Effect of suspension kinematic on 14 DOF vehicle model

4th International Conference on Mechanical, Materials and Manufacturing

材料科学;机械制造

Wongpattananukul, T.^1 ; Chantharasenawong, C.^1

Department of Mechanical Engineering, Faculty of Engineering, King Mongkut's University of Technology Thonburi, 126 Pracha Uthit Rd., Bang Mod, Thung Khru, Bangkok

10140, Thailand^1

关键词: Control schemes;    Experiment data;    Kinematic relations;    Optimal controls;    Resource consumption;    Trajectory errors;    Trajectory simulation;    Vehicle simulation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/272/1/012018/pdf
DOI  :  10.1088/1757-899X/272/1/012018

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.