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Vehicle Dynamics and Control 2nd ed. 2012 [Minkštas viršelis]

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  • Formatas: Paperback / softback, 498 pages, aukštis x plotis: 235x155 mm, weight: 795 g, XXVI, 498 p., 1 Paperback / softback
  • Serija: Mechanical Engineering Series
  • Išleidimo metai: 03-Mar-2014
  • Leidėjas: Springer-Verlag New York Inc.
  • ISBN-10: 1489985468
  • ISBN-13: 9781489985460
Kitos knygos pagal šią temą:
Vehicle Dynamics and Control 2nd ed. 2012Didesnis paveikslėlis
  • Formatas: Paperback / softback, 498 pages, aukštis x plotis: 235x155 mm, weight: 795 g, XXVI, 498 p., 1 Paperback / softback
  • Serija: Mechanical Engineering Series
  • Išleidimo metai: 03-Mar-2014
  • Leidėjas: Springer-Verlag New York Inc.
  • ISBN-10: 1489985468
  • ISBN-13: 9781489985460
Kitos knygos pagal šią temą:
Pastovi nuoroda: https://www.kriso.lt/db/9781489985460.html
Raktažodžiai:

Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicles. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically.

In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability control has been enhanced.

The use of feedback control systems on automobiles is growing rapidly. This book is intended to serve as a useful resource to researchers who work on the development of such control systems, both in the automotive industry and at universities. The book can also serve as a textbook for a graduate level course on Vehicle Dynamics and Control.



Now in a second edition, this book’s comprehensive coverage of vehicle control systems and the dynamic models used in their development includes material on applications such as cruise control, ABS, automated lane keeping, and yaw stability control.

Recenzijos

This book provides a complete coverage of vehicle control systems and vehicle chassis control system. I strongly recommend this book as it is really good for the engineers or students who can understand dynamics. (Paul Stark, Twitter, July, 2018)



Vehicle Dynamics and Control is one book in the Springer Mechanical Engineering Series. Its almost 500 pages are written in a clear and concise format and will be most useful as a resource to researchers working on the development of vehicle dynamic controls in industry or university and it can also be used as a graduate level textbook on the same subject. Each chapter has a summary, a nomenclature list and an extensive list of references. (Deane Jaeger, Noise Control Engineering Journal, Vol. 62 (1), January-February, 2014)

Preface vii
Acknowledgments ix
1 Introduction
1(14)
1.1 Driver Assistance Systems
2(1)
1.2 Active Stability Control Systems
2(2)
1.3 Ride Quality
4(1)
1.4 Technologies for Addressing Traffic Congestion
5(4)
1.4.1 Automated highway systems
6(1)
1.4.2 "Traffic-friendly" adaptive cruise control
6(1)
1.4.3 Narrow tilt-controlled commuter vehicles
7(2)
1.5 Emissions and Fuel Economy
9(6)
1.5.1 Hybrid electric vehicles
10(1)
1.5.2 Fuel cell vehicles
11(1)
References
11(4)
2 Lateral Vehicle Dynamics
15(32)
2.1 Lateral Systems Under Commercial Development
15(5)
2.1.1 Lane departure warning
16(1)
2.1.2 Lane keeping systems
17(1)
2.1.3 Yaw stability control systems
18(2)
2.2 Kinematic Model of Lateral Vehicle Motion
20(7)
2.3 Bicycle Model of Lateral Vehicle Dynamics
27(4)
2.4 Motion of Particle Relative to a Rotating Frame
31(3)
2.5 Dynamic Model in Terms of Error with Respect to Road
34(3)
2.6 Dynamic Model in Terms of Yaw Rate and Slip Angle
37(2)
2.7 From Body Fixed to Global Coordinates
39(2)
2.8 Road Model
41(2)
2.9
Chapter Summary
43(4)
Nomenclature
44(1)
References
45(2)
3 Steering Control For Automated Lane Keeping
47(40)
3.1 State Feedback
47(3)
3.2 Steady State Error from Dynamic Equations
50(4)
3.3 Understanding Steady State Cornering
54(6)
3.3.1 Steering angle for steady state cornering
54(4)
3.3.2 Can the yaw-angle error be zero?
58(1)
3.3.3 Is non-zero yaw angle error a concern?
59(1)
3.4 Consideration of Varying Longitudinal Velocity
60(2)
3.5 Output Feedback
62(1)
3.6 Unity Feedback Loop System
63(2)
3.7 Loop Analysis with a Proportional Controller
65(6)
3.8 Loop Analysis with a Lead Compensator
71(4)
3.9 Simulation of Performance with Lead Compensator
75(1)
3.10 Analysis of Closed-Loop Performance
76(4)
3.10.1 Performance variation with vehicle speed
76(2)
3.10.2 Performance variation with sensor location
78(2)
3.11 Compensator Design with Look-Ahead Sensor Measurement
80(1)
3.12
Chapter Summary
81(6)
Nomenclature
82(2)
References
84(3)
4 Longitudinal Vehicle Dynamics
87(26)
4.1 Longitudinal Vehicle Dynamics
87(14)
4.1.1 Aerodynamic drag force
89(2)
4.1.2 Longitudinal tire force
91(2)
4.1.3 Why does longitudinal tire force depend on slip?
93(2)
4.1.4 Rolling resistance
95(2)
4.1.5 Calculation of normal tire forces
97(2)
4.1.6 Calculation of effective tire radius
99(2)
4.2 Driveline Dynamics
101(8)
4.2.1 Torque converter
102(2)
4.2.2 Transmission dynamics
104(2)
4.2.3 Engine dynamics
106(1)
4.2.4 Wheel dynamics
107(2)
4.3
Chapter Summary
109(4)
Nomenclature
109(2)
References
111(2)
5 Introduction To Longitudinal Control
113(28)
5.1 Introduction
113(3)
5.1.1 Adaptive cruise control
114(1)
5.1.2 Collision avoidance
115(1)
5.1.3 Automated highway systems
115(1)
5.2 Benefits of Longitudinal Automation
116(2)
5.3 Cruise Control
118(1)
5.4 Upper Level Controller for Cruise Control
119(3)
5.5 Lower Level Controller for Cruise Control
122(4)
5.5.1 Engine torque calculation for desired acceleration
123(2)
5.5.2 Engine control
125(1)
5.6 Anti-Lock Brake Systems
126(10)
5.6.1 Motivation
126(3)
5.6.2 ABS functions
129(1)
5.6.3 Deceleration threshold based algorithms
130(4)
5.6.4 Other logic based ABS control systems
134(1)
5.6.5 Recent research publications on ABS
135(1)
5.7
Chapter Summary
136(5)
Nomenclature
136(1)
References
137(4)
6 Adaptive Cruise Control
141(30)
6.1 Introduction
141(2)
6.2 Vehicle Following Specifications
143(1)
6.3 Control Architecture
144(2)
6.4 String Stability
146(1)
6.5 Autonomous Control with Constant Spacing
147(3)
6.6 Autonomous Control with the Constant Time-Gap Policy
150(6)
6.6.1 String stability of the CTG spacing policy
151(2)
6.6.2 Typical delay values
153(3)
6.7 Transitional Trajectories
156(8)
6.7.1 The need for a transitional controller
156(2)
6.7.2 Transitional controller design through R -- R diagrams
158(6)
6.8 Lower Level Controller
164(1)
6.9
Chapter Summary
165(6)
Nomenclature
166(1)
References
167(1)
Appendix 6.A
168(3)
7 Longitudinal Control For Vehicle Platoons
171(30)
7.1 Automated Highway Systems
171(1)
7.2 Vehicle Control on Automated Highway Systems
172(1)
7.3 Longitudinal Control Architecture
173(2)
7.4 Vehicle Following Specifications
175(1)
7.5 Background on Norms of Signals and Systems
176(5)
7.5.1 Norms of signals
176(1)
7.5.2 System norms
177(1)
7.5.3 Use of induced norms to study signal amplification
178(3)
7.6 Design Approach for Ensuring String Stability
181(1)
7.7 Constant Spacing with Autonomous Control
182(3)
7.8 Constant Spacing with Wireless Communication
185(3)
7.9 Experimental Results
188(2)
7.10 Lower Level Controller
190(1)
7.11 Adaptive Controller for Unknown Vehicle Parameters
191(4)
7.11.1 Redefined notation
191(1)
7.11.2 Adaptive controller
192(3)
7.12
Chapter Summary
195(6)
Nomenclature
196(1)
References
197(2)
Appendix 7.A
199(2)
8 Electronic Stability Control
201(40)
8.1 Introduction
201(3)
8.1.1 The functioning of a stability control system
201(2)
8.1.2 Systems developed by automotive manufacturers
203(1)
8.1.3 Types of stability control systems
203(1)
8.2 Differential Braking Systems
204(14)
8.2.1 Vehicle model
204(4)
8.2.2 Control architecture
208(1)
8.2.3 Desired yaw rate
209(1)
8.2.4 Desired side-slip angle
210(1)
8.2.5 Upper bounded values of target yaw rate and slip angle
211(2)
8.2.6 Upper controller design
213(4)
8.2.7 Lower Controller design
217(1)
8.3 Steer-By-Wire Systems
218(6)
8.3.1 Introduction
218(1)
8.3.2 Choice of output for decoupling
219(3)
8.3.3 Controller design
222(2)
8.4 Independent All Wheel Drive Torque Distribution
224(4)
8.4.1 Traditional four wheel drive systems
224(1)
8.4.2 Torque transfer between left and right wheels using a differential
225(1)
8.4.3 Active control of torque transfer to all wheels
226(2)
8.5 Need for Slip Angle Control
228(7)
8.6
Chapter Summary
235(6)
Nomeclature
235(4)
References
239(2)
9 Mean Value Modeling Of SI And Diesel Engines
241(26)
9.1 SI Engine Model Using Parametric Equations
242(6)
9.1.1 Engine rotational dynamics
243(1)
9.1.2 Indicated combustion torque
243(1)
9.1.3 Friction and pumping losses
244(1)
9.1.4 Manifold pressure equation
245(1)
9.1.5 Outflow rate mao from intake manifold
246(1)
9.1.6 Inflow rate mai into intake manifold
246(2)
9.2 SI Engine Model Using Look-Up Maps
248(7)
9.2.1 Introduction to engine maps
248(4)
9.2.2 Second order engine model using engine maps
252(1)
9.2.3 First order engine model using engine maps
253(2)
9.3 Introduction to Turbocharged Diesel Engines
255(1)
9.4 Mean Value Modeling of Turbocharged Diesel Engines
256(4)
9.4.1 Intake manifold dynamics
257(1)
9.4.2 Exhaust manifold dynamics
257(1)
9.4.3 Turbocharger dynamics
257(1)
9.4.4 Engine crankshaft dynamics
258(1)
9.4.5 Control system objectives
259(1)
9.5 Lower Level Controller with SI Engines
260(2)
9.6
Chapter Summary
262(5)
Nomenclature
262(2)
References
264(3)
10 Design And Analysis Of Passive Automotive Suspensions
267(34)
10.1 Introduction to Automotive Suspensions
267(6)
10.1.1 Full, half and quarter car suspension models
267(3)
10.1.2 Suspension functions
270(1)
10.1.3 Dependent and independent suspensions
271(2)
10.2 Modal Decoupling
273(1)
10.3 Performance Variables for a Quarter Car Suspension
274(2)
10.4 Natural Frequencies and Mode Shapes for the Quarter Car
276(2)
10.5 Approximate Transfer Functions Using Decoupling
278(5)
10.6 Analysis of Vibrations in the Sprung Mass Mode
283(2)
10.7 Analysis of Vibrations in the Unsprung Mass Mode
285(1)
10.8 Verification Using the Complete Quarter Car Model
286(6)
10.8.1 Verification of the influence of suspension stiffness
286(2)
10.8.2 Verification of the influence of suspension damping
288(2)
10.8.3 Verification of the influence of tire stiffness
290(2)
10.9 Half-Car and Full-Car Suspension Models
292(6)
10.10
Chapter Summary
298(3)
Nomenclature
298(2)
References
300(1)
11 Active Automotive Suspensions
301(28)
11.1 Introduction
301(3)
11.2 Active Control: Trade-Offs and Limitations
304(9)
11.2.1 Transfer functions of interest
304(1)
11.2.2 Use of the LQR Formulation and its relation to H2-Optimal Control
304(2)
11.2.3 LQR formulation for active suspension design
306(1)
11.2.4 Performance studies of the LQR controller
307(6)
11.3 Active System Asymptotes
313(2)
11.4 Invariant Points and Their Influence on the Suspension Problem
315(2)
11.5 Analysis of Trade-Offs Using Invariant Points
317(3)
11.5.1 Ride quality/road holding trade-offs
317(2)
11.5.2 Ride quality/rattle space trade-offs
319(1)
11.6 Conclusions on Achievable Active System Performance
320(1)
11.7 Performance of a Simple Velocity Feedback Controller
321(2)
11.8 Hydraulic Actuators for Active Suspensions
323(2)
11.9
Chapter Summary
325(4)
Nomenclature
326(1)
References
327(2)
12 Semi-Active Suspensions
329(26)
12.1 Introduction
329(2)
12.2 Semi-Active Suspension Model
331(2)
12.3 Theoretical Results: Optimal Semi-Active Suspensions
333(7)
12.3.1 Problem formulation
333(2)
12.3.2 Problem definition
335(1)
12.3.3 Optimal solution with no constraints on damping
336(3)
12.3.4 Optimal solution in the presence of constraints
339(1)
12.4 Interpretation of the Optimal Semi-Active Control Law
340(2)
12.5 Simulation Results
342(3)
12.6 Calculation of Transfer Function Plots with Semi-Active Systems
345(2)
12.7 Performance of Semi-Active Systems
347(5)
12.7.1 Moderately weighted ride quality
347(2)
12.7.2 Sky hook damping
349(3)
12.8
Chapter Summary
352(3)
Nomenclature
352(1)
References
353(2)
13 Lateral And Longitudinal Tire Forces
355(42)
13.1 Tire Forces
355(2)
13.2 Tire Structure
357(2)
13.3 Longitudinal Tire Force at Small Slip Ratios
359(3)
13.4 Lateral Tire Force at Small Slip Angles
362(3)
13.5 Introduction to the Magic Formula Tire Model
365(2)
13.6 Development of Lateral Tire Model for Uniform Normal Force Distribution
367(8)
13.6.1 Lateral forces at small slip angles
368(3)
13.6.2 Lateral forces at large slip angles
371(4)
13.7 Development of Lateral Tire Model for Parabolic Normal Pressure Distribution
375(6)
13.8 Combined Lateral and Longitudinal Tire Force Generation
381(4)
13.9 The Magic Formula Tire Model
385(4)
13.10 Dugoff's Tire Model
389(3)
13.10.1 Introduction
389(1)
13.10.2 Model equations
390(1)
13.10.3 Friction circle interpretation of Dugoff's model
390(2)
13.11 Dynamic Tire Model
392(1)
13.12
Chapter Summary
393(4)
Nomenclature
393(2)
References
395(2)
14 Tire-Road Friction Measurement On Highway Vehicles
397(30)
14.1 Introduction
397(4)
14.1.1 Definition of tire-road friction coefficient
397(1)
14.1.2 Benefits of tire-road friction estimation
398(1)
14.1.3 Review of results on tire-road friction coefficient estimation
399(1)
14.1.4 Review of results on slip-slope based approach to friction estimation
399(2)
14.2 Longitudinal Vehicle Dynamics and Tire Model for Friction Estimation
401(7)
14.2.1 Vehicle longitudinal dynamics
401(1)
14.2.2 Determination of the normal force
402(1)
14.2.3 Tire model
403(1)
14.2.4 Friction coefficient estimation for both traction and braking
404(4)
14.3 Summary of Longitudinal Friction identification Approach
408(1)
14.4 Identification Algorithm Design
409(3)
14.4.1 Recursive least-squares (RLS) identification
409(1)
14.4.2 RLS with gain switching
410(2)
14.4.3 Conditions for parameter updates
412(1)
14.5 Estimation of Accelerometer Bias
412(3)
14.6 Experimental Results
415(7)
14.6.1 System hardware and software
415(1)
14.6.2 Tests on dry concrete road surface
416(2)
14.6.3 Tests on concrete surface with loose snow covering
418(1)
14.6.4 Tests on surface consisting of two different friction levels
419(2)
14.6.5 Hard braking test
421(1)
14.7
Chapter Summary
422(5)
Nomenclature
423(1)
References
424(3)
15 Roll Dynamics And Rollover Prevention
427(30)
15.1 Rollover Resistance Rating for Vehicles
427(6)
15.2 One Degree of Freedom Roll Dynamics Model
433(7)
15.3 Four Degrees of Freedom Roll Dynamics Model
440(4)
15.4 Rollover Index
444(4)
15.5 Rollover Prevention
448(5)
15.6
Chapter Summary
453(4)
Nomenclature
453(2)
References
455(2)
16 Dynamics And Control Of Hybrid Gas Electric Vehicles
457(36)
16.1 Types of Hybrid Powertrains
458(3)
16.2 Powertrain Dynamic Model
461(8)
16.2.1 Dynamic Model for Simulation of a Parallel Gas-Electric Hybrid Vehicle
461(3)
16.2.2 Dynamic Model for Simulation of a Power-Split Hybrid Vehicle
464(5)
16.3 Background on Control Design Techniques for Energy Management
469(11)
16.3.1 Dynamic Programming Overview
469(4)
16.3.2 Model Predictive Control Overview
473(5)
16.3.3 Equivalent Consumption Minimization Strategy
478(2)
16.4 Driving Cycles
480(2)
16.5 Performance Index, Constraints and System Model Details for Control Design
482(4)
16.6 Illustration of Control System Design for a Parallel Hybrid Vehicle
486(2)
16.7
Chapter Summary
488(5)
Nomenclature
488(2)
References
490(3)
Index 493