Multibody Systems Approach to Vehicle Dynamics P1

In 1969, man travelled to the moon and back, using maths invented byKepler, Newton and Einstein to calculate trajectories hundreds of thousandsof miles long and spacecraft with less on-board computing powerthan today’s pocket calculator.
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Multibody Systems Approach to Vehicle Dynamics P1Multibody Systems Approachto Vehicle DynamicsThis page intentionally left blankMultibody Systems Approachto Vehicle DynamicsMichael BlundellDamian HartyAMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORDPARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYOElsevier Butterworth-HeinemannLinacre House, Jordan Hill, Oxford OX2 8DP200 Wheeler Road, Burlington, MA 01803First published 2004Copyright © 2004, Michael Blundell and Damian Harty. All rights reservedThe right of Michael Blundell and Damian Harty to be identified as the authorsof this work has been asserted in accordance with the Copyright, Designs andPatents Act 1988No part of this publication may be reproduced in any material form (including photocopying orstoring in any medium by electronic means and whether or not transiently or incidentally to someother use of this publication) without the written permission of the copyright holder except inaccordance with the provisions of the Copyright, Designs and Patents Act 1988 or under the termsof a licence issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London,England W1T 4LP. Applications for the copyright holder’s written permission to reproduce any partof this publication should be addressed to the publisher.Permissions may be sought directly from Elsevier’s Science and Technology RightsDepartment in Oxford, UK: phone: ( 44) (0) 1865 843830; fax: ( 44) (0) 1865 853333;e-mail: permissions@elsevier.co.uk. You may also complete your request on-line via theElsevier Science homepage (http://www.elsevier.com), by selecting ‘Customer Support’and then ‘Obtaining Permissions’.British Library Cataloguing in Publication DataA catalogue record for this book is available from the British LibraryISBN 0 7506 5112 1 For information on all Elsevier Butterworth-Heinemann publications visit our website at http://books.elsevier.comComposition by Charon Tec Pvt. Ltd, Chennai, IndiaPrinted and bound in Maple-Vail, Kirkwood, New York, USA ContentsPreface xiAcknowledgements xvNomenclature xvi1 Introduction 1 1.1 Overview 1 1.2 What is vehicle dynamics? 3 1.3 Why analyse? 10 1.4 Classical methods 10 1.5 Analytical process 11 1.6 Computational methods 14 1.7 Computer-based tools 14 1.8 Commercial computer packages 17 1.9 Benchmarking exercises 212 Kinematics and dynamics of rigid bodies 23 2.1 Introduction 23 2.2 Theory of vectors 23 2.2.1 Position and relative position vectors 23 2.2.2 The dot (scalar) product 26 2.2.3 The cross (vector) product 26 2.2.4 The scalar triple product 28 2.2.5 The vector triple product 28 2.2.6 Rotation of a vector 28 2.2.7 Vector transformation 31 2.2.8 Differentiation of a vector 32 2.2.9 Integration of a vector 34 2.2.10 Differentiation of the dot product 34 2.2.11 Differentiation of the cross product 34 2.2.12 Summary 35 2.3 Geometry analysis 38 2.3.1 Three point method 38 2.3.2 Vehicle suspension geometry analysis 41 2.4 Velocity analysis 43 2.5 Acceleration analysis 46 2.6 Static force and moment definition 51 2.7 Dynamics of a particle 55 2.8 Linear momentum of a rigid body 56 2.9 Angular momentum 57 2.10 Moments of inertia 59 2.11 Parallel axes theorem 63 2.12 Principal axes 65 2.13 Equations of motion 71vi Contents3 Multibody systems simulation software 75 3.1 Overview 75 3.2 Modelling features 78 3.2.1 Planning the model 78 3.2.2 Reference frames 79 3.2.3 Basic model components 85 3.2.4 Parts and markers 85 ...