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Design of Unpowered Railway Vehicles
Published in Simon Iwnicki, Maksym Spiryagin, Colin Cole, Tim McSweeney, Handbook of Railway Vehicle Dynamics, 2019
Anna Orlova, Roman Savushkin, Iurii (Yury) Boronenko, Kirill Kyakk, Ekaterina Rudakova, Artem Gusev, Veronika Fedorova, Nataly Tanicheva
In service, the car body roll must also be limited to prevent the risk of overturning on highly canted curves and to ensure that the vehicle remains within the required clearance diagram. Once the maximum allowable roll angle for the vehicle body and the maximum lateral force (centrifugal, wind and lateral components of the interaction force between the vehicles in curves) have been established, the equilibrium equation gives the minimum acceptable vertical stiffness of the suspension.
Intervention criterion and control research for active front steering with consideration of road adhesion
Published in Vehicle System Dynamics, 2018
Xiaojian Wu, Bing Zhou, Guilin Wen, Lefei Long, Qingjia Cui
In Figure 3, the nonlinear characteristics of tyres are taken into consideration using the Magic Formula tyre model. The functions for the vehicle yaw, lateral and roll motions are derived to be where θ and Iθ denote the body roll angle and the body roll moment of inertia, respectively; Iz is the yaw moment of inertia, and ms is the sprung mass. is roll moment, . and are the roll stiffness and roll damping, respectively. h is height of the sprung mass centre of gravity from the roll centre. ay is the lateral acceleration of the vehicle, .
A comparative study of equivalent modelling for multi-axle vehicle
Published in Vehicle System Dynamics, 2018
Yubiao Zhang, Yanjun Huang, Hong Wang, Amir Khajepour
There are three major attempts existing in the literature to develop the equivalent model of three-axle vehicles. William [9,10] presents the basic notions of the equivalent wheelbase and the understeer coefficient of three-axle vehicles when compared to the two-axle model. It is obtained directly from the steady-state response of the state space model. Furthermore, Williams [11] extends the concept to vehicles with any arbitrary number of axles. He also develops a unified way to study handling of multi-axel vehicles by the equivalent wheelbase and understeer coefficient. The general expression of the characteristic equation with steady-state vehicle dynamics is also extended to the n-axle vehicle. Ding and Guo [12] apply William's work to develop the 2M (twice-multiple) equivalent approach to analyse both the effect of vehicle body roll and n-axle handling on vehicle dynamics. However, the side slip angle is not considered from the above work.
Estimation of water film depth for rutting pavement using IMU and 3D laser imaging data
Published in International Journal of Pavement Engineering, 2021
Inertial Measurement Unit (IMU) is a self-contained sensor consisting of accelerometers and fibre-optic gyroscopes. IMU mounted on the interior floor between the two axes of survey vehicle’s chassis measures Euler angles, which are termed as roll (Euler angle about x-axis), pitch (Euler angle about y-axis) and yaw (Euler angle about z-axis) (Bancroft and Lachapelle 2011). The measured Euler angles coincide with the body roll angle of survey vehicle. Assuming there is stationary ride of survey vehicle, the roll angle can be accepted to represent pavement cross slope, and the pitch angle can be used to represent pavement longitudinal grade.