Abstract
Narrow vehicles have many possible qualities then the normal track width cars. However, the main disadvantage of the narrow vehicles is their tendency to roll over. That is why the active roll mitigation system seems to be necessary. Torque vectoring has huge impact on vehicles steering characteristics. The paper contains a description of simulation models. The three degree of freedom model (3DOF) of a vehicle as a development of former bicycle model is presented as an appropriate model for the test subject. The rolling stability is described. The basic roll detection system is presented and its usefulness is discussed. Another approach based on the roll angle and roll rate is presented. The paper contains the description of a tested narrow car, results of preliminary tests and simulations results compared with road tests results of narrow vehicle. The usefulness of a 3DOF vehicle model to describe the movement of the vehicle was tested. The usefulness of roll angle calculation using 3DOF model in roll mitigation system at narrow car is discussed.
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Abbreviations
- m:
-
Mass of the vehicle [kg]
- Iz:
-
Moment of inertia around vertical axis [kg m2]
- Ix:
-
Moment of inertia around longitudinal axis [kg m2]
- \( {\text{I}}_{{\upvarphi }} \) :
-
Moment of inertia around rolling axis [kg m2]
- δ1:
-
Steering angle of the front wheels [rad]
- δ2:
-
Steering angle of the rear wheels [rad]
- l1:
-
Distance from front axle to centre of mass [m]
- l2:
-
Distance from rear axle to centre of mass [m]
- h:
-
Height of a center of mass [m]
- b:
-
Track width [m]
- Y1:
-
Horizontal force on the front axle [N]
- Y2:
-
Horizontal force on the rear axle [N]
- Mext:
-
Additional yaw moment [Nm]
- Fext:
-
Additional horizontal force [N]
- K1:
-
Cornering stiffness of the front axle [N/rad]
- K2:
-
Cornering stiffness of the front axle [N/rad]
- c:
-
Rolling stiffness of a vehicle [Nm/rad]
- k:
-
Torsion damping factor [Nm/rad/s]
- Fint:
-
Force of inertia [N]
- Mint:
-
Moment of inertia [Nm]
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Grzegożek, W., Weigel-Milleret, K. (2020). Rolling Stability Control Based on Torque Vectoring for Narrow Vehicles. In: Siergiejczyk, M., Krzykowska, K. (eds) Research Methods and Solutions to Current Transport Problems. ISCT21 2019. Advances in Intelligent Systems and Computing, vol 1032. Springer, Cham. https://doi.org/10.1007/978-3-030-27687-4_18
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