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Numerical Simulation of Vehicle Motion including Non-Holonomic Constraints by Extended Baumgarte's Method

Journal Article
2008-01-0578
ISSN: 1946-3995, e-ISSN: 1946-4002
Published April 14, 2008 by SAE International in United States
Numerical Simulation of Vehicle Motion including Non-Holonomic Constraints by Extended Baumgarte's Method
Sector:
Citation: Maruyama, T., Muroi, S., Kanai, M., and Tokunaga, H., "Numerical Simulation of Vehicle Motion including Non-Holonomic Constraints by Extended Baumgarte's Method," SAE Int. J. Passeng. Cars - Mech. Syst. 1(1):459-471, 2009, https://doi.org/10.4271/2008-01-0578.
Language: English

Abstract:

In this paper, we propose the non-holonomic constraint equations for the wheel roll motion when the wheel leans to the road, which are based on the assumption that the wheel rolls without a slip as if it is the circular cone with the apex which is the intersection of the normal directed downward from the wheel center to the road surface. The present assumption is applied to the numerical simulations of the bicycle motion and the rollover motion of the four-wheeled vehicle, and is proven to work sufficiently for both problems.