SAE R-366-2008 Road Vehicle Dynamics (To Purchase Call 1-800-854-7179 USA Canada or 303-397-7956 Worldwide).pdf
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1、Road Vehicle Dynamics Rao V. Dukkipati Jian Pang Mohamad S. Qatu Gang Sheng Zuo ShuguangRoad Vehicle DynamicsOther SAE titles of interest: Fundamentals of Vehicle Dynamics By Thomas D. Gillespie (Product Code: R-114) Race Car Vehicle Dynamics By William F. Milliken and Douglas L. Milliken (Product C
2、ode: R-146) Tire and Vehicle Dynamics, Second Edition By Hans B. Pacejka (Product Code: R-372) For more information or to order a book, contact SAE International at 400 Commonwealth Drive, Warrendale, PA 15096-0001; phone (724) 776-4970; fax (724) 776-0790; e-mail CustomerServicesae.org; website htt
3、p:/store.sae.org.Road Vehicle Dynamics Rao Dukkipati Jian Pang Mohamad Qatu Gang Sheng Shuguang Zuo SAE International Warrendale, Pa. Copyright 2008 SAE International eISBN: 978-0-7680-4346-4All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmit
4、ted, in any form or by any means, electronic, mechanical, photocopy- ing, recording, or otherwise, without the prior written permission of SAE. For permission and licensing requests, contact: SAE Permissions 400 Commonwealth Drive Warrendale, PA 15096-0001 USA E-mail: permissionssae.org Tel: 724-772
5、-4028 Fax: 724-772-4891 Library of Congress Cataloging-in-Publication Data Road vehicle dynamics / Rao Dukkipati . et al. p. cm. ISBN 978-0-7680-1643-7 1. AutomobilesDynamics. I. Dukkipati, Rao V. TL243.R63 2008 629.231-dc22 2007018140 SAE International 400 Commonwealth Drive Warrendale, PA 15096-00
6、01 USA E-mail: CustomerServicesae.org Tel: 877-606-7323 (inside USA and Canada) 724-776-4970 (outside USA) Fax: 724-776-1615 Copyright 2008 SAE International ISBN 978-0-7680-1643-7 SAE Order No. R-366 Printed in the United States of America. green press I N ITI ATI VE SAE International is committed
7、to preserving ancient forests and natural resources. We elected to print this title on 30% post consumer recycled paper, processed chlorine free. As a result, for this printing, we have saved: 13 Trees (40 tall and 6-8 diameter) 4,830 Gallons of Wastewater 9 million BTUs of Total Energy 620 Pounds o
8、f Solid Waste 1,164 Pounds of Greenhouse Gases SAE International made this paper choice because our printer, Thomson-Shore, Inc., is a member of Green Press Initiative, a nonprofit program dedicated to supporting authors, publish- ers, and suppliers in their efforts to reduce their use of fiber obta
9、ined from endangered forests. For more information, visit www.greenpressinitiative.org Environmental impact estimates were made using the Environmental Defense Paper Calculator For more information visit www.papercalculator.org.Contents Foreword xvii Preface xix Chapter 1 Introduction 1 1.1 General
10、1 1.2 Vehicle System Classification 2 1.3 Dynamic System 3 1.4 Classification of Dynamic System Models 4 1.5 Constraints, Generalized Coordinates, and Degrees of Freedom 4 1.6 Discrete and Continuous Systems 10 1.7 Vibration Analysis 10 1.8 Elements of Vibrating Systems 15 1.8.1 Spring Elements 15 1
11、.8.2 Potential Energy of Linear Springs 18 1.8.3 Equivalent Springs 18 1.8.3.1 Springs in Parallel 19 1.8.3.2 Springs in Series 20 1.8.4 Mass or Inertia Elements. 25 1.8.5 Damping Elements 25 1.8.5.1 Viscous Damping 25 1.8.5.2 Coulomb Damping 27 1.8.5.3 Structural or Hysteretic Damping 29 1.8.5.4 Co
12、mbination of Damping Elements 30 1.9 Review of Dynamics 32 1.9.1 Newtons Laws of Motion 32 1.9.2 Kinematics of Rigid Bodies 33 1.9.3 Linear Momentum 37 1.9.4 Principle of Conservation of Linear Momentum 37 1.9.5 Angular Momentum 38 1.9.6 Equations of Motion for a Rigid Body 39 1.9.7 Angular Momentum
13、 of a Rigid Body 39 1.9.8 Principle of Work and Energy 40 1.9.9 Conservation of Energy 41 1.9.10 Principle of Impulse and Momentum .42 1.9.11 Mechanical Systems 45 1.9.12 Translational Systems 46 1.9.13 Rotational Systems 47 1.9.14 Translation and Rotational Systems 48 1.9.15 Angular Momentum and Mo
14、ments of Inertia 48 1.9.16 Geared Systems 52 1.10 Lagranges Equation 59 1.10.1 Degrees of Freedom 59 1.10.2 Generalized Coordinates 60 1.10.3 Constraints 61 1.10.4 Principle of Virtual Work 63vi Road Vehicle Dynamics 1.10.5 DAlemberts Principle 68 1.10.6 Generalized Force 71 1.10.7 Lagranges Equatio
15、ns of Motion 74 1.10.8 Holonomic Systems .74 1.10.9 Nonholonomic Systems 76 1.10.10 Rayleighs Dissipation Function .78 1.11 Summary 85 1.12 References . 86 Chapter 2 Analysis of Dynamic Systems 91 2.1 Introduction .91 2.2 Classification of Vibrations 91 2.3 Classification of Deterministic Data 92 2.
16、3.1 Sinusoidal Periodic Data 93 2.3.2 Complex Periodic Data 94 2.3.3 Almost Periodic Data .95 2.3.4 Transient Nonperiodic Data 95 2.4 Linear Dynamic Systems 97 2.4.1 Linear Single-Degree-of-Freedom System 98 2.4.2 Free Vibration of a Single-Degree-of-Freedom System 98 2.4.3 Forced Vibration of a Sin
17、gle-Degree-of-Freedom System 102 2.4.4 Linear Multiple-Degrees-of-Freedom System 109 2.4.5 Eigenvalues and Eigenvectors: Undamped System .110 2.4.6 Eigenvalues and Eigenvectors: Damped System 115 2.4.7 Forced Vibration Solution of a Multiple-Degrees- of-Freedom System. 119 2.5 Nonlinear Dynamic Syst
18、ems 123 2.5.1 Exact Methods for Nonlinear Systems. 124 2.5.2 Approximate Methods for Nonlinear Systems 128 2.5.2.1 Iterative Method 128 2.5.2.2 Ritz Averaging Method 131 2.5.2.3 Perturbation Method 134 2.5.2.4 Variation of Parameter Method 140 2.5.3 Graphical Method 142 2.5.3.1 Phase Plane Represent
19、ation 142 2.5.3.2 Phase Velocity 142 2.5.3.3 Pells Method 144 2.5.4 Multiple-Degrees-of-Freedom Systems 146 2.6 Random Vibrations 147 2.6.1 Probability Density Function 149 2.6.2 Autocorrelation Function 152 2.7 Gaussian Random Process 153 2.7.1 Fourier Analysis .154 2.7.1.1 Fourier Series 154 2.7.1
20、.2 Fourier Integral 155 2.7.2 Response of a Single-Degree-of-Freedom Vibrating System157 2.7.2.1 Impulse Response Method 158 2.7.2.2 Frequency Response Method 160 2.7.3 Power Spectral Density Function 163 2.7.4 Joint Probability Density Function 165 2.7.5 Cross-Correlation Function 166Contents vii 2
21、.7.6 Application of Power Spectral Densities to Vehicle Dynamics .166 2.7.7 Response of a Single-Degree-of-Freedom System to Random Inputs 168 2.7.8 Response of Multiple-Degrees-of-Freedom Systems to Random Inputs 170 2.8 Summary 174 2.9 References. 174 Chapter 3 Tire Dynamics 177 3.1 Introduction .
22、177 3.2 Vertical Dynamics of Tires 180 3.2.1 Vertical Stiffness and Damping Characteristics of Tires 180 3.2.2 Vertical Vibration Mechanics Models of Tires 181 3.2.2.1 Point Contact Model of Tires 181 3.2.2.2 Fixed Contact Patch Model of Tires 182 3.2.2.3 Time-Varying Contact Patch Model of Tires 18
23、3 3.2.3 Enveloping Characteristics of Tires 185 3.3 Tire Longitudinal Dynamics 186 3.3.1 Tire Rolling Resistance 187 3.3.2 Rolling Resistance of the Tire with Toe-In 188 3.3.3 Rolling Resistance of the Turning Wheel 189 3.3.4 Longitudinal Adhesion Coefficient 191 3.3.5 Theoretical Model of Tire Long
24、itudinal Force Under Driving and Braking 194 3.4 Tire Lateral Dynamics 196 3.4.1 Tire Cornering Characteristics 196 3.4.2 Mathematical Model of the Tire Cornering Characteristic 198 3.4.2.1 Simplified Mathematical Model of the Tire Cornering Characteristic 199 3.4.2.2 Cornering Characteristic with L
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