ANALIZA STABILITATII UNUI AUTOMOBIL CU AJUTORUL UNUI MODEL SIMPLIFICAT THE STUDY OF THE CARS STABILITY USING A SIMPLIFIED

MODEL
S.l.drd. ing. L. Simniceanu, Conf. dr. ing. V. Ot, Conf. dr.ing. D-tru Neagoe, Facultatea de Mecanica, Universitatea din Craiova Abstract In this paper is presented a study of cars stability using a simplified model and a different types of moving are making obvious. The study is applied for velocitys values witch are content in the stability field, but also for those values of velocity that surpass the critical value of speed.

1. Theoretical consideration We will use a simplified model of car for mathematical model construction. (fig.1)
L b a

A2

v2

2
F2

j
Y2

A1
Y1

1
F1

Fig. 1 The velocity of points A1, A2 are:

r r r v A1 = vC + CA1 = v x i + v y j + 0 a

0 0 0 i

(1)

k r r r v A2 = vC + CA 2 = v x i + v y j + 0 0 b 0 0
v1x = v2 x = v

(2)

v1 y = v y + a v2 y = v y b tg ( 1 1 ) = v1 y v1x = v y + a v v y + a v

(3) ; (4)

So

1 = 1 arctg
v2 y v2 x = v v

tg 2 =

v y b b ) v

(5)

So 2 = arctg (
r r dv r r a= +v ; dt

vy

ax =

dvx vy ; dt

ay =

dv y dt

+ v

(6)

The equations for cars moving are:

m v y + v = Y1 cos 1 + Y2 + F1 sin( 1 ) I = Y cos a Y b + F sin( ) 1 1 2 1 1 z &

(7)

The next relation gives the lateral forces: Y1, 2 = k1, 2 1, 2 ; k1 Lateral stiffness coefficient of tire;
v y + a v b cos 1 + k 2 arctg y + F1 sin( 1 ) m v y + v = k1 1 arctg v v v y + a v b cos 1 a k 2 arctg y b + F1 sin( 1 ) a & I z = k1 1 arctg v v

(8) For small value of angular lateral deformation we can make the next approximation:
arctg v y + a v vy v + v y b v y b a , arctg , cos 1 1 : v v v v

The next system is obtained:

. k1 + k 2 k k1 a k 2 b + 1 + 1 1 v y = mv v y 2 mv mv 2 2 = k1 a k 2 b v k1 a + k 2 b + k1 a & 1 y Iz v Iz v Iz

(9)

For a fixed velocity a non-homogenous system is obtained. This has the next form: with:

& {x} + [A]{x} = {B},

(10)

 k1 + k2 mv [A] = k a k b 2 1 Iz

& & {x} = {&, }T ;

{x} = { , }T ;
k1a k2b + 1 mv 2 k1a 2 + k2b 2 I zv
k1 mv 1 {B} = k a 1 1 Iz

(11)

2.The stability of systems The characteristically equation of system is

k1 + k 2 +p mv ak1 bk 2 +1 mv 2

=0

(12)

ak1 bk 2 Iz

a 2 k1 + b 2 k 2 +p Iz v

This can be rewritten:

2 2 k1 + k 2 ak1 bk 2 a k1 + b k 2 k1 + k 2 p + p + p+ 2 Iz v mv mv mv 2 1 bk 2 + mv (ak1 bk 2 ) =0 m I z v2

(ak

(13)

If the roots are negative or complex with negative real part, then:
lim = 0, lim = 0
t t

So the cars moving are stabile. The previous equation has real negative roots or complex roots with negative real part if the next conditions are obtained:
k1 + k 2 a 2 k1 + b 2 k 2 + >0 mv Iz v

(14)

a 2 k1 + b 2 k 2 k1 + k 2 ak bk 2 + mv 2 (ak1 bk 2 ) 1 >0 Iz v mv m I z v2

The first relation is content for any car. The second relation becomes:
L2 k1 k 2 mv 2 (ak1 bk 2 ) > 0

(15)

The next two cases will be taken into consideration:

(ak1 bk 2 ) 0 I. the inequality is content for any cars velocity;

The time history of , of angular velocity and lateral forces Y1 , Y2 is shown in fig. 2, fig. 3. The cars moving has a limit point (fig.2) or a limit cycle (fig.3) II. (ak1 bk 2 ) > 0 The inequality is content for smaller velocity then the critical value, witch is given by:
vcr = L2 k1 k 2 m/s m(ak1 bk 2 )

(23)

3. Numerical results

The sinusoidal trajectory

The next numerical values are used:
( t) := 15 sin v := 25 3.6
5 5

t 2

Bj

Aj

0 S j ,2

0 S j ,1

= ( t )
10 5

= ( t )

5 S 1 0 S 2 0

20 S 0

40

60

20 S 0

40

60

= (t )
Fig. 2

= (t )

The circular trajectory

m := 950 k1 := 250 k2 := 280 I := 1600 a := 1.2 b := 2.4 a := 10 v := 20

D( t , X) :=
2

k1 + k2 X a k1 b k2 + 1 X + k1 0 1 2 m v m v m v 2 2 a k1 b k2 X ( a k1 + b k2) X + k1 a 0 1 I I I v

10

4000

Y1
B
0

Y2

2000

5 2

10

15

10

150

100

50 1

50

50 0

100

= ( t )
100

= ( t )
20

Y 1(t ), Y 2(t )

0 S 1 100 S 2

10

200

0 S

50 0

100

10

0 S

50 0

100

= (t )
Fig. 3

= (t )

References
1 2 3 4 5 6 7 8
Bolcu, D-tru, Ot, V., Buculei, M., Marin, M., Cismaru, L. Ciudakov, E.A. Gillespie, Th. Ot, V., Bolcu, D-tru., Simniceanu, L., Simniceanu, L., s.a. Untaru, M.,.a.

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