Lab 4 – Cornering

Date: 16, November, 2017

Students: Fadrique, Gonzalo; Pombo, Eduardo.
Simplifications and equations
 Model simplifications
 Neumáticos 195/70 R14.

 Ángulos pequeños.
 Sin fuerzas de resistencia al avance en ninguno de los dos ejes.
 α  desmostración de angulos pequeños.
 Mathematical simplifications
 𝑠𝑒𝑛𝛼 = 𝛼
 cos 𝛼 = 1
 Equations
𝑣
𝜓̇ ≅ (𝛿 − 𝛽𝑓 + 𝛽𝑟 )
𝐿
𝐿𝑟 𝐿𝑓
𝛽 ≅ (𝛿 − 𝛽𝑓 ) − 𝛽𝑟 𝐸𝑐𝑢𝑎𝑐𝑖𝑜𝑛𝑒𝑠 𝑐𝑖𝑛𝑒𝑚á𝑡𝑖𝑐𝑎
𝐿 𝐿
𝐿𝑟 𝐿𝑓
𝛽̇ ≅ (𝛿̇ − 𝛽𝑓̇ ) − 𝛽𝑟̇
𝐿 𝐿

𝐹𝑓 + 𝐹𝑟 = 𝑀𝑣(𝜓̇ + 𝛽̇ ) 𝐿𝑀𝑇

−𝐿𝑓 𝐹𝑓 + 𝐿𝑟 𝐹𝑟 = 𝐼𝜓 𝜓̈ 𝐴𝑀𝑇

𝑘𝑓 𝑘𝑟
𝛽̇ = 𝛽𝑓 + 𝛽𝑟 − 𝜓̇
𝑀𝑣 𝑀𝑣
𝐿𝑓 𝐿𝑟
𝜓̈ = − 𝐹𝑓 + 𝐹𝑟
𝐼𝜓 𝐼𝜓
𝐿𝑟
𝛽𝑟 = 𝜓̇ − 𝛽
𝑣
𝐿𝑓
𝛽𝑓 = 𝛿 − 𝛽 + 𝜓̇
𝑣
Plots with validation Lf1 v30
Plots with validation Lf1 v60
Plots with validation Lf1.5 v30
Plots with validation Lf1.5 v60
Comments

 Avoid mere descriptions

 Point out the interesting behaviours appearing in your plots
 Relate those behaviours to what you know about the problem
 …..