Yildiz Technical University

Department of Mechatronics Engineering

MKT4132 Introduction to Vehicle Dynamics

Midterm-2 (Take-home)
24.5.2015

1 . By referring to the equations of motion derived for the lateral motion of a bicycle model vehicle,
show the derivation of the following equation for steady-state cornering:

1
2

Neglect the aerodynamic forces. The vehicle is assumed moving at the ground level (no grading).
and
Cornering stiffnesss of the front and rear wheels in the bicycle model must be taken as 2
2 , respectively.

2 . A road vehicle is given with the specifications below:

m = 1480 kg
Iz =
1950 kg m2
a =lf = 1.421 m
b =lr = 1.029 m
Vx =u= 100 km/h
Cf = 65000 N/rad
Cr = 70000 N/rad
A sinusoidal steering input with amplitudes of 30, 45 and 60 degrees and
with a period of 8 seconds is applied through the steering wheel to the
vehicle for 4 seconds. Then the steering wheel angle becomes zero. To
be able to generate such signal, use sine wave and step input blocks and
multiply the outputs of those blocks.
The initial velocity of the vehicle is 100 km/h. The steering gear ratio is 15:1. Use the bicycle model.
If you feel difficulty with the sign of cornering stiffness coefficient, you can change it. In that case,
you must explain your reason.
Plot the sideslip angle of the vehicles body; slip angles of the front tire and rear tire; yaw rate; and
position of the center of gravity of the vehicle. The time is for 30 seconds.

MKT4132 | YTU, Mechatronics Eng. | Asst. Prof. M. Seluk ARSLAN

Initial position of the vehicle is X0=0 and Y0=0.

Write the formula and derivations you used in your calculations to your report as well.
In the Model Configuration Parameters of Simulink, use Fixed-step and 0.01s fixed-step size in Solver
Options.

IMPORTANT REMINDERS & GENERAL WARNINGS ABOUT TAKE HOME SOLUTIONS:

Your take home solutions must be concise but self-explanatory, containing all the details of
your computations/derivations at each step without needing any interpretation of the reader,
otherwise they will be considered as "incomplete".
If you use sources other than the course notes, they should be properly referenced.
If you need to use readily available software package(s) and/or your own computer codes and want
to get credit for them, you must supply all input/output evidences in printed form as well as
the source listings of your codes. Printed results of computer codes must be used only as
evidence to support your findings. Your answers based on these results should be presented in
a conventional format especially when symbolic expressions are involved.
Solutions must be submitted in a written form prepared professionally, by hand writing using
pen (not pencil) or by using a word processor on only one side of clean, white papers of A4
size, numbered and properly bound or stapled or secured in a plastic holder; no disks or email attachments are acceptable as a full or partial content of your take home solutions. Do not forget
to sign and use the special cover page (given at the end of this document).
Definitely, no extensions will be given for the date/time of take-home submissions, in full or partial.
Even though team-work type efforts are encouraged, they must not go beyond discussions on
the solution methods used and/or cross-checking the results of your number-crunching.
Therefore, every take home paper that you will be handing in should be personalized by fully
and correctly reflecting your own approaches and efforts in it.
Hence, all duplicate solutions will be disregarded with some serious consequences.

MKT4132 | YTU, Mechatronics Eng. | Asst. Prof. M. Seluk ARSLAN

MKT4132 Introduction to Vehicle Dynamics

Spring 2015
Course Instructor: Dr. M. Seluk Arslan

TAKE HOME EXAMINATION

Date Assigned: May 24, 2015

Date Due: May 25, 2015 (by 14:00 at E2 Block, Room 219)

Student's Number: ___________________________

Student's Name and SURNAME: ___________________________

I hereby declare that the solutions submitted under this cover are products of my own personal
efforts, wholly. Hence, they truly reflect my personal approaches and knowledge in the subject
areas of questions. If I used sources other than the textbook of this course, they have been properly
referenced. Neither my peer consultations nor any help which I got from others in any form
went beyond discussions on the solution methods used and/or cross-checking my findings. I am
fully aware of serious consequences of any deviations from the statements above as evidenced
by my solutions submitted.

Student's Signature: _____________________