Vehicle System Dynamics and Control

Introduction and Course Overview Prof. R.G. Longoria Updated Spring 2011

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

A definition of mobility
mobile adj. capable of moving or being moved mobility n. having the capacity to move or to be moved from place to place locomotion n. the act of moving or ability to move from place to place (L locus, place)
This course is concerned with how vehicle systems and controls enable locomotion via ground mobility.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Vehicle Systems
In our current technological state, mobility requires use of a vehicle.* Vehicle n. Any device for carrying passengers, goods, or equipment, usually one moving on wheels or runners, as a car or sled. Automotive adj. of or pertaining to selfpropelled vehicles
*Still no transporters
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Automotive On-Road, Passenger

Saturn F-150 Escape

BMW Series 7 roll stabilization

GM Autonomy concept

Continuous technology innovation

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Prius

Department of Mechanical Engineering The University of Texas at Austin

Off-Road Industrial/Utility/Military
Toro Dingo

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Unmanned Ground Vehicles

NASA Spirit

Crusher (CMU)

iRobot PackBot

Foster-Miller TALON

Urban Challenge (Stanford, VaTech)

Google
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Personal Mobility
Bicycles

Powered wheel-chair Human/Nature Powered Wheels

chainless

Segway Human Transporter

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

GV Classifications
On-road, passenger Off-road, industrial, military Unmanned, autonomous Personal mobility

Discussion Problem 1: These types of classifications imply certain types of constraints on the overall vehicle design based on how it is expected to operate. Choose the application area that interests you and discuss some of the design requirements that you think would be important.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Ground Vehicle Classification

Ground vehicle n. vehicles that are supported by the ground, in contrast to aircraft and marinecraft that in operation are supported by air and water, respectively Guided Ground Vehicle n. constrained to move along a fixed path (guide-way), such as railway vehicles and tracked levitated vehicles Non-Guided Ground Vehicle n. can move in various directions on the ground, such as on-road and off-road vehicles.
Ref.: J.Y. Wong, Theory of Ground Vehicles
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Motion of a non-guided ground vehicle is controlled almost entirely by forces developed between the running gear (tires, tracks, or runners) and the road or terrain. These forces need to be well understood!
Only for brief moments might this not be true. CarSim simulation of a vehicle leaving ground.

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Morphology of Motor Vehicles and Environment per Bekker

Bekker (1956) discusses the following concepts in vehicle design, providing a basis for challenging the evolution of vehicle types.
Form index Bekkers seminal works examine Specific weight how a vehicle should be designed to meet requirements while Size and Form considering the environment. Origin of Forms Form, environment, and their relationship Stabilization of Forms and Vehicle Concept
Department of Mechanical Engineering The University of Texas at Austin

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Mieczyslaw G. Bekker
(1905-1989)
M.G. Bekker was a Polish-American engineer and scientist who graduated from Warsaw Technical University (Warsaw, Poland) in 1929. He moved to France in 1939, and from 1942 lived in Canada and the U.S. before finally settling in the U.S. in 1956. He was a leading specialist in the theory and design of military and off-the-road locomotion vehicles, and an originator of a new engineering discipline called "terramechanics". He worked for Polish Ministry of Military Affairs (1931-1939), lectured at the Warsaw Technical University (1936-1939) and several U.S. universities, then worked in General Motors laboratories in Santa Barbara, CA (1960-1970), and consulted with the Canadian and U.S. armies. Bekker authored the general idea and contributed significantly to the design and construction of the LRV (Lunar Roving Vehicle) used by missions Apollo 15, Apollo 16, and Apollo 17 on the Moon. He was an author of several patented inventions in the area of off-the-road vehicles, including those for extraterrestrial use.

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Form and Environment

If the impact of the environment upon a vehicle form can be reflected in the value of the operational speed, then the attempt to improve vehicle morphology could be reduced to the study of means which would increase that speed in various terrain conditions, as visualized by the combination of various degrees of surface roughness with various degrees of mechanical strength of soil. (Bekker, 1956, p. 89)
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Bekkers work addressed selection of appropriate vehicle design for a given environment

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Course Objectives
Study basic vehicle dynamics and gain familiarity with concepts in performance, handling, and ride analysis Practice using system analysis and design tools with the intent of increasing our capacity to
understand and design modern and future vehicle systems/subsystems, understand these systems well enough to provide design support and diagnostic input, understand the impact of system changes on the practical aspects of manufacturing either production vehicles or one-off prototype vehicles.

Use analytical/computational tools useful in vehicle system analysis and control design Study specific vehicle designs in typical operations on terrains of interest
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Type of background expected

An engineering background with good knowledge of mechanics Be prepared to study and apply concepts from dynamic systems, vibrations, and control systems, and the typical type of mathematical models used in these areas: ODEs, state space, transfer functions, etc. Should know how to run a digital simulation and how to present results and be willing to spend time getting these types of solutions running correctly Should be willing to learn how to use new types of software for modeling and analysis: Matlab/Simulink, LabVIEW Control and Simulation, MSC.ADAMS This course is meant to provide an opportunity to learn about vehicle dynamics and vehicle control systems. Active participation in the process is expected, including exploring other references and finding resources that improve understanding and expand on what has been discussed during lecture. It is not possible to cover everything in lecture that might be needed to solve all homework or project work, and it is expected that you will fill in gaps as needed to improve your understanding.
Department of Mechanical Engineering The University of Texas at Austin

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Vehicle System Interactions

To understand ground vehicle behavior we need to understand interactions between a driver, the vehicle, and the environment. - See diagram. To understand and/or design for a desired overall system behavior, we need to study:
characteristics of the vehicle system dynamics physical and geometric properties of the ground interaction of running gear and environment behavior of driver and/or controlling element(s)
Department of Mechanical Engineering The University of Texas at Austin

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Driver-Vehicle-Ground System
System-level diagram
Adapted from Wong (2001)
Visual and Other Inputs Ground Conditions

Accelerator, Brakes Driver Steering System

Performance

Handling

Ride Surface Irregularities

From Doebelin (1980)

Aerodynamic Loads

Vehicle systems and principal types of operating modes

ME 379M/397 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Terrain-Vehicle Systems

Bekker, 1960
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Remaining Discussion
Assessing ground vehicle design Overview of vehicle system dynamics and types of models Control systems in vehicles

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Assessing Ground Vehicle Design

How can you make sure that the (electromechanical) design of a vehicle enables it to be controlled to achieve specified mobility requirements? How do you rationalize a design? Rational mechanics:
http://science.jrank.org/pages/10483/Newtonianism-Rational-Mechanics.html

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Models for Design/Control

Our goal is to study models appropriate for a given vehicle application/analysis: Large-scale, nonlinear complex, highly detailed computer models
Very complex, subsystem models Require high maintenance and complex assembly Extensive development time (2-6 man/months), extensive data collection for parameters Capable of very impressive animations (CarSim, TruckSim, ADAMS, etc.)

Small scale, linear or nonlinear models

Mostly differential equations, combined with look-up tables, data, etc. Use steady state simplification or as computer models Used for the design and analysis of vehicle dynamics, embedded computer controls Fast computational time Low cost to run and relatively short development time Useful for running many parametric studies

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Choosing a Model
Major deciding factors are cost and time. The more detailed the model the higher the cost in terms of computer hardware, development time, run time and delivery time. It is always advisable to attempt to create a model that:
1. 2. Has only as many states as needed to capture the dominant modes of behavior that we are interested in. Has the least number of parameters; each parameter is associated with a data collection cost and minimizing the data will minimize the total cost of the model. Furthermore, vehicle data is usually stochastic: the car mass is not fixed, it changes with the number of passengers or the amount of fuel in the tank, so does the tire stiffness that changes depending on the tire temperature. The smaller the model the less data is required and that reduces uncertainty error in the model.

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Dynamics and System Dynamics

Basic force analysis

These figures illustrate typical analysis/modeling required vehicle system dynamics.

Emphasis on: -simplifying the model -using basic analysis that includes use of proper coordinate systems, FBDs, force analysis, etc.

Traction/Braking

Skid steer (Bekker)

Steering and handling

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Vehicle Drive Train Systems

Drive trains are formed from: Clutches Manual transmissions and transaxles Automatic transmissions Electric drives

Gillespie (1992)

Karnopp and Rosenberg (1970)

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Performance
We are here concerned with evaluating a vehicles ability to: Accelerate Develop drawbar pull Overcome obstacles Decelerate
Purpose: For insight on how to improve the acceleration and braking responses of the vehicle. To determine the engine and powertrain characteristics Assess energy consumption, efficiency, etc.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

For a given application, it is necessary to decide how detailed to model the powertrain, tire-road interaction, etc.

Department of Mechanical Engineering The University of Texas at Austin

Power-Speed Limits for Vehicles

This graph shows estimates of maximum attainable speed for given vehicle specific power. The lower the line, the more efficient the mode of locomotion. Gabrielli and von Karman found main factor is mechanical properties of materials. Radical improvements may need to look at other than material improvements. Resistance of the environment to locomotion also a large factor.
We may revisit this basic measure later when we study performance modeling.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control
P = 0.001 v 2 hp/ton mg

[ v ] = mph

Wheels on rails have a very different ratio of frontal area to mass and fall below the G-vonK line (much lower aero losses)

Bekker, 1960
Department of Mechanical Engineering The University of Texas at Austin

Vehicle Steering and Handling

Qualities that refer to the response of the vehicle to the drivers commands and its ability to stabilize its motion against external disturbances. Handling evaluates the dynamics of the vehicle in response to driver's steering input. It includes cornering, directional stability, roll-over, and load transfer. With a driver in the loop, the vehicle system is considered closed-loop. Vehicle characteristics are often developed with specific steering inputs, for example, in order to derive open-loop response. Purpose: To improve the ability of the car to follow a desired steering input curve. Steering and suspension mechanisms rely on results from handling analysis.

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Handling
Concerned with the motions of a car outside of its plane of symmetry responsiveness of a vehicle to driver input or the ease of control Handling often refers to an overall measure of vehicledriver interaction
ease by which it is possible to steer or achieve a desired path ease by which a path or heading is maintained

Segel (1956) Handling is concerned with the yawing, rolling, and sideslipping as might result from steering inputs or disturbances (e.g., wind, road, etc.)
Department of Mechanical Engineering The University of Texas at Austin

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Example: Selecting Handling Model

Select or develop a model with yaw and lateral velocity as state variables. This basic and relatively low cost model is useful for dynamic as well as steady state turning, and can be used to experiment with feedback controls for vehicle steering. Once a design is completed it can then be tested on more detailed and larger scale computer models that include significant nonlinearities and more states. The large scale models are less costly than testing on real cars, and allow for repeatable testing. Testing a physical vehicle might follow testing and parametric study using the computer simulations, which might be first used to fine tune a design.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Ride
Ride characteristics are related to the vibration of the vehicle excited by surface irregularities and its effect on passengers and/or payload. Ride can specifically refer to tactile and visual vibration (0-25 Hz), while aural vibrations are characterized as noise (2520,000 Hz). Purpose: To evaluate vehicle vibration, a critical criteria for judging the quality of a vehicle. To improve comfort and road isolation while maintaining wheel/ground contact. Suspension system design is primarily based on ride analysis.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Vibration Models

Level of difficulty

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Multibody Dynamics Models

Wong (Fig. 7.3) Free body diagram

Vibrations problem

Liljedahl, et al, (1996)

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Example: CarSim model

Body-fixed coordinate axes 5 rigid bodies (body, 4 wheels) Vehicle body with 6 degrees of freedom (DOF) 4 wheels have 1 translational DOF relative to the body Each wheel has force from suspension tire force (3 directional components) Spin of wheels can be included in drivetrain separately from vehicle body/wheel dynamics

See the Carsim website: www.carsim.com We may use an educational version of this program.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Control Systems

Modern ground vehicle systems take advantage of and have motivated many advancements in sensor, actuator, and computing technologies to achieve and/or improve performance in many different ways. Vehicle control systems can be categorized into three areas:
Powertrain control this involves control of the power plant (e.g., engine) and power transmission systems Vehicle motion control refers to control of a vehicles motion, and includes ground speed control (cruise), braking/traction control, suspension control, and steering control Body control refers to systems that enhance energy control, communications, comfort, etc.

In this course, we are mostly concerned with vehicle motion and to a lesser extent with powertrain; these two are somewhat integrated in modern systems.
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Dynamics Control (VDC)

To enhance vehicle dynamic response, steering, stability, ride and handling Suspension control Steering control Braking control (e.g., ABS) Traction control systems (TCS) Electronic stability program (ESP) Electronic transmission-shift control
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Vehicle Subsystems Control

Engine management and control Driveline control Electrical/electronic systems
starter systems instrumentation and lighting comfort (cruise control, temperature, etc) Powertrain control

Occupant safety systems

restraint rollover

Body control

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Vehicle Innovations
Developed in Stages Basic: anti-lock braking, traction control* Next-stage: interactive vehicle dynamics (IVD) control or vehicle stability control (VSC) Trend is toward coordinated efforts to achieve objectives
*adapts engine torque to match available traction

Powers and Nicastri (2000)

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Reliance on Sensing
Sensors form an integral part of modern vehicles. Information from the sensors must be shared, and significant effort is required to make this cost effective.

Powers and Nicastri (2000)

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Electronic Stability Program (ESP)

Without ESP

With ESP

From Bosch, 1999

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

Stability and Control

Stability and control concepts will introduced to study how a baseline vehicle system may perform. In addition to application to typical on-road vehicles, we may examine other types of systems such as:
Ground robotic vehicles Personal mobility vehicles (bicycles, skateboards, etc.)
ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control Department of Mechanical Engineering The University of Texas at Austin

Summary
We cant do it all remind me of that. Review dynamics as we introduce the different types of vehicle models. Motivate the need for controls. Use computer-based analysis and simulation to understand response behavior and the influence of controllers. There is some baseline material that will be covered through assignments/homework, with extensions made through projects. Have fun, build an appetite to learn more in this field.

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control

Department of Mechanical Engineering The University of Texas at Austin

References
Bekker, M.G., Theory of Land Locomotion: The Mechanics of Vehicle Mobility, The University of Michigan Press, Ann Arbor, MI, 1956 (1962). Bosch, R., Driving Safety Systems, SAE, 1999. Doebelin, E.O., System Modeling and Response, John Wiley and Sons, New York, 1980. Gillespie, T.D., Fundamentals of Vehicle Dynamics, SAE, Warrendale, PA, 1992. Goodwin, G.C., S.F. Graebe, and M.E. Salgado, Control System Design, Prentice-Hall, 2001. Hrovat, D. and W.F. Powers, Computer Control Systems for Automotive Power Trains, IEEE Control Systems Magazine, Vol. 8, pp. 3-10, August 1988. Karnopp, D. and R. Rosenberg, Application of Bond Graph Techniques to the Study of Drive Line Dynamics, Journal of Basic Engineering (ASME), pp. 355-362, June 1970. Powers, W.F. and P.R. Nicastri, Automotive vehicle control challenges in the 21st century, Control Engineering Practice, Vol. 8, pp. 605-618, 2000. Rajamani, R., Vehicle Dynamics and Control, Springer, New York, 2006. Ribbens, W.B., Understanding Automotive Electronics, Newnes, 1998 (5th edition). (1982 edition, Radio Shack) Stockel, M.W., M.T. Stockel, and C. Johanson, Auto Fundamentals, The Goodheart-Willcox Company, Inc., Tinley Park, IL, 1996.
Department of Mechanical Engineering The University of Texas at Austin

ME 360/390 Prof. R.G. Longoria Vehicle System Dynamics and Control