Vehicle Dynamics and Robot Vehicles
Jim Van de Ven February 16, 2005
Unless otherwise noted, all images from: Gillespie, Thomas D. Fundamentals of Vehicle Dynamics
Outline
Background Robotic Vehicles Vehicle Dynamics Basics Two Wheel (Bicycle) Model Stability Steering Control System
Background Information
MTS Systems Vehicle Dynamics Division SAE Mini-Baja Formula SAE Mini-Indy Legend Air Suspension Arctic Cat Snowmobiles Robotic Vehicles Other
Picture From: http://www.legend-airride.com
Robot Vehicles
What Distinguishes a Robot? Autonomous? Intelligent Mechanism? Useful Task?
Segway Cadillac Night Vision System Kodiak- Univ of Alberta
Robot Vehicle Examples
Scout Developed by Univ of MN, MTS, Honeywell, and ATC
Video From: http://distrob.cs.umn.edu/scout.php
Robot Vehicle Examples
Soccer Segway Carnegie Mellon Univ
Video From: ftp://brim.coral.cs.cmu.edu/pub/ro bot/segway/movies/index.html
Robot Vehicle Examples
Intelligent Ground Vehicle Competition
Collegiate Competition: June 11-13, 2005 Traverse City, MI
Picture From: http://www.igvc.org/deploy/
Two Wheel (Bicycle) Model
Low Speed Turning R= L/ (for small )
Two Wheel (Bicycle) Model
High Speed Cornering
Tires Slip During All Cornering Center of Turn Dictated by Front vs. Rear Slip
Tire Slip Angle
Difference Between Direction of Travel and Direction the Wheel is Pointing Torsional Spring- Hand on Table Example
Tire Slip Angle
Tire Model
Tires Behavior is Not Linear Camber Creates Lateral Force
Camber Thrust
Camber: Angle of Tire Lean From Vertical Examples: Motorcycle Road Grader Tracking Grooves in Road
Picture From: http://www.caterpillar.com
Picture From: http://www.motorcyclesafety.state.mn.us
Stability- Oversteer (Loose)
Rear Lateral Traction Exceeded Vehicle Enters a Spin Completely Unstable Above Critical Speed
Oversteer Video
Video From: http://www.esceducation.org/about_esc/how_esc_works/
Critical Speed- Equations
WF<WR r L WF WR = = - K * V 2 K= =Neg CF CR 1+ =0 57.3 * L * g
V
r=Yaw Rate (deg/sec) =Steer Angle (deg) V=Velocity (ft/sec) L=Wheelbase (ft) K=Understeer Gradient (deg/g) C=Tire Cornering Stiffness (lb/deg) W=Weight (lb)
Understeer (Push)
Front Lateral Traction Exceeded Vehicle Slides Straight Most Production Vehicles are Understeer
Understeer Video
Video From: http://www.esceducation.org/about_esc/how_esc_works/
Stability Examples
Shopping Cart
Push Forwards Understeer Push Backwards Oversteer (No Rear Lateral Force)
Pulling Emergency Brake
Oversteer (Low Lateral Force of Sliding Rear Tires)
Bicycle Model
Inherent Downfalls: Lateral Weight Transfer Steering Geometry Camber and Roll Center Motorcycle Camber Force
4 Wheel Model
Turning Radius Ackerman Steering: Ideal Steering Geometry
Inner Tire Turns More than Outer Tire Perpendicular Bisectors Meet
More Advanced Dynamics
Suspensions Tuning Oversteer/Understeer Roll Centers Camber Change Acceleration/Deceleration Transient Behavior Active Suspensions Aerodynamics Tire Behavior
Steering Control System
Open-Loop Transfer Function
Physical System Free Body Diagrams Governing Equations Laplace Transform Solve Simultaneously
Graph From: http://www.ee.usyd.edu.au/tutorials_online/matlab/examples/motor/motor.html
Closed-Loop Block Diagram
U(s) G(s) H(s) Y(s)
Closed Loop Transfer Function:
Y ( s) G (s) = U (s) 1 + G (s) H (s)
P, D, and I Control
Proportional Control: Decreases Rise Time Derivative Control: Decreases Overshoot Integral Control: Minimizes St-St Error
Graph From: http://web.mit.edu/2.003/www/extra_files/trans.pdf
P, PD, PI, PID Controllers
U(s) Controller G(s) Y(s)
1 Open Loop: s 2 + 4s + 3 KP P: s 2 + 4s + 3 + K P
PD: PI: PID:
KDs + KP s 2 + (4 + K D ) s + 3 + K P KPs + KI s 2 + 4 s + (3 + K P ) s + K I
KDs2 + KPs + KI s 3 + (4 + K D ) s 2 + (3 + K P ) s + K I
Matlab Controller Tuning
