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Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications

Berntorp, Karl LU (2013) In Technical Reports TFRT-7627
Abstract
This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled

as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulting chassis model is of fifth order. In addition, a first-order approach to take load transfer into account is discussed, which gives an additional degree of freedom. The model is derived with the aim of accurate simulation, but should also be possible to utilize for nonlinear control design.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Book/Report
publication status
published
subject
in
Technical Reports TFRT-7627
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
ISSN
0280-5316
language
English
LU publication?
yes
additional info
month=February
id
315033f6-7c92-488f-966f-275dfe466b56 (old id 3459785)
date added to LUP
2016-04-01 13:26:33
date last changed
2018-11-21 20:16:11
@techreport{315033f6-7c92-488f-966f-275dfe466b56,
  abstract     = {{This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled<br/><br>
as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulting chassis model is of fifth order. In addition, a first-order approach to take load transfer into account is discussed, which gives an additional degree of freedom. The model is derived with the aim of accurate simulation, but should also be possible to utilize for nonlinear control design.}},
  author       = {{Berntorp, Karl}},
  institution  = {{Department of Automatic Control, Lund Institute of Technology, Lund University}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  series       = {{Technical Reports TFRT-7627}},
  title        = {{Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications}},
  url          = {{https://lup.lub.lu.se/search/files/3374379/4193215.pdf}},
  year         = {{2013}},
}