Development of a Scale Vehicle Dynamics Test Bed

University of Windsor Scholarship at UWindsor Electronic Theses and Dissertations Theses, Dissertations, and Major Papers 2010 Development of a Scale Vehicle Dynamics Test Bed Andrew Liburdi University of Windsor Follow this and additional works at: https://scholar.uwindsor.ca/etd Recommended Citation Liburdi, Andrew, "Development of a Scale Vehicle Dynamics Test Bed" (2010). Electronic Theses and Dissertations. 195. https://scholar.uwindsor.ca/etd/195 This online database contains the full-text of PhD dissertations and Masters’ theses of University of Windsor students from 1954 forward. These documents are made available for personal study and research purposes only, in accordance with the Canadian Copyright Act and the Creative Commons license—CC BY-NC-ND (Attribution, Non-Commercial, No Derivative Works). Under this license, works must always be attributed to the copyright holder (original author), cannot be used for any commercial purposes, and may not be altered. Any other use would require the permission of the copyright holder. Students may inquire about withdrawing their dissertation and/or thesis from this database. For additional inquiries, please contact the repository administrator via email ([email protected]) or by telephone at 519-253-3000ext. 3208. Development of a Scale Vehicle Dynamics Test Bed by Andrew Liburdi A Thesis Submitted to the Faculty of Graduate Studies through Mechanical, Automotive, and Materials Engineering in Partial Fulfillment of the Requirements for the Degree of Master of Applied Science at the University of Windsor Windsor, Ontario, Canada 2010 © 2010 Andrew Liburdi Development of a Scale Vehicle Dynamics Test Bed by Andrew Liburdi APPROVED BY: ______________________________________________ Dr. Xiaohong, Xu, Outside Program Reader Department of Civil and Environmental Engineering ______________________________________________ Dr. Gary Rankin, Program Reader Department of Mechanical, Automotive and Materials Engineering ______________________________________________ Dr. Bruce Minaker, Advisor Department of Mechanical, Automotive and Materials Engineering ______________________________________________ Dr. Peter Frise, Co-Advisor Department of Mechanical, Automotive and Materials Engineering ______________________________________________ Dr. Vesselin Stoilov , Chair of Defense Department of Mechanical, Automotive and Materials Engineering September 10, 2010 DECLARATION OF ORIGINALITY I hereby certify that I am the sole author of this thesis and that no part of this thesis has been published or submitted for publication. I certify that, to the best of my knowledge, my thesis does not infringe upon anyone‟s copyright nor violate any proprietary rights and that any ideas, techniques, quotations, or any other material from the work of other people included in my thesis, published or otherwise, are fully acknowledged in accordance with the standard referencing practices. Furthermore, to the extent that I have included copyrighted material that surpasses the bounds of fair dealing within the meaning of the Canada Copyright Act, I certify that I have obtained a written permission from the copyright owner(s) to include such material(s) in my thesis and have included copies of such copyright clearances to my appendix. I declare that this is a true copy of my thesis, including any final revisions, as approved by my thesis committee and the Graduate Studies office, and that this thesis has not been submitted for a higher degree to any other University or Institution. Page | iii Declaration of Originality | Andrew Liburdi ABSTRACT Research in the area of vehicle dynamics often requires that virtual models be correlated with test data or control systems be implemented within hardware. However, the prohibitive cost associated with a proper testing program has relegated the majority of research in these areas to virtual simulation. The purpose of this research was to develop a low cost vehicle dynamics test bed, which could be used to investigate the full operational range of vehicle handling. A scaled approach, analogous to wind tunnel testing, was used in order to make predictions about a system based on observations obtained from a scale model. The following test bed is unique since it is untethered from the acquisition system allowing for a wider range of test manoeuvres to be used. Results obtained from the test bed verified the usefulness of a scaled approach with good correlation being achieved between linear handling models and test data. Page | iv Abstract | Andrew Liburdi DEDICATION To my wife Yan, without whom none of this would have been possible. Page | v Dedication | Andrew Liburdi ACKNOWLEDGMENTS This research was supported through the Auto 21 Network of Centres of Excellence, as well as the Ontario Graduate Scholarship fund. The funding allowed me to pursue a graduate degree in mechanical engineering, which would not have been otherwise possible. I would first like to thank my supervisor Dr. Bruce Minaker who has always supported me over the last eight years as both an undergraduate and graduate student. His patience and guidance when the project proved to be the most difficult, allowed me to find my way and accomplish my goals. For that I am grateful. I would also like to thank Rob Rieveley, a fellow graduate student, who helped work out countless problems throughout the course of this project and was integral in helping formulate this research. His knowledge and assistance in the area of control electronics proved to be invaluable in developing the test bed. I would like to acknowledge my family for the tremendous amount of support that they have given me throughout my life. I need to thank by brothers who have always been there for me, providing words of encouragement and guidance along the way. It is comforting to know that I have four older brothers who will always look out for me. I also need to thank my parents who have done an amazing job of raising five boys. Thank you for the sacrifices you have made to ensure that we always had what we needed and the guidance you have given to all of us. I have always strived to make you proud and any successes I have had in my life are a result of your guidance and support. For that I am forever grateful. Lastly, I need to thank my wife Yan, who has done nothing but support me throughout this whole process. I want to thank her for her patience and the sacrifices she made in order allow me to pursue this degree. Without a doubt, none of this would have been possible without her. Page | vi Achknowledgments | Andrew Liburdi TABLE OF CONTENTS DECLARATION OF ORIGINALITY iii ABSTRACT iv DEDICATION v ACKNOWLEDGMENTS vi TABLE OF CONTENTS vii LIST OF TABLES xi LIST OF FIGURES xii NOMENCLATURE xv Chapter 1: Introduction 1 1.1 Motivation .............................................................................................................. 1 1.2 Outline of Chapters ................................................................................................ 2 Chapter 2: Literature Review 3 2.1 Vehicle Dynamics and Control .............................................................................. 3 2.1.1 Tire Basics ................................................................................................... 4 2.1.2 Vehicle Handling ......................................................................................... 9 2.1.3 Control Applications ................................................................................. 11 2.2 Scaled Systems .................................................................................................... 13 2.2.1 Buckingham Pi Theorem ........................................................................... 14 2.2.2 Similitude .................................................................................................. 15 2.2.3 Method of Repeated Variables .................................................................. 16 2.3 Scaled Vehicle Dynamics .................................................................................... 20 2.3.1 Illinois Roadway Simulator: University of Urbana-Champaign .............. 21 2.3.2 PURRS: Penn State University ................................................................ 22 2.3.3 Scale Tire Testing ...................................................................................... 24 2.4 Non-Dimensional Control .................................................................................... 26 2.4.1 Robust Control .......................................................................................... 26 Page | vii Table of Contents | Andrew Liburdi 2.4.2 Gain-Scheduling ........................................................................................ 27 2.5 Research Objectives ............................................................................................. 27 Chapter 3: Vehicle Modeling 29 3.1 Model Vehicle...................................................................................................... 29 3.1.1 Steering Servo .......................................................................................... 30 3.1.2 Tires ........................................................................................................... 30 3.2 Vehicle Properties Characterization .................................................................... 32 3.2.1 Planar CG Location ................................................................................... 32 3.2.2 Inertial Tester ...........................................................................................

Load more