《汽车理论》课程教学课件（英文讲稿）第5章 汽车操纵稳定性 Handling Performance 5.3 Linear Dual-freedom Model of Turning Vehicle（线性二自由度汽车模型对前轮角输入响应）

(2) differential equation of plane movementZFxresultantforce along x-axisZFyresultantforce along y-axisresultant moment along z-axis-ETzZFx= maXXZF,=maZTz =Iz:Or

(2) differential equation of plane movement resultant force along x-axis——∑FX resultant force along y-axis——∑FY resultant moment along z-axis——∑TZ X x Y y r Z Z F ma F ma T I               

ZF, = m(v+u·0,)()ET, = 1, 0,)(smallZF, =Fcos+Fy2ZF, = Fy + Fy2ZT, = Fyr cosS.α- Fy2 ·b= Fy'α-Fy2 ·bZF, = Fyr + Fy2(2)ET, =Fyα-Fy2 bFy = kj -αi(3))[Fy2 = k, -α/2

  ( ) 1 Y r Z z r F m v u T I                 1 2 1 2 1 2 1 2 cos ( ) cos Y Y Y Y Y Y z Y Y Y Y F F F small F F F T F a F b F a F b                     1 2 1 2 2 Y Y Y Z Y Y F F F T F a F b              1 1 1 2 2 2 3 Y Y F k F k         