- 2 Problem 1 15 Points Consider The Given Vehicle Lateral Dynamic Model And The System Output 2 C 2 2 1 C 1 2 Mv M 1 (717.64 KiB) Viewed 26 times
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2 Problem 1. (15 points) Consider the given vehicle lateral dynamic model and the system output: -2(C, +2 2(1.C-1,2 mV mV 0 0 1 de 2(Cl-GL) -2(66 +96²) 0 1, 1 0 y = Where: Longitudinal velocity at the center of gravity of vehicle (25 m/s for this problem) Lateral velocity at the center of gravity of vehicle (m/s) m = 1,800 kg. Total mass of the vehicle 1. = 3,100 kgm. Yaw moment of inertia of the vehicle 4 = 1.6 m, Longitudinal distance from the center of gravity to front tires L = 1.8 m, Longitudinal distance from the center of gravity to rear tires G = 22,000 N/rad, Comering stiffness of the front tire C = 30,000 N/rad, Comering stiffness of the rear tire 8 Front steering angle (unit is rad for this problem) • Yaw angle (degree) Y Vehicle global lateral position (m) () (3 points) Obtain the transfer function of the vehicle lateral dynamic model. (2) (5 points) Please verify the vehicle lateral dynamic model and plot the following four variables with a sine steering input (8 = 5 x + sin(wt)): 1. Vehicle lateral velocity (m/s) 2. Yaw angle (degree), 3. Yaw rate (degree/second) 4. Vehicle lateral position (m) (3) (7 points) The initial vehicle lateral position is om and the reference vehicle lateral position is 4.5 m. Design a vehicle lateral controller to track the given desired lateral position using the Model Predictive Control method.