37. General vehicle dynamic model : Igor L. Paul, Hariharan Sankaran and James J. Jackson. Massachussetts Inst. of Tech., Cambridge. Engineering Projects Lab. Nov., 189 p. (1966)

Abstract

Two computer programs were developed to calculate the three-dimensional dynamics of a rigid high-speed ground-vehicle supported vertically and laterally by an arbitrary number of suspensions and excited by arbitrary inputs (acting on the suspensions or on the vehicle body). The first program models each suspension by a linear spring and damper in parallel connected to the unsprung mass and another linear spring and damper in parallel joining the unsprung mass and the vehicle. This model is applicable to a limited class of suspensions over their linear operating range. The second, much more comprehensive program permits non-linear and/or 'active' suspension elements. Each suspension can consist of masses connected (in series or parallel) by elements with force characteristics which can be any function of time or of the relative or absolute displacements, velocities or accelerations of any of the masses (including the vehicle mass). Both programs accept sinusoidal, step, ramp or arbitrary function inputs to the suspensions and print out any or all of the following vehicle response parameters as a function of time: vertical and lateral displacement, velocity and acceleration of the vehicle center of mass; vehicle roll, pitch and yaw (and their first and second derivatives); suspension forces on the vehicle and on the guideway. (Author)