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Graduate courses

Departments' graduate courses for PhD-students.

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Syllabus for

Academic year
TME101 - Advanced vehicle dynamics
 
Syllabus adopted 2010-02-25 by Head of Programme (or corresponding)
Owner: MPAUT
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Mechanical Engineering, Engineering Physics
Department: 42 - APPLIED MECHANICS


Teaching language: English
Maximum participants: 40

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course
0109 Project 4,5c Grading: UG   4,5c    
0209 Examination 3,0c Grading: TH   3,0c   26 May 2011 pm M,  Contact examiner

In programs

MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 
MPAUT AUTOMOTIVE ENGINEERING, MSC PROGR - Vehicle Dynamics specialization, Year 1 

Examiner:

Docent  Mathias Lidberg


Replaces

TME100   Advanced vehicle dynamics


Eligibility:

For single subject courses within Chalmers programmes the same eligibility requirements apply, as to the programme(s) that the course is part of.

Course specific prerequisites

Vehicle dynamics, Control theory

Aim

The course aims to extend the student's existing knowledge in vehicle dynamics beyond investigating the longitudinal, lateral and vertical dynamics independently using linear models. In this course the focus is put on the understanding of the coupled dynamics of the vehicle including non-linear effects. The course also aims to introduce some vehicle-specific signal processing and automatic control used in automated subsystems.

Learning outcomes (after completion of the course the student should be able to)

- Identify and discuss factors that cause interactions between the different vehicle subsystems - Develop and implement computer models of vehicle dynamics behaviour and critically analyze results from numerical simulations. - Identify and mathematically characterize linear and nonlinear tire behaviour and the influence of this behaviour on vehicle performance. - Determine the limits of acceleration and braking and also select the best vehicle setup in terms of weight distribution, wheel usage, etc. for optimized vehicle stability and braking performance. - Identify suspension and tire characteristics influencing vehicle chassis performance and stability in both low and high-speed manoeuvres, under both steady-state and transient manoeuvres, with the ability to mathematically justify how changes in lumped vehicle parameters can be stabilizing or destabilizing. - Understand how to extend the mathematical analysis of the passenger car to heavy vehicles. - Understand and characterize the change in vehicle performance and vehicle/roadway interaction due to automated subsystems such as ABS, ESC, rear-wheel steering, and active suspension. - Construct specifications for vehicle control systems.

Content

The course starts with a review of the advanced mathematics and mechanics concepts and notations used in the course. The tire and vehicle models suitable for analyzing the coupled dynamics during steering/braking are developed and then used to evaluate vehicle performance during various maneuvers. The challenges posed by studying articulated vehicles is then discussed but not covered in detail. At the end of the course some aspects about vehicle stability and the principles, basic implementation and specifications for vehicle control are included. The course material is separated in five modules. Introduction/Preliminaries: The course starts with a review of the advanced mathematics and mechanics concepts and notations used in the course. The tire and vehicle models suitable for analyzing the coupled dynamics during steering/braking are developed and then used to evaluate handling performance evaluation in various maneuvers. Some aspects about vehicle stability and the principles, basic implementation and specifications for automated vehicle control systems are included. At the end the challenges posed by heavy vehicles are discussed but not covered in detail. The course material is separated in five modules. Introduction/Preliminaries: Mathematics and Mechanics Terminology & Notations Relative Motion, Rigid Body Kinematics & Dynamics (Newton 2.5D) Linearization, Linear Analysis (Eigenvalues, Transfer Functions, Bode Plots) Linear and Non-Linear Stability Concepts Vehicle Dynamics Terminology & Notation Fundamental Vehicle Dynamics Importance of Tires Tire Forces/Moments & Kinematics ISO Tire Axes & Terminology Mathematics and Mechanics Notations Module 1: Vehicle Modeling The Planar Non-Linear One Track Model (Bicycle Model) The Planar Non-Linear Two Track Model Nonlinear tire and suspension effects to be considered: - The Effect of Roll and Pitch Motions - Load Transfer Effect on Cornering Stiffness - Combined Slip Tire Forces - Effective Axle Characteristics - Braking/Steering Actuator Saturation and Delays Module 2: Tire Modeling Tire Forces/Moments & Kinematics ISO Tire Axes & Terminology Longitudinal/ Lateral/ Combined Slip Stationary and Transient Tire Forces Review of Industry Standard Tire Models (TMEasy, Brush Tire, Magic Formula) Module 3: Handling Performance Evaluation Steady State Cornering The Handling Diagram Millikens Moment Method (MMM) Transient Maneuvers (Step steer, Throttle on/off during Cornering) Dynamic Maneuvers (Lane Change, Sine with Dwell) Module 4: Vehicle Stability Control Basic Signal Processing Theory Basic Control Theory Vehicle Parameters and States Road and Basic Driver Models Principles, Basic Implementation and Specifications for Vehicle Control Systems: - Anti-Lock Braking System (ABS) - Traction Control Systems (TCS) - Electronic Stability Control (ESC) - Active Front/Rear Steering (AFS/RAS) - Active Suspension & Damping Module 5: Heavy Vehicles - Steady State Cornering of Single Unit Heavy Trucks and a Tractor-Semitrailer Combination - Effect of Tandem Axles and Dual Tires - The Equivalent Wheelbase Concept - Handling Diagram of Complex Vehicles - Tractor Jackknife & Trailer Swing.

Organisation

- Lectures
- Problem solving sessions
- Assignments

Literature

Lidberg, M., Vehicle Dynamics, Stability and Controls (lecture notes). References Pacejka, H.B., Tyre and Vehicle Dynamics, 2002. Kiencke, U. and Nielsen, L., Automotive Control Systems, 2005 Wong, J.Y., Theory of Ground Vehicle, 2001. Gillespie, T.D., Fundamentals of Vehicle Dynamics, 1992. Dixon, J.C., Tires, Suspension and Handling, 2nd Edition, SAE Press, 1996. Ellis, J.R., Vehicle Handling Dynamics, Mechanical Engineering Publication Limited, London, 1993. Adams, H., Chassis Engineering: Chassis Design, Building, & Tuning for High Performance Handling. Matlab/Simulink Users Guide, Mathworks Inc.

Examination

- Project (60%)
- Written Exam (40%)


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