Vehicle Dynamics (MV6131)

Vehicle Equation of Motion

Department of Motor Vehicle Engineering

Defence University, College of Engineering
2019-20 A.Y Semester I
 Coordinate System
• There are 2 types of Coordinate system
• Vehicle Fixed Coordinate System
• Taking Body (Vehicle) frame of reference, B(CX,Y,Z) and Originated at C.G (C)of the vehicle which is
moving along the vehicle
• Earth(Ground) Fixed Coordinate System
• Taking Global frame of reference, G(OX,Y,Z) and Originated at fixed ground location (O), which is not
moving along the vehicle Body
Global
Frame
Frame
• The position and orientation of the vehicle coordinate frame B(Cxyz)
is measured with respect to a grounded fixed coordinate frame G(OXY Z).
• Analysis of the vehicle motion is equivalent to expressing
the position and orientation of B(Cxyz) in G(OXY Z).
Body Fixed Coordinate
• Vehicle Fixed Coordinate System (Originate from C.G, C)
• 3-Axses Follows the “Right Hand” Rule
• x-Axis - Longitudinal,
• y-Axis – Lateral
• z-axis - Vertical
• 3- Angles vehicle orientation Angles 3-Angular Velocities (the rate of the orientation angles )
• φ-Roll Angle about x-Axis, - Roll rate about x-Axis,
• θ-Pitch Angle – about y-axis
-Pitch rate about y-axis
• ψ-Yaw Angle –about Z-Axis
-Yaw rate about Z- axis
• 3-Forces
• Fx- Longitudinal Force
• Fy-Lateral Force The 3-Angles
• Fz-Vertical Force ψ- Heading Angle (Yaw Angle)
angle between x and X in ground plane
 3-Moments β- Sideslip Angle (attitude angle)
 Mx- Roll Moment angle between x axis & the Vehicle Velo. Vector
 My- Pitch Moment - Course (cruise) Angle (=ψβ)
angle between the vehicle velo. vector & X-axis
 Fz- Yaw Moment
 Wheel Numbering & Positioning
w/2 cos ψ
w/2 Sin ψ

ψ w/2 cos ψ

r1y =Yc+ a1 sinψ + w/2 cos ψ

ψ
a1

Xc ψ
a1 sinψ
a2
r2Y =Yc+ a1 sinψ - w/2 cos ψ

ψ
ψ
a3
ψ Yc w/2 sin ψ

a1 cosψ

r1x =Xc+a1 cosψ- w/2 sin ψ

r2x =Xc+ a1 cosψ + w/2 sin ψ

 Rotation Matrix (Euler Angle)
• Rotational Matrix
• Is the successive sequence of rotation about Global or Local axes
• Global Rotational matrix (GRB)
• Give the coordinate of position vectors of B (O,x,y,z) w.r.t G (O,X,Y,Z)

• Gr = GRB Br where GRB= Rn · · · R3R2R1

• Local Rotation matrix (BRG )
• Gives Coordinates of position vectors of G(O,X,Y,Z) w.r.t (O,x,y,z)

• Br = BRG Gr where BRG = Rn · · · R3R2R1

• If the rigid body undergoes a rotation about the Z-axis, then the local frame Oxyz, and point P will
be seen in a 2^ nd position
^ ^
𝐵𝑟 =𝑥 2 𝑖+ 𝑦 2 𝑗+ 𝑧 2 𝑘
2
𝐺𝑟 = 𝑋 2 𝐼^ +𝑌 2 ^𝐽 + 𝑍 2 ^
2
𝐾
Rotation Matrix (Euler Angle)
^ 𝑦 ^𝑗+ 𝑧 𝑘
𝐵𝑟 = 𝑥 2 𝑖+ ^
2 2 2

❑𝐺 𝑟 2=❑𝐺 𝑅𝐵 ❑𝐵 𝑟 2 𝐺𝑟 = 𝑋 2 𝐼^ +𝑌 2 ^
𝐽 +𝑍2 ^
𝐾
2

𝑋 2= 𝐼^ .𝑟 2= 𝐼^ . 𝑥 2 𝑖+
^ 𝐼^ . 𝑦 ^𝑗 + ^𝐼 . 𝑧 𝑘
2 2
^
𝑌 2= ^𝐽 .𝑟 2= ^𝐽 . 𝑥 2 𝑖+
^ ^𝐽 . 𝑦 ^𝑗 + ^𝐽 . 𝑧 𝑘
2 2
^
𝑍 2= 𝐾 . 𝑟 2= ^ ^ 𝐾
𝐾 . 𝑥 2 𝑖+ ^ . 𝑦 ^𝑗 + ^
2
^
𝐾 . 𝑧2𝑘

[ ][ ][ ]
𝑋2 𝐼^ ∙ 𝑖^ ^𝐼 ∙ ^𝑗 𝐼^ ∙ 𝑘
^ 𝑥2
𝑌 2 = ^𝐽 ∙ 𝑖^ ^𝐽 ∙ ^𝑗 ^𝐽 ∙ 𝑘^ 𝑦 2 Where
𝑍2 ^
𝐾 ∙ 𝑖^ ^
𝐾 ∙ ^𝑗 ^ ∙𝑘
𝐾 ^ 𝑧2

Where
General Transformation Matrix
• Similarly, rotation β about the Y -axis and rotation γ about the X-axis are described by

• The rotation matrices RZ,α, RY,β, and RX,γ are called basic global rotation matrices.
• The global rotation matrix after a rotation RZ,α followed by RY,β and then RX,γ

• There is always a transformation matrix GRB to map the components of r from the reference frame
B(Oxyz) to the other reference frame G(OXY Z).
 Rx,α Rotation α about the Z- axis Ry,β Rotation β about the y- axis Rx, γ Rotation αabout the x- axis

y
X
y

After Rotating 3
successive angles
X

RX,α RY,β, and RZ,γ,

Z 𝐴 𝐴 𝐵 𝐶 Z
❑ 𝑅 𝐷 = 𝑅 𝐵 + 𝑅𝐶 + 𝑅 𝐷
❑ ❑ ❑
Derivative Transformation Formula
• Relates the time derivative of a vector as it would be seen from frame G to its derivative as seen
in frame B.
Can be any vector, such as
Position, velo., ang. velo. momentum

Let take any arbitrary Vector and

Angular velocity is ^ 𝜔 𝑦 ^𝑗+ 𝜔 𝑧 𝑧^
𝜔 =𝜔 𝑥 𝑖+
⃗

[]
˙𝑥
𝐴 det
[ ]
𝜕𝐴 ⃗
𝜕 𝑡 𝑟𝑒𝑙
˙ 𝑦
= 𝐴
˙𝑧
𝐴

[ ]
˙ 𝑥 + 𝜔 𝑦 𝐴𝑧 − 𝜔 𝑧 𝐴 𝑦
𝐴
[ ]
⃗
𝑑𝐴
𝑑𝑡
˙ 𝑦 + 𝜔 𝑧 𝐴 𝑥 − 𝜔𝑥 𝐴 𝑧
= 𝐴
˙ 𝑧 + 𝜔 𝑥 𝐴 𝑦 − 𝜔 𝑦 𝐴𝑥
𝐴
 [] [ ]
𝐹𝑥 𝑈˙ +𝑞 𝑊 −𝑟𝑉
⃗
𝐹 = 𝐹 𝑦 =𝑚 𝑉˙ +𝑟𝑈 −𝑝𝑊
Newton’s Equation of Motion 𝐹𝑧 𝑊˙ +𝑝𝑉 −𝑞𝑈

• Parameters
Force Velocity Acceleration Angular velocity Linear Momentum(Impuls)

[ ] [ ] [ ] [ ] [ ]
𝐹𝑥 𝑉 𝑎𝑥 𝜔𝑥 𝑉𝑥
⃗
𝐹= 𝐹𝑦 ⃗
𝑥
⃗
𝑎= 𝑎𝑦 𝜔=
⃗ 𝜔𝑦 ⃗ ⃗ =𝑚 𝑉
𝑃=𝑚 𝑉
𝑉= 𝑉 𝑦 𝑦
𝐹𝑧 𝑎𝑧 𝜔𝑧 𝑉𝑧
𝑉 𝑧
• Net Force

[] [] [ ]
𝐹𝑥 𝑉˙ 𝑥 𝜔𝑦 𝑉 𝑧 − 𝜔𝑧 𝑉 𝑦
⃗
⃗ 𝑑⃗
𝑃 𝐹 = 𝐹 𝑦 =𝑚 𝑉˙ 𝑦 +𝑚 𝜔 𝑧 𝑉 𝑥 − 𝜔 𝑥 𝑉 𝑧
𝐹= =𝑚 ⃗𝑎
𝑑𝑡 𝐹𝑧 𝑉˙ 𝑧 𝜔𝑥 𝑉 𝑦 − 𝜔 𝑦 𝑉 𝑥

[ ][ ]
𝐹 𝑥 𝑚 𝑉˙ 𝑥 +𝑚(𝜔 𝑦 𝑉 𝑧 − 𝜔 𝑧 𝑉 𝑦 )
⃗ 𝐵 𝑑 ⃗ 𝐵 ⃗
𝜔 𝐵 ×❑ ⃗ 𝐹 = 𝐹 𝑦 𝑚 𝑉˙ 𝑦 +𝑚(𝜔 𝑧 𝑉 𝑥 −𝜔 𝑥 𝑉 𝑧 )
𝐺 𝐵
❑ 𝐹 =❑ 𝑃+ 𝐺⃗ 𝑃
𝑑𝑡
𝐹 𝑧 𝑚 𝑉˙ 𝑧 + 𝑚(𝜔𝑥 𝑉 𝑦 − 𝜔 𝑦 𝑉 𝑥 )

[ ] ( [ ]) ([ ] [ ]) [ ]
𝐹𝑥 𝑉𝑥 𝜔𝑥 𝑉𝑥 𝐹
⃗ 𝑑 𝑥
𝐹= 𝐹𝑦 = 𝑚 𝑉𝑦 + 𝜔 𝑦 ×𝑚 𝑉 𝑦 ⃗
𝐹 = 𝐹 =¿
𝑑𝑡 𝑦
𝐹𝑧 𝑉𝑧 𝜔𝑧 𝑉𝑧
𝐹 𝑧
 Euler’s Equation of Motion
• Parameters
Torque/ Moment Inertia Angular velocity Angular Momentum(Moment of momentum)

[ ] [ ] [ ] [ ][ ][ ]
𝑀𝑥 𝐼𝑥𝑥 𝐼𝑥 𝑦 𝐼𝑥 𝑧 𝜔𝑥 𝐿𝑥 𝐼 𝑥𝑥 𝐼 𝑥𝑦 𝐼 𝑥𝑧 𝜔𝑥
⃗
𝑀= 𝑀 𝑦 𝐼= 𝐼𝑦 𝑥 𝐼 𝑦𝑦 𝐼 𝑦𝑧
𝜔=
⃗ 𝜔𝑦 ⃗
𝐿=𝑟 × ⃗
𝑃=𝐼 𝜔 ¿ 𝐿 𝑦 = 𝐼 𝑦𝑥 𝐼 𝑦𝑦 𝐼 𝑦𝑧 𝜔𝑦
𝜔𝑧
𝑀𝑧 𝐼 𝑧𝑥 𝐼𝑧 𝑦 𝐼𝑧 𝑧 𝐿𝑧 𝐼 𝑧𝑥 𝐼 𝑧𝑦 𝐼 𝑧𝑧 𝜔𝑧

[ ][ ]
𝐿𝑥 𝐼 𝑥𝑥 𝜔 𝑥 + 𝐼 𝑥𝑦 𝜔 𝑦 + 𝐼 𝑥𝑧 𝜔 𝑧
• Net Torque/Moment 𝐿𝑦 = 𝐼 𝑦𝑥 𝜔 𝑥 + 𝐼 𝑦𝑦 𝜔 𝑦 + 𝐼 𝑦𝑧 𝜔 𝑧
⃗ 𝑑⃗
𝐿 ⃗ 𝐿𝑧 𝐼 𝑧𝑥 𝜔 𝑥 + 𝐼 𝑧𝑦 𝜔 𝑦 + 𝐼 𝑧𝑧 𝜔 𝑧
𝑀= =𝐼 𝛼
𝑑𝑡

[ ][ ][ ]
𝑀𝑥 ˙𝑥
𝐿 𝜔 𝑦 𝐿𝑧 − 𝜔 𝑧 𝐿 𝑦
𝐵 𝑑 ⃗ 𝐵 ⃗ ˙ 𝑦 + 𝜔 𝑧 𝐿𝑥 − 𝜔 𝑥 𝐿𝑧
❑ ⃗ 𝜔 𝐵 ×❑ ⃗ 𝑀= 𝑀 𝑦 = 𝐿
𝐺 𝐵
𝑀 =❑ 𝐿+ 𝐺⃗ 𝐿
𝑑𝑡 𝑀𝑧 ˙𝑧
𝐿 𝜔 𝑥 𝐿𝑦 − 𝜔 𝑦 𝐿𝑥

[ ] [ ][ ][ ] [ ][ ]
𝑀𝑥 𝐿𝑥 𝜔𝑥 𝐿𝑥 𝑀𝑥 ˙ 𝑥 +(𝜔 𝑦 𝐿 𝑧 − 𝜔 𝑧 𝐿 𝑦 )
𝐿
⃗ 𝑑
𝑀= 𝑀 𝑦 = 𝐿 𝑦 + 𝜔 𝑦 × 𝐿𝑦 ⃗ ˙ 𝑦 +(𝜔 𝑧 𝐿𝑥 − 𝜔 𝑥 𝐿 𝑧 )
𝑀= 𝑀 𝑦 = 𝐿
𝑑𝑡
𝑀𝑧 𝐿𝑧 𝜔𝑧 𝐿𝑧 𝑀𝑧 ˙ 𝑧 +(𝜔 𝑥 𝐿𝑦 − 𝜔 𝑦 𝐿𝑥 )
𝐿
 [ ][ ]
𝐿𝑥 𝐼 𝑥𝑥 𝜔 𝑥 + 𝐼 𝑥𝑦 𝜔 𝑦 + 𝐼 𝑥𝑧 𝜔 𝑧
𝐿𝑦 = 𝐼 𝑦𝑥 𝜔 𝑥 + 𝐼 𝑦𝑦 𝜔 𝑦 + 𝐼 𝑦𝑧 𝜔 𝑧
Euler’s Equation of Motion 𝐿𝑧 𝐼 𝑧𝑥 𝜔 𝑥 + 𝐼 𝑧𝑦 𝜔 𝑦 + 𝐼 𝑧𝑧 𝜔 𝑧

• The Expanded form of Euler Equation

[ ][ ][ ]
𝑀𝑥 ˙ 𝑥 +(𝜔 𝑦 𝐿 𝑧 − 𝜔 𝑧 𝐿 𝑦 ) 𝐼 𝑥𝑥 𝜔
𝐿 ˙ 𝑥 + 𝐼 𝑥𝑦 𝜔
˙ 𝑦 + 𝐼 𝑥𝑧 𝜔
˙ 𝑧 +(𝜔 𝑦 𝐿 𝑧 − 𝜔 𝑧 𝐿𝑦 )
⃗ ˙ 𝑦 +(𝜔 𝑧 𝐿𝑥 − 𝜔 𝑥 𝐿 𝑧 ¿) 𝐼 𝑦𝑥 𝜔
𝑀= 𝑀 𝑦 = 𝐿 ˙ 𝑥 + 𝐼 𝑦𝑦 𝜔
˙ 𝑦 + 𝐼 𝑦𝑧 𝜔
˙ 𝑧 +( 𝜔 𝑧 𝐿𝑥 −𝜔 𝑥 𝐿𝑧 )
𝑀𝑧 ˙ 𝑧 +(𝜔 𝑥 𝐿𝑦 − 𝜔 𝑦 𝐿𝑥 ) 𝐼 𝑧𝑥 𝜔
𝐿 ˙ 𝑥 + 𝐼 𝑧𝑦 𝜔
˙ 𝑦 + 𝐼 𝑧𝑧 𝜔
˙ 𝑧 +( 𝜔 𝑥 𝐿 𝑦 −𝜔 𝑦 𝐿𝑥 )

[ ][
𝑀𝑥
⃗
𝑀𝑧
(𝐼 𝜔˙ +𝐼 𝜔˙ +𝐼 𝜔˙ )+𝜔 (𝐼 𝜔 +𝐼 𝜔 +𝐼 𝜔 )−𝜔 (𝐼 ¿ 𝑦𝑥 𝜔 𝑥 +𝐼 𝑦𝑦 𝜔 𝑦 +𝐼 𝑦𝑧 𝜔 𝑧 )¿(𝐼 𝑦𝑥 𝜔˙ 𝑥+𝐼 𝑦𝑦 𝜔˙ 𝑦 +𝐼 𝑦𝑧 𝜔˙ 𝑧 )+𝜔 𝑧 (𝐼 𝑥𝑥 𝜔 𝑥 +𝐼 𝑥𝑦 𝜔 𝑦 +𝐼 𝑥𝑧 𝜔 𝑧 )−𝜔 𝑥 (𝐼 𝑧𝑥 𝜔𝑥 +𝐼 𝑧𝑦 𝜔 𝑦 +𝐼 𝑧𝑧 𝜔 𝑧 )
𝑀= 𝑀 𝑦 = 𝑥𝑥 𝑥 𝑥𝑦 𝑦 𝑥𝑧 𝑧 𝑦 𝑧𝑥 𝑥 𝑧𝑦 𝑦 𝑧𝑧 𝑧 𝑧 ¿
(𝐼 𝑧𝑥 𝜔˙ 𝑥 +𝐼 𝑧𝑦 𝜔˙ 𝑦 +𝐼 𝑧𝑧 𝜔˙ 𝑧 )+𝜔 𝑥 (𝐼 𝑦𝑥 𝜔 𝑥 +𝐼 𝑦𝑦 𝜔 𝑦 +𝐼 𝑦𝑧 𝜔 𝑧 )−𝜔 𝑦 (𝐼 𝑥𝑥 𝜔 𝑥 +𝐼 𝑥𝑦 𝜔 𝑦 +𝐼 𝑥𝑧 𝜔 𝑧 ) ]

[]
𝑀𝑥
⃗𝑀= 𝑀 =[( 𝐼 ¿ ¿𝑥𝑥 𝜔˙ +𝐼 𝜔˙ +𝐼 ˙𝜔 )+(𝐼 𝜔 𝜔 +𝐼 𝜔2 +𝐼 𝜔 𝜔 )−(𝐼 ¿ ¿𝑦𝑥𝜔 𝜔 +𝐼 𝜔 𝜔 +𝐼 𝜔2 )¿(𝐼 𝜔˙ +𝐼 𝜔˙ +𝐼 ˙𝜔 )+(𝐼 𝜔 𝜔 +𝐼 𝜔 𝜔 +𝐼 𝜔2 )−(𝐼 𝜔2 +𝐼 𝜔 𝜔 +𝐼 𝜔 𝜔 )¿(𝐼 𝜔˙ +𝐼 ˙𝜔 +𝐼 𝜔˙ )+(𝐼 𝜔2 +𝐼 𝜔 𝜔 +𝐼 𝜔 𝜔 )−(𝐼 𝜔 𝜔 +𝐼 𝜔2 +𝐼 𝜔 𝜔 )]
𝑦 𝑥 𝑥𝑦 𝑦 𝑥𝑧 𝑧 𝑧𝑥 𝑥 𝑦 𝑧𝑦 𝑦 𝑧𝑧 𝑦 𝑧 𝑥 𝑧 𝑦𝑦 𝑦 𝑧 𝑦𝑧 𝑧 𝑦𝑥 𝑥 𝑦𝑦 𝑦 𝑦𝑧 𝑧 𝑥𝑥 𝑥 𝑧 𝑥𝑦 𝑦 𝑧 𝑥𝑧 𝑧 𝑧𝑥 𝑥 𝑧𝑦 𝑥 𝑦 𝑧𝑧 𝑥 𝑧 𝑧𝑥 𝑥 𝑧𝑦 𝑦 𝑧𝑧 𝑧 𝑦𝑥 𝑥 𝑦𝑦 𝑥 𝑦 𝑦𝑧 𝑥 𝑧 𝑥𝑥 𝑥 𝑦 𝑥𝑦 𝑦 𝑥𝑧 𝑦 𝑧
𝑀𝑧

[ ]
𝑀 𝑥
⃗
𝑀 = 𝑀 =¿
𝑦
𝑀 𝑧
Euler’s Equation of Motion
• Euler equation for principal coordinate frame
Where
• The principal coordinate frame is denoted by numbers 1,2,3

[ ] [
𝐼𝑥𝑥 ¿
] [
𝐼1 ¿
]
𝐼𝑥𝑥 𝐼𝑥 𝑦 𝐼𝑥 𝑧
𝐼= 𝐼𝑦 𝑥 𝐼 𝑦𝑦 𝐼 𝑦𝑧 𝐼= 𝐼=
𝐼 𝑧𝑥 𝐼𝑧 𝑦 𝐼𝑧 𝑧 𝐼 𝑦𝑦 ¿ 𝐼 𝑧 𝑧 𝐼2 ¿ 𝐼3
𝐼 𝑖𝑗 ,=0 𝑓𝑜𝑟 𝑖 ≠ 𝑗

[ ]
𝑀 𝑥
⃗
𝑀 = 𝑀 =¿
𝑦
𝑀 𝑧

[ ] [ ]
𝑀 𝑥 𝑀 𝑥
⃗
𝑀= =¿ ⃗
𝑀= 𝑀 =¿
𝑀 𝑦 𝑦

𝑀 𝑀 𝑧
𝑧
Example: Newton-Euler Equation For Rigid Planar Vehicle
• A rigid vehicle is assumed to act
similar to a flat box moving on a
horizontal surface.
• A rigid vehicle has a planar
motion with 3 DOF
• Translation in the x directions,
• Translation in the y directions
• Rotation about the z-axis.
• Determine the Newton-Euler eq. of
motion for a rigid vehicle in the body
coordinate frame B, using
• Vector mechanics
• Lagrange Mechanics
Example: Newton-Euler Equation For Rigid Planar Vehicle
• Parameters

[] [ ]
I 00

[] [] [ ] [ ] [ ]
Fx Vx 0 0 0 1
V̇ x B I= 0 I20
B FC = F y B V C= V y B B 𝑀C = 0 B
G ω B= 0
B
G ω̇ B = 0
❑V̇ c = V̇ y
0 0 Mz ωz 𝜔
˙z 00 I3
0

• Translational (Newton’s) Equation

𝑑
[ ] [ ][ ]
V̇ x 0 Vx
B F=B RG G F=B RG G P ¿ mB V̇ B +m GBω B × V B ¿ m V̇ y + m 0 × V y
𝑑𝑡 0 ωz 0
where P=mv
• Rotational (Euler’s) Equation

[ ][ ]
d I 10 0 0
B M=B RG G M =B R G G G L where L=Iω B M= 0 I2 0 0
dt ❑
B 00 I3 ωz
¿ B L̇B + ω B × LB
G
Vehicle Dynamics (MV 6131)
End of Lecture-3

Department of Motor Vehicle Engineering

Defence University, College of Engineering
2019-20 A.Y Semester I