Course syllabus for Vehicle dynamics, advanced

The course syllabus contains changes
See changes

Course syllabus adopted 2020-11-06 by Head of Programme (or corresponding).

Overview

  • Swedish nameFordonsdynamik, fortsättningskurs
  • CodeTME102
  • Credits7.5 Credits
  • OwnerMPAUT
  • Education cycleSecond-cycle
  • Main field of studyAutomation and Mechatronics Engineering, Mechanical Engineering, Engineering Physics
  • DepartmentMECHANICS AND MARITIME SCIENCES
  • GradingTH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

Course round 1

  • Teaching language English
  • Application code 06119
  • Maximum participants40
  • Block schedule
  • Open for exchange studentsYes

Credit distribution

0111 Examination, part A 4.5 c
Grading: TH		 4.5 c
  • 31 Maj 2021 am J
  • 09 Okt 2020 am J
  • 19 Aug 2021 am J
0211 Project, part B 3 c
Grading: TH		 3 c

In programmes

Examiner

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Eligibility

General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

MMF062 Vehicle dynamics and/or MMA092 Rigid body dynamics ERE033 Control theory or similar

Aim

In this course the focus is put on the understanding of the coupled planar dynamics of road vehicles during steering and braking (or driving) including various non-linear effects from tires, suspension etc

Learning outcomes (after completion of the course the student should be able to)

* Identify and discuss factors (e.g. load transfer) that cause interactions between the different vehicle subsystems, e.g. braking and steering. * Develop and implement computer models of vehicle dynamics behavior and critically analyze results from numerical simulations. * Identify and mathematically characterize linear and nonlinear tire behavior and the influence of this behavior on vehicle performance using Handling Diagram. * Identify suspension and tire characteristics influencing vehicle chassis performance and stability in both low and high-speed manoeuvres, under both steady-state and transient manoeuvres, with the ability to mathematically justify how changes in vehicle parameters (e.g. mass or weight distribution) can be stabilizing or destabilizing. * Understand how to extend the mathematical analysis of the passenger car to heavy vehicles. * Understand and characterize the change in vehicle performance and vehicle/roadway interaction due to automated subsystems such as e.g. ABS, ESP and Rear Wheel Steering. * Construct specifications for vehicle control systems.

The course contributes to the United Nations sustainable development goals regarding Sustainable cities and communities samhällenssss(SDG 13) and Climate action (SDG 11) in the sense that vehicle dynamics and control are important aspects both for vehicle safety and energy efficiency.

Content

The mathematics and mechanics concepts and notations used in the course are reviewed. The tire and vehicle models suitable for analysing the coupled dynamics during steering and braking or driving are developed and then used to evaluate handling performance in various manoeuvres. Some aspects about vehicle stability and the principles, basic implementation and specifications for automated vehicle control systems are included. At the end the challenges posed by heavy vehicles are discussed but not covered in detail. Preliminaries (covered during the course) Vehicle Dynamics Terminology & Notation Fundamental Vehicle Dynamics Relative Planar Motion, Rigid Body Kinematics & Dynamics (Newton 2.5D) 1 Linearization, Linear Analysis (Eigenvalues, Transfer Functions, Bode Plots) Linear and Non-Linear Stability Concepts Basic Signal Processing and Control Theory Vehicle Modeling for Planar Dynamics Tire Properties Influence on Vehicle Dynamics Tire Forces/Moments & Kinematics Modified SAE Tire Axes & Terminology Introduction to Tire Modeling (Magic Formula) Definition of Effective Tire & Axle Characteristics The Planar Rigid One Track Model (Bicycle Model) Suspension and Steering Effects The Planar Two Track Model Vehicle Model Block Diagram Tire Modeling Basic Tire Modeling Consideration Brush Tire Model Steady State Lateral/Longitudinal Slip Force Generation Interaction between Lateral Slip and Longitudinal Slip (Combined Slip) Transient Tire Forces Review of Industry Standard Tire Models (Magic Formula, etc) Vehicle Handling and Stability Steady State Cornering Stability Analysis Handling Diagram Quasi Steady State Cornering (Moderate Driving/Braking Milliken Moment Method Straight Line Braking Stability Analysis Transient Cornering (Step Steer, Throttle On/Off) Dynamic Cornering (Double Lane Change, Sine with Dwell) Principles for ABS and ESP Heavy Vehicles Steady State Cornering of Single Unit Heavy Trucks Effect of Tandem Axles and Dual Tires Equivalent Wheelbase Handling Diagram of Complex Vehicles V-Handling & R-Handling Curves Steady State Cornering of a Tractor-Semitrailer Tractor Jackknife & Trailer Swing Vehicle Stability Control Vehicle Parameters and States Estimation Road and Basic Driver Models Principles Basic Powertrain Modeling Brake System Modeling (Saturation and Delays) Basic Implementation and Specifications for Vehicle Control Systems, e.g.: - Anti-lock Braking System (ABS) - Electronic Stability Control (ESC)

Organisation

- Lectures - Problem solving sessions - Assignments and/or Hand-ins

Literature

Lecture notes References
  • Rajesh Rajamani, Vehicle Dynamics and Control, Springer Verlag, 2012
  • Jacobson et al, Vehicle Dynamics Compendium, 2020.
  • Pacejka, H.B., Tyre and Vehicle Dynamics, 2002.
  • Abe M., Vehicle Handling Dynamics, 2009.
  • Kiencke, U. and Nielsen, L., Automotive Control Systems, 2005
  • Matlab/Simulink Users Guide, Mathworks Inc

Examination including compulsory elements

* Marked assignment reports and/or hand-ins * Graded examination with problem solving and descriptive questions

The course syllabus contains changes

  • Changes to course rounds:
    • 2020-11-05: Examinator Examinator changed from Mathias R Lidberg (lidberg) to Mats Jonasson (matjona) by Viceprefekt
      [Course round 1]
  • Changes to course:
    • 2020-11-05: Organization Organization changed by PA
      Updated text about organization
    • 2020-11-05: Examination Examination changed by PA
      Updated information about examination
    • 2020-11-05: Litterature Litterature changed by PA
      Updated litterature
    • 2020-11-05: Learning outcomes Learning outcomes changed by PA
      Corrected spelling in learning outcome (english)
    • 2020-11-05: Content Content changed by PA
      Adjusted format in content