SINAV SORU VE CEVAP KAĞIDI

QUESTION and ANSWER SHEET

Dersin Kodu: Dersin Adı: Dersin Şubesi:

Course Code: Course Title: Course Section:
MAK 537/ SAP 502 Vehicle Dynamics 01

Ders Sorumlusu Öğretim Sınav Tarihi: Sınav Saati:

Elemanının Adı Soyadı: Date of Exam: Hour of Exam:
Name of Lecturer: ANDAÇ TÖRE ŞAMİLOĞLU 16/ 12 / 2021 --:--

Adı Soyadı: Öğrenci Numarası:

Name-Surname: Student Number:

Fakülte/MYO/YO/Enstitü: Bölüm/Program:
Faculty/Vocational School/Institute: Department/Programme:

2021-2022 Fall Semester

TAKEHOME MIDTERM EXAM (Due to 23.12.2020)
Duration: 1 Week
PROBLEM 1) Using the bicycle model of an automobile with parameters as specified below,

a) Calculate the understeer coefficient, and the critical or characteristic speed as appropriate.
b) Plot the real and imaginary parts of the eigenvalues of the model as forward speed U is
increased by 10 kph increments in the range 10 - 180 kph. Comment on the comparative
stability of the vehicle.
c) Model the dynamics of the system using Matlab or Matlab Simulink toolbox. Show the
response of system for
i) Unit step response with delay (1 degree stering at t=2s),
ii) Full sine wave shown in figure

Figure 1. Full Sine wave

Vehicle Parameters:

m = 1297 kg, J = 2192 kg.m2, a= 1.64 m, b = 1.0 m, Cf = -90000 N/rad, Cr = -75000 N/rad
PROBLEM 2) Consider the specifications for the two tractor-semitrailer combinations given
below.
a) Determine the handling behavior of the combinations and calculate the critical or
characteristic speed, whichever is applicable.
b) Obtain the linearized matrix equations, i.e., elements of the matrices [M], [A], and
{B}, for the plane motions of a tractor-semitrailer combination using the state vector :
{𝑥} = [𝑣 𝑟 𝛹 𝛹̇]𝑇
c) Use matrices [M] and [A], to obtain system eigenvalues, varying forward speed in the
range from 10 to 120 kph using 10 kph increments, for the combinations. Plot the imaginary
versus real parts of the eigenvalues. Prepare a table of the eigenvalues in the form

Eigenvalue/U [kph] 10 20 30 40 50 60 70 80 90 100 110 120

1
.

for each combination and observe which eigenvalue (if any) crosses the imaginary axis first.

d) Do the results you have obtained in parts a) and c) agree? If they do not, explain
the reason why they do not agree.

e) Apply a single period of sinusoidal function as a steering input. Take amplitude as 5

degrees and period as 2s. Sketch yaw speed, lateral accelerations and the path for both tractor
and semitrailer. You might use Matlab or Matlab Simulink toolbox
 Parameter Unit 1 Unit 2
m [kg] 1562 1496
J [kg m2] 2685 3004
a [m] 1.271 1.25

Tractor
b [m] 1.411 1.55
e [m] 2.804 2.83
Cf [kN/rad] 33.8 29.0
Cr [kN/rad] 49.8 64.0
mt [kg] 906 2160
J [kg m2] 830 7759
Semi-Trailer

c [m] 0.213 3.87

d [m] 2.387 0.43
Ct [kN/rad] 44.48 73.4

➢ Submit your solutions (hand solutions, codes and other relevant files) by email.
Send them to andactore@gmail.com
➢ I will send you a reply mentioning that i received your email. If you don’t get such a reply
please contact me.