A comprehensive overview of integrated vehicle system
dynamics exploring the fundamentals and new and emerging
developments

This book provides a comprehensive coverage of vehicle system
dynamics and control, particularly in the area of integrated
vehicle dynamics control. The book consists of two parts, (1)
development of individual vehicle system dynamic model and control
methodology; and (2) development of integrated vehicle dynamic
model and control methodology. The first part focuses on
investigating vehicle system dynamics and control according to the
three directions of vehicle motions, including longitudinal,
vertical, and lateral. Corresponding individual control systems,
e.g. Anti-lock Brake System (ABS), Active Suspension, Electric
Power Steering System (EPS), are introduced and developed
respectively.

Particular attention is paid in the second part of the book to
develop integrated vehicle dynamic control system. Integrated
vehicle dynamics control system is an advanced system that
coordinates all the chassis control systems and components to
improve the overall vehicle performance including safety, comfort,
and economy. Integrated vehicle dynamics control has been an
important research topic in the area of vehicle dynamics and
control over the past two decades. The research topic on integrated
vehicle dynamics control is investigated comprehensively and
intensively in the book through both theoretical analysis and
experimental study. In this part, two types of control
architectures, i.e. centralized and multi-layer, have been
developed and compared to demonstrate their advantages and
disadvantages.

* Integrated vehicle dynamics control is a hot topic in
automotive research; this is one of the few books to address both
theory and practice of integrated systems

* Comprehensively explores the research area of integrated
vehicle dynamics and control through both theoretical analysis and
experimental study

* Addresses a full range of vehicle system topics including tyre
dynamics, chassis systems, control architecture, 4 wheel steering
system and design of control systems using Linear Matrix Inequality
(LMI) Method

Wuwei Chen is a Professor at the School of Mechanical and Automotive Engineering, Hefei University of Technology, China. Dr. Chen has been working in the area of vehicle system dynamics, particularly in integrated control of vehicle dynamic systems, for more than 20 years. He has been recognized as a leading researcher in developing integrated vehicle dynamic control systems through both theoretical analysis and experimental investigation.
Dr. Chen was a guest editor of International Journal of Vehicle Design for a special issue on "Vehicle Control Systems". He is also a member of the editorial boards of Journal of Vibration Engineering (in Chinese) and Transactions of the Chinese Society for Agricultural Machinery. Dr. Chen has authored and co-authored over 150 journal and conference papers, and has made numerous presentations at scientific and engineering conferences.

Hansong Xiao is now working with Hanergy Product Development Group, China. He received his Ph.D.in Mechanical Engineering at the University of Toronto, Canada. His current research interests include Engineering Optimization, Dynamic Analysis, and Automotive Electronic Control.

Qidong Wang, Ph.D, Professor at School of Mechanical and Automotive Engineering, Hefei University of Technology. Wang has been doing research in the field of vehicle dynamics and control for over 20 years and has published over 80 papers.
Linfeng Zhao, Ph.D, Associate Professor at School of Mechanical and Automotive Engineering, Hefei University of Technology. Zhao's interest is vehicle dynamics and control technologies, he has published over 10 journal papers.

Maofei Zhu, Hefei Institutes of Physical Science, Chinese Academy of Sciences.

A comprehensive overview of integrated vehicle system dynamics exploring the fundamentals and new and emerging developments

This book provides a comprehensive coverage of vehicle system dynamics and control, particularly in the area of integrated vehicle dynamics control. The book consists of two parts, (1) development of individual vehicle system dynamic model and control methodology; and (2) development of integrated vehicle dynamic model and control methodology. The first part focuses on investigating vehicle system dynamics and control according to the three directions of vehicle motions, including longitudinal, vertical, and lateral. Corresponding individual control systems, e.g. Anti-lock Brake System (ABS), Active Suspension, Electric Power Steering System (EPS), are introduced and developed respectively.

Particular attention is paid in the second part of the book to develop integrated vehicle dynamic control system. Integrated vehicle dynamics control system is an advanced system that coordinates all the chassis control systems and components to improve the overall vehicle performance including safety, comfort, and economy. Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The research topic on integrated vehicle dynamics control is investigated comprehensively and intensively in the book through both theoretical analysis and experimental study. In this part, two types of control architectures, i.e. centralized and multi-layer, have been developed and compared to demonstrate their advantages and disadvantages.

• Integrated vehicle dynamics control is a hot topic in automotive research; this is one of the few books to address both theory and practice of integrated systems
• Comprehensively explores the research area of integrated vehicle dynamics and control through both theoretical analysis and experimental study
• Addresses a full range of vehicle system topics including tyre dynamics, chassis systems, control architecture, 4 wheel steering system and design of control systems using Linear Matrix Inequality (LMI) Method

Preface xi

1 Basic Knowledge of Vehicle System Dynamics 1

1.1 Traditional Methods of Formulating Vehicle Dynamics Equations 1

1.1.1 Newtonian Mechanics 2

1.1.2 Analytical Mechanics 3

1.2 Dynamics of Rigid Multibody Systems 3

1.2.1 Birth and Development 3

1.2.2 Theories and Methods of MultiRigid Body System Dynamics 5

1.2.3 An Example of the Application of MultiRigid Body Dynamics Method in Vehicle System Modeling 8

1.3 Flexible Multibody Dynamics 12

References 13

2 Tyre Dynamics 15

2.1 Tyre Models 15

2.1.1 Terminology and Concepts 15

2.1.2 Tyre Model 17

2.2 Tyre Longitudinal Mechanical Properties 19

2.2.1 Tyre Rolling Resistance 20

2.2.2 Road Resistance 21

2.2.3 Tyre Slip Resistance 23

2.2.4 Overall Rolling Resistance of the Tyres 23

2.2.5 Rolling Resistance Coefficient 24

2.3 Vertical Mechanical Properties of Tyres 26

2.4 Lateral Mechanical Properties of Tyres 29

2.5 Mechanical Properties of Tyres in Combined Conditions 30

References 32

3 Longitudinal Vehicle Dynamics and Control 33

3.1 Longitudinal Vehicle Dynamics Equations 33

3.1.1 Longitudinal Force Analysis 33

3.1.2 Longitudinal Vehicle Dynamics Equation 34

3.2 Driving Resistance 35

3.2.1 Aerodynamic Drag 36

3.2.2 Ramp Resistance 36

3.2.3 Inertial Resistance 37

3.3 Antilock Braking System 38

3.3.1 Introduction 38

3.3.2 Basic Structure and Working Principle 38

3.3.3 Design of an Antilock Bra…