The familiar two-axle bicycle model and associated basic concepts of vehicle handling are reviewed and used to introduce minor changes in convention from the literature. The two-axle model is extended to a three-axle vehicle to illustrate the effectiveness of the notation combined with a simplifying mathematical identity found in the two-axle vehicle literature. A generalised system of equations has been developed that describes the fundamental handling dynamics of a vehicle with an arbitrary number of axles. The familiar two- and three-axle models are seen to be special cases of the generalised model. These equations result in generalised values for wheelbase and understeer that characterise complex vehicles just as readily as for the simple two-axle vehicles where they were derived. The values for wheelbase and understeer serve to describe vehicle steady-state behavior through various characterisations derived from the yaw rate response. Furthermore, these values are seen to characterise dynamic response through root locations of the characteristic polynomial of the vehicle. The generalised development of a multi-axle vehicle model can also include any arbitrary number of steered axles. When multiple axles are steered with independent control inputs the understeer concept loses significance; however, using the equations developed in this work the dynamic model of such a vehicle can be written by inspection.
Generalised multi-axle vehicle handling
Verallgemeinerte Lenkung eines Mehrachsfahrzeugs
Vehicle System Dynamics ; 50 , 1-3 ; 149-166
2012
18 Seiten, 5 Bilder, 2 Tabellen, 18 Quellen
Article (Journal)
English
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