example: simulation and animation o
Page 19 and 20: Vehicle directional stability Direc
Page 21 and 22: Lateral tire forces induced by slip
Page 23 and 24: Typical data on tire cornering forc
Page 25 and 26: Cornering stiffness and coefficient
Page 27 and 28: Directional Stability per Rocard Le
Page 29 and 30: Z tan −1 ⎛ y 2 z ⎞ ⎜ ⎟ =
Page 31 and 32: As before, we can calculate vehicle
Page 33: Example: baseline vehicle parameter
Page 37 and 38: Example: a double lane change using
Page 39 and 40: ME 360/390 - Prof. R.G. Longoria Ve
Page 41 and 42: ME 360/390 - Prof. R.G. Longoria Ve
Page 43 and 44: General Steering System Requirement
Page 45 and 46: Ref. Milliken & Milliken Impact of
Page 47 and 48: Impact on Steering Geometry of usin
Page 49 and 50: Heisler (1999) Axle-Beam Steering L
Page 51 and 52: Front Axle and Tie Rod Assembly ME
Page 53 and 54: 3 Steering arms 7 Tie rod joints 8
Page 55 and 56: Split track-rod with relay-rod ME 3

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