Chapter 4 Vehicle Dynamics
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Lecture 10: Impulse and Momentum
ME 230 Kinematics and Dynamics Wei-Chih Wang Department of Mechanical Engineering University of Washington Kinetics of a particle: Impulse and Momentum Chapter 15 Chapter objectives • Develop the principle of linear impulse and momentum for a particle • Study the conservation of linear momentum for particles • Analyze the mechanics of impact • Introduce the concept of angular impulse and momentum • Solve problems involving steady fluid streams and propulsion with variable mass W. Wang Lecture 10 • Kinetics of a particle: Impulse and Momentum (Chapter 15) - 15.1-15.3 W. Wang Material covered • Kinetics of a particle: Impulse and Momentum - Principle of linear impulse and momentum - Principle of linear impulse and momentum for a system of particles - Conservation of linear momentum for a system of particles …Next lecture…Impact W. Wang Today’s Objectives Students should be able to: • Calculate the linear momentum of a particle and linear impulse of a force • Apply the principle of linear impulse and momentum • Apply the principle of linear impulse and momentum to a system of particles • Understand the conditions for conservation of momentum W. Wang Applications 1 A dent in an automotive fender can be removed using an impulse tool, which delivers a force over a very short time interval. How can we determine the magnitude of the linear impulse applied to the fender? Could you analyze a carpenter’s hammer striking a nail in the same fashion? W. Wang Applications 2 Sure! When a stake is struck by a sledgehammer, a large impulsive force is delivered to the stake and drives it into the ground. -
Module 2: Dynamics of Electric and Hybrid Vehicles
NPTEL – Electrical Engineering – Introduction to Hybrid and Electric Vehicles Module 2: Dynamics of Electric and Hybrid vehicles Lecture 3: Motion and dynamic equations for vehicles Motion and dynamic equations for vehicles Introduction The fundamentals of vehicle design involve the basic principles of physics, specially the Newton's second law of motion. According to Newton's second law the acceleration of an object is proportional to the net force exerted on it. Hence, an object accelerates when the net force acting on it is not zero. In a vehicle several forces act on it and the net or resultant force governs the motion according to the Newton's second law. The propulsion unit of the vehicle delivers the force necessary to move the vehicle forward. This force of the propulsion unit helps the vehicle to overcome the resisting forces due to gravity, air and tire resistance. The acceleration of the vehicle depends on: the power delivered by the propulsion unit the road conditions the aerodynamics of the vehicle the composite mass of the vehicle In this lecture the mathematical framework required for the analysis of vehicle mechanics based on Newton’s second law of motion is presented. The following topics are covered in this lecture: General description of vehicle movement Vehicle resistance Dynamic equation Tire Ground Adhesion and maximum tractive effort Joint initiative of IITs and IISc – Funded by MHRD Page 1 of 28 NPTEL – Electrical Engineering – Introduction to Hybrid and Electric Vehicles General description of vehicle movement The vehicle motion can be completely determined by analysing the forces acting on it in the direction of motion. -
Impact Dynamics of Newtonian and Non-Newtonian Fluid Droplets on Super Hydrophobic Substrate
IMPACT DYNAMICS OF NEWTONIAN AND NON-NEWTONIAN FLUID DROPLETS ON SUPER HYDROPHOBIC SUBSTRATE A Thesis Presented By Yingjie Li to The Department of Mechanical and Industrial Engineering in partial fulfillment of the requirements for the degree of Master of Science in the field of Mechanical Engineering Northeastern University Boston, Massachusetts December 2016 Copyright (©) 2016 by Yingjie Li All rights reserved. Reproduction in whole or in part in any form requires the prior written permission of Yingjie Li or designated representatives. ACKNOWLEDGEMENTS I hereby would like to appreciate my advisors Professors Kai-tak Wan and Mohammad E. Taslim for their support, guidance and encouragement throughout the process of the research. In addition, I want to thank Mr. Xiao Huang for his generous help and continued advices for my thesis and experiments. Thanks also go to Mr. Scott Julien and Mr, Kaizhen Zhang for their invaluable discussions and suggestions for this work. Last but not least, I want to thank my parents for supporting my life from China. Without their love, I am not able to complete my thesis. TABLE OF CONTENTS DROPLETS OF NEWTONIAN AND NON-NEWTONIAN FLUIDS IMPACTING SUPER HYDROPHBIC SURFACE .......................................................................... i ACKNOWLEDGEMENTS ...................................................................................... iii 1. INTRODUCTION .................................................................................................. 9 1.1 Motivation ........................................................................................................ -
Post-Newtonian Approximation
Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism Post-Newtonian Approximation Piotr Jaranowski Faculty of Physcis, University of Bia lystok,Poland 01.07.2013 P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Relativistic binary systems exist in nature, they comprise compact objects: neutron stars or black holes. These systems emit gravitational waves, which experimenters try to detect within the LIGO/VIRGO/GEO600 projects. -
Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control
Master of Science Thesis in Electrical Engineering Department of Electrical Engineering, Linköping University, 2017 Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control Niklas Sundholm Master of Science Thesis in Electrical Engineering Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control Niklas Sundholm LiTH-ISY-EX--17/5095--SE Supervisor: Måns Klingspor isy, Linköping University Keiichiro Kondo Department of Electrical and Electronic Engineering, Chiba University Examiner: Martin Enqvist isy, Linköping University Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping, Sweden Copyright © 2017 Niklas Sundholm Abstract With the increasing demands on making railway systems more environmentally friendly, diesel railcars have been replaced by hybrid electric railway vehicles. A hybrid system holds a number of advantages as it has the possibility of recuperat- ing energy and allows the internal combustion engine (ice) to be run at optimal efficiency. However, to fully utilise the advantages of a hybrid system the hybrid electric vehicle (hev) is highly dependent on the used energy management strat- egy (ems). In this thesis, the possibility of minimising the fuel consumption of the series hy- brid electric railway vehicle, Ki-Ha E200, has been studied. This has been done by replacing the currently used ems, based on heuristics, with a model predictive controller (mpc). The heuristic ems and the mpc have been evaluated by compar- ing the performance results from three different test cases. The performance of the implemented mpc seems promising as it yields more optimal operation of the ice and improved control of the battery state of charge (soc). -
Apollonian Circle Packings: Dynamics and Number Theory
APOLLONIAN CIRCLE PACKINGS: DYNAMICS AND NUMBER THEORY HEE OH Abstract. We give an overview of various counting problems for Apol- lonian circle packings, which turn out to be related to problems in dy- namics and number theory for thin groups. This survey article is an expanded version of my lecture notes prepared for the 13th Takagi lec- tures given at RIMS, Kyoto in the fall of 2013. Contents 1. Counting problems for Apollonian circle packings 1 2. Hidden symmetries and Orbital counting problem 7 3. Counting, Mixing, and the Bowen-Margulis-Sullivan measure 9 4. Integral Apollonian circle packings 15 5. Expanders and Sieve 19 References 25 1. Counting problems for Apollonian circle packings An Apollonian circle packing is one of the most of beautiful circle packings whose construction can be described in a very simple manner based on an old theorem of Apollonius of Perga: Theorem 1.1 (Apollonius of Perga, 262-190 BC). Given 3 mutually tangent circles in the plane, there exist exactly two circles tangent to all three. Figure 1. Pictorial proof of the Apollonius theorem 1 2 HEE OH Figure 2. Possible configurations of four mutually tangent circles Proof. We give a modern proof, using the linear fractional transformations ^ of PSL2(C) on the extended complex plane C = C [ f1g, known as M¨obius transformations: a b az + b (z) = ; c d cz + d where a; b; c; d 2 C with ad − bc = 1 and z 2 C [ f1g. As is well known, a M¨obiustransformation maps circles in C^ to circles in C^, preserving angles between them. -
New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics Guagsan Yu* Harbin Macro, Dynamics Institute, P
Computa & tio d n ie a l l p M Yu, J Appl Computat Math 2015, 4:3 p a Journal of A t h f e o m l DOI: 10.4172/2168-9679.1000222 a a n t r ISSN: 2168-9679i c u s o J Applied & Computational Mathematics Research Article Open Access New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics GuagSan Yu* Harbin Macro, Dynamics Institute, P. R. China Abstract Textual point of view, generate in a series of rotational dynamics experiment. Initial research, is wish find a method overcome the momentum conservation. But further study, again detected inside the classical mechanics, the error of the principle of force moment. Then a series of, momentous the error of inside classical theory, all discover come out. The momentum conservation law is wrong; the newton third law is wrong; the energy conservation law is also can surpass. After redress these error, the new theory namely perforce bring. This will involve the classical physics and mechanics the foundation fraction, textbooks of physics foundation part should proceed the grand modification. Keywords: Rigid body; Inertia torque; Centroid moment; Centroid occurrence change? The Inertia-torque, namely, such as Figure 3 the arm; Statics; Static force; Dynamics; Conservation law show, the particle m (the m is also its mass) is a r 1 to O the slewing radius, so it the Inertia-torque is: Introduction I = m.r1 (1.1) Textual argumentation is to bases on the several simple physics experiment, these experiments pass two videos the document to The Inertia-torque is similar with moment of force, to the same of proceed to demonstrate. -
Measurement of Tractive Force in the Creep Region and Maximum Adhesion Control of High Speed Railway Systems Abstract 1. Introd
Measurement of Tractive Force in the Creep Region and Maximum Adhesion Control of High Speed Railway Systems Atsuo Kawamura (Yokohama National University, Japan) Meifen Cao (Corporation for Advanced Transport & Technology, Japan) Yosuke Takaoka, Keiichi Takeuchi,Takemasa Furuya, KantaroYoshimoto (Yokohama National University, Japan) Abstract The acceleration and deceleration rate of the train depend on the tractive force. When the wheels of the train slip on the rails, the torque is decreased to avoid the continuous slipping. This reason is that the tractive coefficient between the wheels and the rails has a peak at a certain slip velocity. But this adhesive phenomenon is not clearly examined or analyzed. Thus we have developed a new adhesion test equipment.In this paper, we measured the tractive force with this equipment, and clarified the adhesive phenomenon. Then we proposed a new tractive force control and verified the effectiveness of the proposed control scheme. 1. Introduction The strong demands for Shinkansen are the speed up of the trains, and the increase of the passenger transportation capacity while preserving the safety of high-speed railway systems. One possible approach for this is to enhance the speed adjustment capability. The end results are 1) the safety will be improved by reducing the distance for the urgent stop, 2) the train running density can be improved by increasing the average speed for the existing lines with many curves, that is called the high-density-scheduling. Generally, the speed adjustment performance can be enhanced through increasing driving or braking force that is mostly achieved by the maximum adhesion force between wheels and rails. -
Anti-Roll Bar Modeling for NVH and Vehicle
Anti-Roll Bar Model for NVH and Vehicle Dynamics Analyses Anti-Roll Bar Model for NVH and Vehicle Dynamics Analyses Tobolar,Anti-Roll Jakub and Bar Leitner, Modeling Martin and Heckmann, for NVH Andreas and Vehicle Dynamics Analyses 99 Jakub Tobolárˇ1 Martin Leitner1 Andreas Heckmann1 1German Aerospace Center (DLR), Institute of System Dynamics and Control, Wessling, [email protected] Abstract A The latest extension of the DLR FlexibleBodies Library concerns the field of automotive applications, namely the anti-roll bar. For the particular purposes of NVH and ve- hicle dynamics, the anti-roll bar module provides two ap- propriate levels of detail, both being based upon the beam preprocessor. In this paper, the procedure on preparing the models and their application for particular automotive related analyses is presented. Keywords: anti-roll bar, vehicle chassis, flexible body, beam model, finite element C S Figure 1. Vehicle axle with an anti-roll bar (color emphasized, 1 Introduction courtesy of Wikimedia Commons). Whenever an automotive suspension is excited in vertical direction due to road irregularities or driving maneuvers (Heckmann et al., 2006) provides capabilities to incorpo- in an asymmetrical way, i.e. differently on the right and rate data that originate from FE models in Modelica mod- the left side of the vehicle, the roll motion of the car body els. Thus, a tool chain to perform vehicle dynamics sim- is stimulated. This concerns – in common case – the com- ulation including the structural characteristics of anti-roll fort and driving experience of the car passengers. In limit bars is in principle available. -
Newton Euler Equations of Motion Examples
Newton Euler Equations Of Motion Examples Alto and onymous Antonino often interloping some obligations excursively or outstrikes sunward. Pasteboard and Sarmatia Kincaid never flits his redwood! Potatory and larboard Leighton never roller-skating otherwhile when Trip notarizes his counterproofs. Velocity thus resulting in the tumbling motion of rigid bodies. Equations of motion Euler-Lagrange Newton-Euler Equations of motion. Motion of examples of experiments that a random walker uses cookies. Forces by each other two examples of example are second kind, we will refer to specify any parameter in. 213 Translational and Rotational Equations of Motion. Robotics Lecture Dynamics. Independence from a thorough description and angular velocity as expected or tofollowa userdefined behaviour does it only be loaded geometry in an appropriate cuts in. An interface to derive a particular instance: divide and author provides a positive moment is to express to output side can be run at all previous step. The analysis of rotational motions which make necessary to decide whether rotations are. For xddot and whatnot in which a very much easier in which together or arena where to use them in two backwards operation complies with respect to rotations. Which influence of examples are true, is due to independent coordinates. On sameor adjacent joints at each moment equation is also be more specific white ellipses represent rotations are unconditionally stable, for motion break down direction. Unit quaternions or Euler parameters are known to be well suited for the. The angular momentum and time and runnable python code. The example will be run physics examples are models can be symbolic generator runs faster rotation kinetic energy. -
Integrated Vehicle Dynamics Control Via Coordination of Active Front
Integrated vehicle dynamics control via coordination of active front steering and rear braking Moustapha Doumiati, Olivier Sename, Luc Dugard, John Jairo Martinez Molina, Peter Gaspar, Zoltan Szabo To cite this version: Moustapha Doumiati, Olivier Sename, Luc Dugard, John Jairo Martinez Molina, Peter Gaspar, et al.. Integrated vehicle dynamics control via coordination of active front steering and rear braking. European Journal of Control, Elsevier, 2013, 19 (2), pp.121-143. 10.1016/j.ejcon.2013.03.004. hal- 00759487 HAL Id: hal-00759487 https://hal.archives-ouvertes.fr/hal-00759487 Submitted on 3 Dec 2012 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Integrated vehicle dynamics control via coordination of active front steering and rear braking Moustapha Doumiati, Olivier Sename, Luc Dugard, John Martinez,a ∗ Peter Gaspar, Zoltan Szabob aGipsa-Lab UMR CNRS 5216, Control Systems Department, 961 Rue de la Houille Blanche, 38402 Saint Martin d’Hères, France, Email: [email protected], {surname.name}@gipsa-lab.grenoble-inp.fr bComputer and Automation Research Institue, Hungarian Academy of Sciences, Kende u. 13-17, H-1111, Budapest, Hungary, Email: gaspar, [email protected] January 26, 2012 Abstract This paper investigates the coordination of active front steering and rear braking in a driver- assist system for vehicle yaw control. -
Effects of Soil Moisture and Tillage Speeds on Tractive Force of Disc Ploughing in Loamy Sand Soil
European International Journal of Science and Technology Vol. 3 No. 4 May, 2014 Effects of soil moisture and tillage speeds on tractive force of disc ploughing in loamy sand soil S. O. Nkakini* and I. Fubara-Manuel Department of Agricultural and Environmental Engineering, Faculty of Engineering, Rivers State University of Science and Technology, P.M.B 5080, Port-Harcourt, Nigeria Corresponding author: email : [email protected] Abstract The effect of disc plough speeds and variations in soil moisture content on tractive force requirements was investigated using the trace-tractor technique. The results indicate that tractive forces decrease with increase in soil moisture content at constant tillage speeds of 1.94m/s, 2.22m/s and 2.5m/s respectively. The study further revealed that the optimum speed of operation for disc ploughing is 1.94m/s, while the optimum soil moisture content lies in the range of 2.5% to 25% wb. for the soil under consideration. Soil strength properties decreased with increase in soil moisture content and tillage speeds. This implies that there exists an optimum moisture content above or below which good soil tilth will not be realised. From the results, a linear relationship was established for predicting tractive force of disc plough under varying soil moisture content and plough speed of 1,94m/s, 2.22m/s and 2.5m/s. Keywords: Tractive force, tillage speeds, soil moisture, disc ploughing, loamy sand soil. 1. Introduction Land preparation is one of the major concerns in agricultural operations. Over the years, developments have taken place from the use of traditional methods of farm cultivations to the use of tractor drawn implements (Ahaneku et al., 2004).