https://orcid.org/0000-0002-6833-4926
![Sample our Engineering & Technology journals, sign in here to start your access, latest two full volumes FREE to you for 14 days]({"type":"image" , "src" : "/sda/5933/TOC-Subject-Sample-2021-Engineering-Tech.jpg"})
Abstract
Study of vehicle dynamics aggregates possibilities to enhance performance, safety and reliability, such as the integration of control systems, usually requiring knowledge on vehicle's states and parameters. However, some critical values are difficult to measure or are not disclosed. For this reason, dynamics and stability analysis of six-wheeled vehicles are compromised, and available information on this matter is limited. In this context, this paper proposes the estimation of the cornering stiffness of a 6x6 vehicle by an inverse problem approach applying the Levenberg–Marquardt (LM) method. The algorithm required data from field experiments and from simulations of a vehicle model during a double-lane change manoeuvre developed using . Experimental and theoretical values for the vehicle yaw rate were combined through LM method for cornering stiffness estimation. The excellent agreement between measured and simulated yaw rate indicates that the proposed model and the estimated parameters properly represent the vehicle dynamics response.
Acknowledgments
The authors would like to thank Mr. Madson Ferrari Pereira, Head of LATAM Product Validation at IVECO Latin America, for providing technical support during the field experimental measurements, and the Brazilian Army for supporting research and scientific development in military equipment.
Nomenclature
| α | = | Slip angle |
| β | = | Sideslip angle or attitude angle |
| δ | = | Steer angle of a tyre |
| ωy | = | Angular velocity of the vehicle in the y-axis |
| ωx | = | Angular velocity of the vehicle in the x-axis |
| ωz | = | Angular velocity of the vehicle in the z-axis |
| ψ | = | Yaw angle or heading angle |
| θ | = | Pitch angle |
| φ | = | Roll angle |
| a1 | = | Distance of the front wheel to the centre of mass of a vehicle |
| a2 | = | Distance of the second wheel to the centre of mass of a vehicle |
| a3 | = | Distance of the third wheel to the centre of mass of a vehicle |
| ay | = | Lateral acceleration |
| Cα | = | Cornering stiffness |
| Fx | = | Longitudinal force on a vehicle |
| Fy | = | Lateral force on a vehicle |
| Fxi | = | Longitudinal tyre force |
| Fyi | = | tyre lateral force |
| g | = | Gravitational acceleration |
| H | = | Maximum height of the vehicle |
| Iz | = | Moment of inertia of a vehicle along z-axis |
| L | = | Total length of the vehicle |
| l | = | Wheelbase of the vehicle |
| Mz | = | Yaw Moment |
| m | = | Total mass of the vehicle |
| p | = | Roll rate of a vehicle |
| Ptyre | = | tyre inflation pressure |
| q | = | Pitch rate of a vehicle |
| r | = | Yaw rate of a vehicle |
| vy | = | Lateral velocity of a vehicle |
| vx | = | Longitudinal velocity of a vehicle |
| wv | = | Maximum width of the vehicle |
| w | = | Track of the vehicle |
Disclosure statement
No potential conflict of interest was reported by the author(s).