Vehicle dynamics, stability, and control / Dean Karnopp
- Author
- Karnopp, Dean
- Published
- Boca Raton, FL : CRC Press, [2013]
- Copyright Date
- ©2013
- Edition
- 2nd ed.
- Physical Description
- xiii, 312 pages : illustrations ; 24 cm.
- Additional Creators
- Karnopp, Dean
- Series
- Contents
- Machine generated contents note: 1.Introduction: Elementary Vehicles -- 1.1.Tapered Wheelset on Rails -- 1.2.The Dynamics of a Shopping Cart -- 1.2.1.Inertial Coordinate System -- 1.2.2.Body-Fixed Coordinate System -- 2.Rigid Body Motion -- 2.1.Inertial Frame Description -- 2.2.Body-Fixed Coordinate Frame Description -- 2.2.1.Basic Dynamic Principles -- 2.2.2.General Kinematic Considerations -- 2.3.Spin Stabilization of Satellites -- 2.4.Bond Graphs for Rigid Body Dynamics -- 3.Stability of Motion: Concepts and Analysis -- 3.1.Static and Dynamic Stability -- 3.2.Eigenvalue Calculations and the Routh Criterion -- 3.2.1.Mathematical Forms for Vehicle Dynamic Equations -- 3.2.2.Computing Eigenvalues -- 3.2.3.Routh's Stability Criterion -- 4.Pneumatic Tire Force Generation -- 4.1.Tire-Road Interaction -- 4.2.Lateral Forces -- 4.2.1.Effect of Normal Force -- 4.3.Longitudinal Forces -- 4.4.Combined Lateral and Longitudinal Forces -- 5.Stability of Trailers -- 5.1.Single-Degree-of-Freedom Model -- 5.1.1.Use of Lagrange Equations -- 5.1.2.Analysis of the Equation of Motion -- 5.2.Two-Degree-of-Freedom Model -- 5.2.1.Calculation of the Slip Angle -- 5.2.2.Formulation Using Lagrange Equations -- 5.2.3.Analysis of the Equations of Motion -- 5.3.A Third-Order Model -- 5.3.1.A Simple Stability Criterion -- 5.4.A Model Including Rotary Damping -- 5.4.1.A Critical Speed -- 6.Automobiles -- 6.1.Stability and Dynamics of an Elementary Automobile Model -- 6.1.1.Stability Analysis Using Inertial Coordinates -- 6.1.2.Stability, Critical Speed, Understeer, and Oversteer -- 6.1.3.Body-Fixed Coordinate Formulation -- 6.2.Transfer Functions for Front- and Rear-Wheel Steering -- 6.3.Yaw Rate and Lateral Acceleration Gains -- 6.3.1.The Special Case of the Neutral Steer Vehicle -- 6.4.Steady Cornering -- 6.4.1.Description of Steady Turns -- 6.4.2.Significance of the Understeer Coefficient -- 6.5.Acceleration and Yaw Rate Gains -- 6.6.Dynamic Stability in a Steady Turn -- 6.6.1.Analysis of the Basic Motion -- 6.6.2.Analysis of the Perturbed Motion -- 6.6.3.Relating Stability to a Change in Curvature -- 6.7.Limit Cornering -- 6.7.1.Steady Cornering with Linear Tire Models -- 6.7.2.Steady Cornering with Nonlinear Tire Models -- 7.Two-Wheeled and Tilting Vehicles -- 7.1.Steering Control of Banking Vehicles -- 7.1.1.Development of the Mathematical Model -- 7.1.2.Derivation of the Dynamic Equations -- 7.2.Steering Control of Lean Angle -- 7.2.1.Front-Wheel Steering -- 7.2.2.Countersteering or Reverse Action -- 7.2.3.Rear-Wheel Steering -- 8.Stability of Casters -- 8.1.A Vertical Axis Caster -- 8.2.An Inclined Axis Caster -- 8.3.A Vertical Axis Caster with Pivot Flexibility -- 8.3.1.Introduction of a Damping Moment -- 8.4.A Vertical Axis Caster with Pivot Flexibility and a Finite Cornering Coefficient -- 8.5.A Caster with Dynamic Side Force Generation -- 8.5.1.The Flexible Sidewall Interpretation of Dynamic Force Generation -- 8.5.2.Stability Analysis with Dynamic Force Generation -- 9.Aerodynamics and the Stability of Aircraft -- 9.1.A Little Airfoil Theory -- 9.2.Derivation of the Static Longitudinal Stability Criterion for Aircraft -- 9.2.1.Parameter Estimation -- 9.3.The Phugoid Mode -- 9.4.Dynamic Stability Considerations: Comparison of Wheels and Wings -- 9.4.1.An Elementary Dynamic Stability Analysis of an Airplane -- 9.5.The Effect of Elevator Position on Trim Conditions -- 10.Rail Vehicle Dynamics -- 10.1.Introduction -- 10.2.Modeling a Wheelset -- 10.3.Wheel-Rail Interaction -- 10.4.Creepage Equations -- 10.5.The Equations of Motion -- 10.6.The Characteristic Equation -- 10.7.Stability Analysis and Critical Speed -- 11.Vehicle Dynamics Control -- 11.1.Stability and Control -- 11.2.From ABS to VDC and TVD -- 11.2.1.Model Reference Control -- 11.3.Active Steering Systems -- 11.3.1.Stability Augmentation Using Front-, Rear-, or All-Wheel Steering -- 11.3.2.Feedback Model Following Active Steering Control -- 11.3.3.Sliding Mode Control -- 11.3.4.Active Steering Applied to the Bicycle Model of an Automobile -- 11.3.5.Active Steering Yaw Rate Controller -- 11.4.Limitations of Active Vehicle Dynamics Control -- Appendix: Bond Graphs for Vehicle Dynamics -- A.1.A Bond Graph for the Two-Degree-of-Freedom Trailer -- A.2.A Bond Graph for a Simple Car Model -- A.3.A Bond Graph for a Simple Airplane Model -- Problems -- Chapter 1 -- Chapter 2 -- Chapter 3 -- Chapter 4 -- Chapter 5 -- Chapter 6 -- Chapter 7 -- Chapter 8 -- Chapter 9 -- Chapter 10 -- Chapter 11.
- Summary
- "This book is second edition of a book originally titled Vehicle Stability. The new title, Vehicle Dynamics, Stability and Control better describes this revised and extended version"--Preface.
- Subject(s)
- ISBN
- 9781466560857 (hbk.)
1466560851 (hbk.) - Note
- "This book is second edition of a book originally titled Vehicle Stability. The new title, Vehicle Dynamics, Stability and Control better describes this revised and extended version"--Preface.
- Bibliography Note
- Includes bibliographical references (pages 301-304) and index.
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