Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications
(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:
https://lup.lub.lu.se/record/3459785
- author
- Berntorp, Karl LU
- organization
- publishing date
- 2013
- 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}}, }