Modelling and dynamic analysis of vehicles based on discrete constraints. (2017)

• Record Type: Journal Article
• Authors: Shao, Ke; Huang, Kang; Duan, Songlin; Zhen, Shengchao; Gao, Feng
• Is Part Of: International journal of vehicle design. Volume 75:Number 1/2/3/4(2017)
• Page Start: 23
• Page End: 46
• Publication Date: 2017
• Subjects: full vehicle -- dynamic behaviour -- mechanics analysis -- Udwadia-Kalaba theory -- subsystem; Motor vehicles -- Design and construction -- Periodicals; 629.231
• Languages: English
• ISSNs: 0143-3369

Abstract

In this paper, a novel approach to modelling and dynamic analysis of full vehicle is proposed based on Udwadia-Kalaba theory. Because the vehicle is hierarchically modelled by using this approach, this approach is easily processed when handling the modelling of many-degrees-of-freedom vehicle. Also, the analytical dynamic model based on this approach is free of calculation of Lagrangian multiplier as used in the Lagrangian equation. To verify this approach, a 15 DOF vehicle is modelled in this paper by using Udwadia-Kalaba theory. Four tyres' displacement is exerted and the vertical dynamic behaviour of each subsystem is simulated and analysed in MATLAB. By solving Udwadia-Kalaba equation, the response of each subsystem is acquired. The simulation result is well coincident with that of the Lagrangian model, which verifies the proposed approach.