Beruflich Dokumente
Kultur Dokumente
Dr. M. Gerdts
Contents
i
1
lv
lh eSP
αv vv
δ
v FLx
α
Fsv
ψ
FLy
Fuv
αh
vh
Fuh
Fsh
Notation:
Explanation: Since the car body does not expand or shrink, the velocity components in
the longitudinal direction of the car body have to be equal:
v cos β = vh cos αh
= vv cos(δ − αv ).
In the lateral direction the difference between the velocities is given by the yaw angle
velocity:
vh sin αh = lh ψ̇ + v sin β,
vv sin(δ − αv ) = lv ψ̇ − v sin β.
Combining these four equations yield the above formulas for the respective slip angles.
where
Mmot (φ, i) = f1 (φ) · f2 (wmot (i)) + (1 − f1 (φ))f3 (wmot (i))
v · ig (i) · it 1
wmot (i) = ·
R 1−S
denotes the rotary frequency of the motor depending on the gear i and the longitudinal
slip S. For convenience, the slip is neglected, e.g. S = 0.
If the slip is not neglected, it is defined by
v
1− R·ϕ̇
, if v ≤ R · ϕ̇,
S= R·ϕ̇
1− , otherwise
v
1.3 Longitudinal tyre forces 3
ϕ̇ denotes the rotary frequency of the wheel and is given by the differential equation
IR · ϕ̈ = Fuh · R.
f1 (φ) = 1 − exp(−3φ),
2
f2 (wmot ) = −37.8 + 1.54 · wmot − 0.0019 · wmot ,
f3 (wmot ) = −34.9 − 0.04775 · wmot .
braking force:
The braking force is distributed on the front and rear wheels by the formulas
2 1
FBv = FB , FBh = FB
3 3
such that FBv + FBh = FB holds.
rolling resistance:
The rolling resistance force at the front and rear wheel, respectively, is given by
where 4
v v
fR (v) = fR0 + fR1 + fR4 (v in [km/h]),
100 100
is the friction coefficient and
m · lh · g
Fzv = ,
lv + lh
m · lv · g
Fzh =
lv + lh
denote the static tyre loads at the front and rear wheel, respectively.
Mwheel (φ, i)
Fuh = − FBh − FRh
R
4 1 SINGLE TRACK MODEL
1
FLx = · cw · ρ · A · v 2 ,
2
1
FLy = · cy · ρ · A · vR2
2
Notation:
ẋ = v cos(ψ − β),
ẏ = v sin(ψ − β),
1
v̇ = [(Fuh − FLx ) cos β + Fuv cos(δ + β) − (Fsh − FLy ) sin β − Fsv sin(δ + β)] ,
m
1
β̇ = wz − [(Fuh − FLx ) sin β + Fuv sin(δ + β) + (Fsh − FLy ) cos β + Fsv cos(δ + β)] ,
m·v
ψ̇ = wz ,
1
ẇz = [Fsv · lv · cos δ − Fsh · lh − FLy · eSP + Fuv · lv · sin δ]
Izz
1.7 Equations of motion II 5
1
ẍ = [(Fuh − FLx + Fuv cos δ − Fsv sin δ) cos ψ − (Fsh − FLy + Fuv sin δ + Fsv cos δ) sin ψ]
m
1
= [(Fuh − FLx ) cos ψ + Fuv cos(δ + ψ) − Fsv sin(δ + ψ) − (Fsh − FLy ) sin ψ]
m
1
ÿ = [(Fuh − FLx + Fuv cos δ − Fsv sin δ) sin ψ + (Fsh − FLy + Fuv sin δ + Fsv cos δ) cos ψ]
m
1
= [(Fuh − FLx ) sin ψ + Fuv sin(δ + ψ) + Fsv cos(δ + ψ) + (Fsh − FLy ) cos ψ]
m
1
ψ̈ = [Fsv · lv · cos δ − Fsh · lh − FLy · eSP + Fuv · lv · sin δ]
Izz
1.8 Constraints
The steering angle is restricted by
0 ≤ FB ≤ 15000 [N ].
0 ≤ φ ≤ 1.
1.9 Parameters
Car:
6 1 SINGLE TRACK MODEL
Drag:
Gear shift:
Tyre: AT-model
Tyre: Pacejka-model
1.9 Parameters 7
Rolling resistance: