90373 - Ground Vehicle Dynamics M

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 and computer science background

   Definitions and operations with vectors and matrices; Matlab; 

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;

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.

Teaching methods

Blackboard

Assessment methods

Master term papers (group works)

Teaching tools

Matlab

Office hours

See the website of Nicola Mimmo