<p>The wheel loader is a type of engineering vehicle used primarily to move crude material over shorter distances. As the vehicle is designed without wheel suspension, wheel loader drivers are exposed to high levels of whole body vibration which influences ride comfort negatively. The work presented in this thesis has the aim to investigate the potential in adding an axle suspension to a wheel loader in order to reduce vibrations and increase handling quality. While suspended axles have great potential for improving ride comfort and performance, they will also necessarily affect the vehicle dynamic behaviour which is different in many aspects from that of passenger cars or other road vehicles: the wheel loader has a large pitch inertia compared to its mass, the axle loads vary considerably with loading condition, and the vehicle uses an articulated frame steering system rather than wheel steering. These issues must all be considered in the design process for a wheel loader suspension.</p><p>The effects of suspended axles on ride vibrations are analysed by simulating a multibody wheel loader model with and without axle suspension. Results from the simulations show that longitudinal and vertical acceleration levels are greatly reduced with axle suspension, but that the decrease in lateral acceleration is smaller. By reducing the roll stiffness lateral accelerations can be further reduced, although this may not be feasible because of requirements on handling stability. The pitching oscillation of the vehicle has also been studied as this is known to have a large influence on ride comfort. An analytical model is used to study the effect of front and rear suspension characteristics on the pitching response of the wheel loader, showing that a stiffer rear suspension is favourable for reducing pitching but also that a similar effect is attainable with a stiffer front suspension. Results are compared to multibody simulations which show the same trend as analytical predictions. By including a linearised representation of a hydropneumatic suspension in the models, it is also shown that favourable dynamic behaviour can be maintained when the vehicle is loaded by utilising the fact that suspension stiffness is increasing with axle load.</p><p>Articulated vehicles may exhibit lateral oscillations known as "snaking" when driven at high speed. The effect of suspended axles on these oscillations are analysed using a multibody simulation model of a wheel loader with an equivalent roll stiffness suspension model. It is found that the roll motion of the sprung mass has a slightly destabilising effect on the snaking oscillations. This effect is more pronounced if the body roll frequency is close to the frequency of the snaking motion, although this loss in stability can be compensated for by increasing the equivalent stiffness or damping of the steering system.</p><p>Together with existing vehicle dynamic theory and design rules, the studies reported in this work provide an insight into the specific issues related to suspension design for wheel loaders.</p>

The wheel loader is a type of engineering vehicle used primarily to move crude material over shorter distances. As the vehicle is designed without wheel suspension, wheel loader drivers are exposed to high levels of whole body vibration which influences ride comfort negatively. The work presented in this thesis has the aim to investigate the potential in adding an axle suspension to a wheel loader in order to reduce vibrations and increase handling quality. While suspended axles have great potential for improving ride comfort and performance, they will also necessarily affect the vehicle dynamic behaviour which is different in many aspects from that of passenger cars or other road vehicles: the wheel loader has a large pitch inertia compared to its mass, the axle loads vary considerably with loading condition, and the vehicle uses an articulated frame steering system rather than wheel steering. These issues must all be considered in the design process for a wheel loader suspension. The effects of suspended axles on ride vibrations are analysed by simulating a multibody wheel loader model with and without axle suspension. Results from the simulations show that longitudinal and vertical acceleration levels are greatly reduced with axle suspension, but that the decrease in lateral acceleration is smaller. By reducing the roll stiffness lateral accelerations can be further reduced, although this may not be feasible because of requirements on handling stability. The pitching oscillation of the vehicle has also been studied as this is known to have a large influence on ride comfort. An analytical model is used to study the effect of front and rear suspension characteristics on the pitching response of the wheel loader, showing that a stiffer rear suspension is favourable for reducing pitching but also that a similar effect is attainable with a stiffer front suspension. Results are compared to multibody simulations which show the same trend as analytical predictions. By including a linearised representation of a hydropneumatic suspension in the models, it is also shown that favourable dynamic behaviour can be maintained when the vehicle is loaded by utilising the fact that suspension stiffness is increasing with axle load. Articulated vehicles may exhibit lateral oscillations known as "snaking" when driven at high speed. The effect of suspended axles on these oscillations are analysed using a multibody simulation model of a wheel loader with an equivalent roll stiffness suspension model. It is found that the roll motion of the sprung mass has a slightly destabilising effect on the snaking oscillations. This effect is more pronounced if the body roll frequency is close to the frequency of the snaking motion, although this loss in stability can be compensated for by increasing the equivalent stiffness or damping of the steering system. Together with existing vehicle dynamic theory and design rules, the studies reported in this work provide an insight into the specific issues related to suspension design for wheel loaders. / QC 20101119

Artificial satellites play a vital role throughout the world today. They providea broad range of services ranging from navigation to communication and reconnaissance. As antenna technology is evolving and ground based antennas are getting smaller and smaller, the demand for on-the-move solutions is growing.These antennas can be used whilst mounted on for example, a moving vehicle,where the mechanical performance of the antenna must be sufficient for thecurrent conditions. During this project, a computer based tool that can helpengineers when iterating and optimizing a two-axis gimbal type antenna designwas created. The tool uses simulated and recorded data from road vehicles andboats to calculate the required torque on the two axes necessary to sustain communication with a geostationary satellite. When completed, the tool was easy to use and configure whilst not requiring much computational power. / Artificiella satelliter har en viktig roll i dagens samhälle. De gör att en radtjänster så som navigation, kommunikation och spaning är tillgängliga på ettsätt som annars ej vore möjligt. Samtidigt som antenner blir mindre och lättareså ökar efterfrågan på så kallade on-the-move-lösningar. Dessa antenner kananvändas under färd och ofta på fordon av olika slag. För sådana antenner är detviktigt att den mekaniska prestandan är tillräcklig för de rådande förhållandena.I detta projekt har ett datorbaserat verktyg som kan hjälpa ingenjörer att itereraoch optimera en tvåaxlig inpekare utvecklats. Verktyget använder simulerad ochinsamlad data från markfordon och båtar för att beräkna de vridmoment sombehövs på vardera axel for att bibehålla kommunikation med en geostationärsatellit. Det färdiga verktyget är enkelt att använda och konfigurera utan attkräva stor beräkningskraft.

The purpose of this thesis was to analyse, model and finally generate dynamic vehicular motions in a train. The objective with the analysis was to find important motions for a realistic train experience. The motions from the analysis were then weighted against possibilities for generation in a motion platform.A dynamic motion model was created to model the selected motions. The model was implemented in a simulation environment, more specifically MATLAB/Simulink. The simulation environment was used to simulate the model and to generate outputs to control a motion platform. The motions of the motion platform depended on how the modelled motions were chosen to be generated. The motion model was validated by comparison of results from the model and measured values from a real train.Generation of motions was accomplished by implementation of the model in a motion platform. A virtual test track was constructed and used to test how the implemented model controlled the motion platform. The experience of the test track in the motion platform was evaluated by persons in a cabin mounted on the motion platform. / Syftet med detta examensarbete var att analysera, modellera och slutligen återskapa ett tågs fordonsdynamiska rörelser. Rörelserna har analyserats med utgångspunkt från vad som ansågs viktigt att återskapa för att en människa ska få en realistisk tågupplevelse. Resultatet från rörelseanalysen vägdes mot möjligheter till återskapande i ett rörelsesystem. En dynamisk rörelsemodell skapades för att modellera de valda rörelserna. Modellen byggdes upp i en simuleringsmiljö, närmare bestämt MATLAB/Simulink. Där kunde modellen simuleras och förses med utsignaler till styrning av ett rörelsesystem. Vilka rörelser som rörelsesystemet skulle utföra berodde på hur de modellerade rörelserna valdes att återskapas. Rörelsemodellen validerades genom att jämföra resultaten från modellen med mätdata från ett verkligt tåg. Återskapande av rörelser gjordes genom implementering av modellen i ett rörelsesystem. Ett virtuellt testspår konstruerades och användes som test av hur den implementerade modellen styrde rörelsesystemet. Utvärdering av hur testspåret upplevdes i rörelsesystemet gjordes genom att personer fick sitta i en kabin på rörelsesystemet.

<p>To produce competitive vehicles, their comfort is one important issue to take into account during the development process. The aim of this Master Thesis is to develop an on-line comfort evaluation tool in order to improve research and education in the field of vehicle comfort at the division of Vehicle Dynamics at the Royal Institute of Technology.</p><p>Based on ISO standards concerning comfort an on-line evaluation tool has been developed using DASYLab, which is a software that allows creation of acquisition, control, simulation and analysis tasks.</p><p>The developed tool has been evaluated by performing measurements of a VOLVO V40 equipped with sensors. Different sorts of surfaces and driving conditions have been investigated, and from this investigation one can conclude that the comfort tool works properly.</p>

<p>The purpose of this thesis was to analyse, model and finally generate dynamic vehicular motions in a train. The objective with the analysis was to find important motions for a realistic train experience. The motions from the analysis were then weighted against possibilities for generation in a motion platform.A dynamic motion model was created to model the selected motions. The model was implemented in a simulation environment, more specifically MATLAB/Simulink. The simulation environment was used to simulate the model and to generate outputs to control a motion platform. The motions of the motion platform depended on how the modelled motions were chosen to be generated. The motion model was validated by comparison of results from the model and measured values from a real train.Generation of motions was accomplished by implementation of the model in a motion platform. A virtual test track was constructed and used to test how the implemented model controlled the motion platform. The experience of the test track in the motion platform was evaluated by persons in a cabin mounted on the motion platform.</p> / <p>Syftet med detta examensarbete var att analysera, modellera och slutligen återskapa ett tågs fordonsdynamiska rörelser. Rörelserna har analyserats med utgångspunkt från vad som ansågs viktigt att återskapa för att en människa ska få en realistisk tågupplevelse. Resultatet från rörelseanalysen vägdes mot möjligheter till återskapande i ett rörelsesystem. En dynamisk rörelsemodell skapades för att modellera de valda rörelserna. Modellen byggdes upp i en simuleringsmiljö, närmare bestämt MATLAB/Simulink. Där kunde modellen simuleras och förses med utsignaler till styrning av ett rörelsesystem. Vilka rörelser som rörelsesystemet skulle utföra berodde på hur de modellerade rörelserna valdes att återskapas. Rörelsemodellen validerades genom att jämföra resultaten från modellen med mätdata från ett verkligt tåg. Återskapande av rörelser gjordes genom implementering av modellen i ett rörelsesystem. Ett virtuellt testspår konstruerades och användes som test av hur den implementerade modellen styrde rörelsesystemet. Utvärdering av hur testspåret upplevdes i rörelsesystemet gjordes genom att personer fick sitta i en kabin på rörelsesystemet.</p>

BAE Systems Hägglunds has a long history of producing high performance terrain tracked vehicles (mostly for military applications), and they are now aiming at developing a tracked forwarder with similar techniques.The forwarder will be of series hybrid type where a diesel engine via a generator will power the motors (one for each drive wheel). Thanks to individually controlled motors and the gentle rubber tracks, this forwarder is calculated to have a considerably higher average speed in the terrain and to be more gentle to the soil. The forwarder with a weight of 11 metric tons and a load capacity of 15 metric tons is specified to have an average working speed of 7-10 km/h, a top speed in terrain of 15 km/h and a top speed on roads of 40 km/h.This master’s thesis aims at developing a conceptual design of the forwarder’s drive module which includes electric motor, gear unit, brake and drive wheel.To investigate if the requirements can be fulfilled a study of the dimensioning loading scenarios has been carried out. The resulting needs regarding the torque has been considered in order to determine the required gear ratios for different motor options. A planetary gear unit is intended for the supply of the gear ratio between the electric motor and the drive wheel and with the results from the study of the different loading scenarios models of the motor and gear unit could be chosen as reference models in the concept generation part. The concepts were evaluated with a Pugh matrix in order to choose the most suitable one for further development. In the further development work the CAD models have been detailed and a verifying FEM analysis of the base in the design has been performed.The result is a conceptual design where the electric motor and the gear unit have been placed inside of the drive wheel and a disc brake system has been placed outside of the drive wheel. As gear unit a system with two steps has been chosen for adaption to the current demands regarding gear ratio and available geometrical space. The chosen motor is a permanent magnet synchronous motor with a peak torque of 324 Nm, a nominal torque of 172 Nm and a maximum efficiency of 94 %. This will result in a fulfillment of the requirements regarding the performance of the forwarder. / BAE Systems Hägglunds som har en lång erfarenhet av att tillverka högpresterande terrängfordon med banddrift (främst för militära applikationer) satsar nu på att ta fram en skotare med banddrift.Skotaren är tänkt att vara av seriehybridtyp där en dieselmotor via en generator driver de fyra elmotorerna (en för varje bandställ). Tack vare individuella drivmotorer samt den för marken skonsamma gummibandsdriften beräknas denna skotare kunna framföras i en betydligt högre medelfart i terräng samtidigt som markförstöringen minskar drastiskt. Skotaren med en vikt på 11 ton samt en lastförmåga på 15 ton är specificerad att ha en effektiv skotarhastighet på 7-10 km/h, en toppfart i terräng på 15 km/h och en toppfart på väg på 40 km/h.Detta examensarbete syftar till att ta fram ett konstruktonskoncept för den tilltänkta skotarens drivmodul som innefattar elmotor, växelenhet, broms samt drivhjul.För att utreda huruvida de uppställda prestandakraven kan uppfyllas har en studie av dimensionerande lastfall utförts där en effekt på 150 kW från band till mark har antagits. Momentbehoven vid dessa lastfall har också studerats i syfte att bestämma utväxlingsbehoven för olika motoralternativ. En planetväxelenhet är tänkt att tillgodose utväxlingsbehovet från motor till drivhjul och med resultaten från lastfallsstudien kunde realistiska referensmodeller för motor och växel användas till den efterföljande konceptgenereringen där fyra olika koncept togs fram. Efter utvärdering av koncepten bland annat med hjälp av en Pugh-matris har ett koncept valts ut för vidareutveckling. I detta arbete har mer detaljerade CAD-modeller tagits fram och för själva basen i konstruktionen har en FEM-analys utförts.Resultatet är ett konstruktionskoncept där motor och växelenhet har placerats inuti drivhjulet och ett skivbromssystem har placerats utanför drivhjulet. Som växelenhet har ett beprövat system med två steg valts ut för anpassning till de rådande kraven på utväxling och geometriskt utrymme. Den motor som valts ut baserat på form och funktion är en permanentmagnetiserad synkronmotor som levererar ett maximalt moment på 324 Nm och ett nominellt moment på 172 Nm med en verkningsgrad på maximalt 94 %. Med dessa delsystem uppfylls då de specificerade prestandakraven på skotaren.

To produce competitive vehicles, their comfort is one important issue to take into account during the development process. The aim of this Master Thesis is to develop an on-line comfort evaluation tool in order to improve research and education in the field of vehicle comfort at the division of Vehicle Dynamics at the Royal Institute of Technology. Based on ISO standards concerning comfort an on-line evaluation tool has been developed using DASYLab, which is a software that allows creation of acquisition, control, simulation and analysis tasks. The developed tool has been evaluated by performing measurements of a VOLVO V40 equipped with sensors. Different sorts of surfaces and driving conditions have been investigated, and from this investigation one can conclude that the comfort tool works properly.

The aim of this thesis work is to investigate the possibility of applying a sensor fusion algorithm with a focus on estimating vehicle dynamic states, mainly the vehicle body accelerations. Modern passenger vehicles have several mechatronic systems such as active safety, comfort, driver assistance etc., which are highly dependant on accurate knowledge of such states. This work focuses on the mechatronic suspension system, which makes use of the body accelerations measurements to control the dynamics of the vehicle body in order to provide an improved driving experience. This work can be split up into two major parts, the first being the identification of available onboard sensors for measuring the vehicle body accelerations. Five different sensor combinations are considered and compared with each other. The next part is to develop a sensor fusion algorithm, in this case, a Kalman Filter (KF) based algorithm, which uses vehicle dynamic modelling knowledge to obtain accurate, reliable and less uncertain estimates of the states. Specifically, an Unscented Kalman Filter (UKF) and Cubature Kalman Filter (CKF) were built and compared with each other. Two different vehicle dynamic models, a vehicle planar dynamic model and a full car suspension model, were implemented to capture both the effects of road disturbances and drivingmanoeuvres on the vehicle body dynamics. Both these fusion algorithms were tested using simulation data and logged data and validated by comparing with an ideal sensing method to measure the body accelerations used currently at Volvo Car Corporation. / Syftet med detta examensarbete är att undersöka möjligheten att tillämpa en sensorfusionsalgoritm med fokus på att uppskatta fordonets dynamiska tillstånd, främst karossens acceleration. Moderna personbilar har flera mekatroniska system som aktiv säkerhet, komfort, förarassistans etc., som är mycket beroende av exakt kunskap om sådana tillstånd. Detta arbete fokuserar på det mekatroniska fjädringssystemet, som använder karossens accelerationsmätningar för att styra fordonets dynamik och för att ge en förbättrad körupplevelse. Detta arbete kan delas upp i två huvuddelar, den första är identifiering av tillgängliga inbyggda sensorer för mätning av fordonets accelerationer. Fem olika sensorkombinationer övervägs och jämförs med varandra. Nästa del är att utveckla en sensorfusionsalgoritm, i detta fall en kalmanfilter baserad algoritm, som använder kunskap om fordonets dynamik för att få exakta, pålitliga och mindre osäkra uppskattningar av tillstånden. Specifikt byggdes en UKF och CKF som jämfördes med varandra. Två olika fordonsdynamiska modeller, en plan dynamisk modell och en full hjulupphängningsmodell, implementerades för att fånga både effekterna av vägstörningar och körmanövrer på fordonets karossdynamik. Båda dessa fusionsalgoritmer testades med hjälp av simuleringsdata och loggade data och validerades genom att jämföra med en idealisk avkänningsmetod för att mäta karossaccelerationerna som används för närvarande på Volvo Car Corporation.

Sportbilsbranchen har utvecklats i flera decennier och det råder en konstant efterfrågan för nya idéer och teknologier som kan förbättra sportbilar. Detta stämmer framförallt in inom superbilsbranchen, där det är en stor konkurrens mellan företag om vem som först utvecklar nya teknologier som gör deras bilar till de attraktivaste på marknaden.   Ett område inom fordonsutvecklingen är aerodynamik och dess användning för att förbättra fordons prestanda vid körning i raksträckor och i kurvor. Sportbilstillverkarnas mål är oftast att utveckla fordon till att accelerera snabbt, nå en hög topphastighet, kort bromssträcka samt att nå så hög hastighet som möjligt i kurvor utan att glida av vägen. Det finns flera metoder för att uppnå detta, men det sätt som behandlas i denna rapport är anvädningen av bakvingar.   Bakvingar förekommer i flera konfigurationer och modifikationer för att uppfylla användarens önskemål och krav. De vingkonfigurationer som behandlas i detta projekt är single- och multi-elementa vingar. Single-elementa vingar kännetecknas av att de består av en enkel vingarea. Fördelen med dessa konfigurationer är att de producerar låga luftmotstånd vid låga anfallsvinklar, vilket bland annat gör dem optimala för höga hastigheter. Multi-elementa vingar består av två eller fler vingareor. I och med detta kan en större negativ lyftkraft uppnås vilket gör dem optimala vid svängning. Multi-elementa vingar kan även användas vid högre anfallsvinklar med en minskad risk att turbulens uppstår.   Syftet i detta projekt var att ge en teoretisk analys av vad som kan uppnås om en single- och multi-element vinge kombineras i en och samma konfiguration. Tanken är att i praktiken har denna kombinerade vingkonfiguration en klaff som kan fällas ut för att kunna utnyttja båda vingkonfigurationernas fördelar och på så sätt förbättra sportbilars acceleration, topphastighet, bromsningsförmåga samt svängningshastighet.   Metoden bestod av att använda teoretiska beräkningar och analyser för att nå slutsatser om en sådan typ av vinge skulle vara fördelaktig, eller om de existerande konfigurationerna är tillräckliga. Detta gjordes genom att använda en tidigare analys som undersökte kraftskillnaderna hos en single- och multi-element vinge med samma dimensioner. Med vingarnas data kunde beräkningar genomföras på ett typfordon, där resultaten av vingarnas påverkan på fordonets topphastighet, acceleration, bromsning och kurvkörning samlades in och jämfördes. Med dessa jämförelser kunde en slutsats dras om vilka vingkonfigurationer som visade bäst resultat vid de olika situationerna.     Resultatet visar att en vinge som är en kombination av single- och multi-element kan vara fördelaktig över existerande konfigurationer. I och med att den single-elementa vingen har lägst luftmotstånd så passar den bäst vid acceleration vid hög hastighet samt för att uppnå höga topphastigheter. Vid acceleration i låga farter är den multi-elementa vingen mer fördelaktiga på grund av dess högre negativa lyftkraft. Den multi-elementa vingen passar även bättre för kraftigare bromsningsverkan samt högre svängningshastigheter. / The sports car industry has been under constant development for decades and there is a large demand for new ideas and technologies that can improve sports cars. This is particularly true in the super car industry, where there is a constant competition between companies about who first develops new technologies that can make their cars the most attractive on the market.   One area of development is in aerodynamics and how it can be used to improve vehicle performance when driving on straights and in curves. Usually, the goal is to get the vehicle to accelerate faster, reach a high top speed, have a short braking distance and to have as high speed as possible in curves without slipping off the road. There are several methods to achieve this, but the way that is discussed in this report are the use of rear wings.   Rear wings exist in several configurations in order to reach the requests and requirements of the car manufacturer. The wing configurations addressed in this project are single and multi-element wings. Single-element wings are characterized by their single wing area. The advantage of these configurations is that they produce low resistance at low angles of attack, which among other things makes them optimal for high speeds. Multi-element wings consist of two or more wing areas. With this, a larger negative lifting force can be achieved, which makes them optimal for achieving high turning speeds. Multi-element wings can also be used at higher angles of attack without the risk of the wing stalling.   In this project, the goal is to provide a theoretical analysis of what can be achieved if a single and multi-element wing is combined into one and the same configuration. The idea is that in practice, this combined wing has a flap that can be folded in and out in order to be able to utilize the advantages of both wing configurations and thus improve a sports car's acceleration, top speed, braking ability and turning speed.   The method consisted of using theoretical calculations and analyses to reach conclusions as to whether such a type of wing would be advantageous, or if the existing configurations are good enough for what they are used for. This was done by using a previous analysis that examined the differences between a single and multi-element wing of the same dimensions. With the data from these wings, calculations could then be made on a theoretical car, where the results of the wings' influence on top speed, acceleration, braking and curve driving were collected and compared. With these comparisons, a conclusion could be made about which of the wings were best for the different scenarios.   The result shows that a wing with a combination of single and multi-elements can be advantageous. Since the single-element wing has the lowest drag, it fits best at top speeds. When accelerating at low speeds, multi-element wings are more advantageous because of their higher downforce. They also fit better for greater braking effect and higher turning speeds.