Common methods for analyzing vehicle lateral dynamics based on linear mathematical models may yield qualitatively wrong results with respect to driving maneuvers at the adhesion limit. If the mathematical model is extended by the nonlinear saturation characteristics of the wheel to road force transmission, the lateral dynamics stability properties can be visualized by a newly introduced diagram. The nonlinear critical speed, which was introduced in this paper as well, allows a basic assessment of the vehicle's yaw damping properties with respect to driving maneuvers at the adhesion limit by means of one single characteristic value. This characteristic value can be calculated numerically by taking advantage of Lyapunov's stability theory for nonlinear systems or alternatively approximated by an analytic formula depending on physical parameters of the well known linear single track model. Investigations by applying different vehicle parameter settings indicate a good correlation between the stability region of the v/f stability diagram and the nonlinear critical speed. The newly introduced tools provide a descriptive visualization of what test drivers call 'yaw damping' or 'anlehnen' and thus represent a valuable instrument for tuning lateral dynamics control systems.
An innovative approach for stability assessment with respect to dynamic driving at the adhesion limit
2012
18 Seiten, 10 Bilder, 1 Tabelle, 8 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
Innovative Electrostatic Adhesion Technologies
British Library Conference Proceedings | 2015
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