90373 - Ground Vehicle Dynamics M

Academic Year 2019/2020

  • Teaching Mode: Traditional lectures
  • Campus: Bologna
  • Corso: Second cycle degree programme (LM) in Advanced Automotive Electronic Engineering (cod. 9238)

Learning outcomes

This course provides basic concepts about the dynamics of ground vehicles. The students who attend this class acquire the necessary competencies to model, understand and analyse the dynamics of ground vehicles by means of the linearization of nonlinear models, determination of the associated modes and the analysis of their stability.

Course contents

  1. Mathematical background

    Definitions and operations with vectors and matrices; Eigenvalues; Eigenvectors; Jordan Canonical form;

  2. Description of the kinematics

    Reference systems; Linear position; Linear speed; Rotation matrices; Euler angles; Kinematics of rotation; Kinematic constraints for ground vehicles;

  3. Internal and external forces

    Internal springs and dumpers; Aerodynamics; Gravity; Wheel Forces;

  4. Description of the dynamics

    Euler Lagrange equations; Kinetic Energy; Potential Energy; Derivation of the equation of the dynamics of ground vehicles; Definition of the oriented system; State space representation;

  5. Analysis of the dynamics

    Lagrange Formula; Eigenvalues study; Longitudinal dynamics; Latero-directional dynamics; Vertical dynamics;

  6. Steady state performance

  7.  Braking and Traction Performance; Cornering Performance; Understeering, oversteering, neutral steering; “g-g” diagrams; “Force - Moment Analysis”;

Readings/Bibliography

  1. Mathematical background

    [1] Meyer, Carl D. Matrix analysis and applied linear algebra. Vol. 71. Siam, 2000.

  2. Description of the kinematics

    [1] Beatty M.F. (1986) Kinematics of Rigid Body Motion. In: Principles of Engineering Mechanics. Mathematical Concepts and Methods in Science and Engineering, vol 32. Springer, Boston, MA

    [2] Gross D., Ehlers W., Wriggers P., Schröder J., Müller R. (2017) Kinematics of Rigid Bodies. In: Dynamics – Formulas and Problems. Springer, Berlin, Heidelberg

  3. Internal and external forces

    [1] Gillespie, Thomas D. Fundamentals of vehicle dynamics. Vol. 400. Warrendale, PA: Society of automotive engineers, 1992.

    [2] Milliken, William F., and Douglas L. Milliken. Race car vehicle dynamics. Vol. 400. Warrendale: Society of Automotive Engineers, 1995.

  4. Description of the dynamics

    [1] Gelfand, Izrail Moiseevitch, and Richard A. Silverman. Calculus of variations. Courier Corporation, 2000.

    [2] Amirouche, Farid. Fundamentals of multibody dynamics: theory and applications. Springer Science & Business Media, 2007.

    [3] Friedland, Bernard. Control system design: an introduction to state-space methods. Courier Corporation, 2012.

  5. Analysis of the dynamics

    [1] Friedland, Bernard. Control system design: an introduction to state-space methods. Courier Corporation, 2012.

  6. Steady state performance

  7. [1] Gillespie, Thomas D. Fundamentals of vehicle dynamics. Vol. 400. Warrendale, PA: Society of automotive engineers, 1992.

    [2] Milliken, William F., and Douglas L. Milliken. Race car vehicle dynamics. Vol. 400. Warrendale: Society of Automotive Engineers, 1995.

Teaching methods

Blackboard

Assessment methods

Master term papers (group works)

Teaching tools

Matlab

Office hours

See the website of Nicola Mimmo