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# Bond Graph Simulation of Bicycle Model - PowerPoint PPT Presentation

E579 – Mechatronic Modeling and Simulation. Bond Graph Simulation of Bicycle Model. Instructor: Dr. Shuvra Das By: Vishnu Vijayakumar. Contents . Introduction Bicycle Model Bond-graph Modeling Results and Discussion Future Work References. Introduction . Types of Cornering

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### Bond Graph Simulation of Bicycle Model

Instructor: Dr. Shuvra Das

By: Vishnu Vijayakumar

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

• Types of Cornering

• Slow-speed (parking lot maneuvers)

• No Lateral Forces

• Therefore center of turn must lie on the projection of the rear axle

• High-speed

E579 - Term Project - Bicycle Model

E579 - Term Project - Bicycle Model

• Turning equations differ because lateral acceleration will be present

• Tires must develop lateral forces

• Slip Angles will be present at each wheel

• For purpose of analysis it is convenient to represent the vehicle by a bicycle model

E579 - Term Project - Bicycle Model

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

Bicycle model [1]

E579 - Term Project - Bicycle Model

• L = Wheel Base = 100.6 in = 8.38ft

• R = Radius of turn = 200 ft

• V = Forward Speed

• g = Gravitational Acceleration = 32.2ft/s2

• Wf = Load on front axle = 1901 lb

• Wr = Load on rear axle = 1552 lb

• Cαf = Cornering Stiffness of front tires = 464 lb/deg

• Cαr = Cornering Stiffness of rear tires = 390 lb/deg

• Tire Friction coefficient = 0.7 (Assumed)

• Yaw Mass moment of Inertia = 600 lb-ft2 [4]

Example Problem [2]

E579 - Term Project - Bicycle Model

Equations for steering angles and slip angles [2]

E579 - Term Project - Bicycle Model

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

E579 - Term Project - Bicycle Model

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

Understeer

E579 - Term Project - Bicycle Model

E579 - Term Project - Bicycle Model

E579 - Term Project - Bicycle Model

• Understeer can be measured by operating the vehicle around a constant radius turn and observing steering angle and lateral acceleration

• Vehicle speed is increased in steps that will produce lateral accelerations at reasonable increments

E579 - Term Project - Bicycle Model

• At 60 mph velocity the lateral acceleration gain was calculated using the formula

• Lateral Acceleration was calculated using the formula

• From graph Lateral Acceleration gain = 0.407g/deg

E579 - Term Project - Bicycle Model

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

• Enhance the model

E579 - Term Project - Bicycle Model

• Introduction

• Bicycle Model

• Bond-graph Modeling

• Results and Discussion

• Future Work

• References

E579 - Term Project - Bicycle Model

• Karnopp, Margolis, Rosenberg, “System Dynamics”, Third Edition, 2000

• Thomas Gillespie, “Fundamentals of Vehicle Dynamics”, 1992

• J.Y.Wong, “Theory of Ground Vehicles”, 1993

• Divesh Mittal, “Characterization of Vehicle Parameters affecting dynamic roll-over propensity”, SAE2006-01-1951

E579 - Term Project - Bicycle Model