170537050 Δυναμική Ανάλυση Οχημάτων Θ Χόνδρος

1. 1.1 , 1.1 1.2 1.1 1.3 1.4 1.4 1.6 1.5 1.9 2. 2.1 , 2.3 2.2 2.19 2.3 2.28 2.4 2.41 2.5 / 2.49 2.6 Autocad 2.60 2.7 Computer Aided Chasis Design [CACD] 2.63 3. 3 , 3.1 3.1 AUTOCAD 3.1 3.2 3.3 3.3 3.30 3.4 3.30 3.5 (Autoshading) 3.32 4. 4.1 , 4.3 4.2 4.6 4.3 4.24 4.4 4.27 4.5 4.32 4.6 4.37 4.7 4.47 4.8 Antilock Braking (ABS) 4.66 5. 5.1 . 5.1 5.2 5.9 5.3 5.17

iii

5.4 5.62 5.5

. 5.67

6. 6.1 . 6.1 6.2

6.3

6.3

6.72

6.4 6.89 6.5

6.115

7. 7.1 7.1 7.2.1 7.8 7.3 7.9 7.4 7.10 7.5 7.12 7.6 7.16 7.7 7.19 7.8 . 7.26

7.27

( ).

7.28

.

7.30

.

7.32

8. 8.1 . 8.1 8.2 . 8.4 8.3 . 8.9 8.4 . 8.12 8.5 , . 8.12

iv

v

9. 9.1 . . 9.1 9.2 . 9.3 9.3 OTTO. 9.10 9.4 DIESEL. 9.13 9.5 WAKEL. 9.22 9.6 . 9.26 9.7 . 9.27 9.8 . 9.33 9.9 . 9.45 9.10 . 9.57 9.11 . 9.71 9.12 . 9.76 9.13 . 9.78 10. 10.1 . . 10.3 10.2 . 10.5 10.3 -

. 10.11

10.4 . 10.19 10.5 . 10.36 10.6 . 10.41 11. 11. 11.3 11.1 11.5 11.2 :

, . 11.52

11.3

11.60

(SAE 16)

1

1.1

, , 19 . , . . - . , , 1.1.

1.1. 1880

. . 1890 , , , 1.2. .

2 . . 1870 1880 , , ..

1.2. 1892 (Royal Bicycle) 1897 (De Dion).

Karl Benz, 1885, . , 100 , . , , , . Robert Davidson, 1837 , - .

. , 20.000 , , . , , , , . , , .

1.2 1769 Nicholas

Joseph Cugnot, ,

3

, 1.3. 4 2,25 . Cugnot .

1.3. , 1769 Cugnot.

1881 Paris Omnibus, - . . 1876, Nikolaus Otto , . Otto, , Karl Benz Gottlied Daimler , , . Benz 1885 , 1.4. , . , , Otto. , . 0.5 HP 250 - 300 13 16 .

4

1.4. Benz Daimler . Daimler 1886

( 1.4). , . 1.5 HP 900 RPM. A 1900 , (carburateur) (floater) Maybach, 1892, , Vacheron 1894, Michelin, Lanchester 1895, Mors (4 V) Daimler (4 ) (cardan shaft) , Renault. , . , . 1.5 1.6 .

1900 . . Winton 1897 . 5/6 . , . 1900 . .

5

1.5. Duryea 1893 Haynes-Apperson 1894

Panhard-Levassor 1895 .

1.6. Hertel 1895 Winton 1897

Columbia Electric Victoria 1899 Locomobile 1900 .

6 1.3 - 1900 1927

1900 . . , , . 1902 Charles Baker 137 km/h. , .

1.7. Bersey De Kruger, (Bullet),

140 km/h.

, Georges Bouton Albert de Dion, . - ' - . , , . ' Herbert Frood 1908 , ' . , 1902, Frederick Lanchester , 1903 Mercedes ( Daimler) . Isetta-Frachini, 1911, 4 . , 1920 . ' (1900 - 1920), , , , , .

, .

7

. , . 1900 : , ( 1.8). . , . 1890 (Emille Levassor). To 1891 o .

1.8. Creanche, 1900

, ( ) . , . . , , , . ( ) , , . 1920 , .

. 1.9 .

8 . . , (The Horseless ge 16 1900) , . Gordon - Bennett 1900 - 610 . Charron Panhard-Levassor 66,8 /. 120-130 / . , . 1902 -, 1903 -. . Mors, Panhard-Levassor, Napier, Renault De Dietrich.

1.9. Panhard -Levassor 1900 Mors 1901

. . Mercedes 1901 1.10

9

. ( ) .

1.10. Mercedes 1901 35 hp

. . Columbia 1901 Creanche Ford Model A 1903 1.11. 1.12 1.13.

1.11. Columbia 1901 Ford Model A 1903

10

1.12. Autocar Packard 1903

( ) . , 1.14.

1.13. Vauxhall 1903 1903

. 1903 , . 1905 . 1905 . 1905 1920 5 7 .

11

1.14. Thomas 1904 1905

1906

. 1906 Grout 1.15 . Oldsmobile 1906 . . , 1906 .

. . , . , .

12

1.15. : Grout Touring Car Oldsmobile 1906, Mora Touring Car 1907

13

1906 . Grout 1906 . , . Mora 1907 .

. Gentlemen's Roadsters . Thomas Runabout 1906, 1.16, . . . "" , . . . American Simplex 1909, 1.17, . Thomas Runabout.

1.16. Thomas Runabout, 1906

1.17. American Simplex 1909

14 Thomas Simplex

. . . Ford Model N 1906, 1.18, . Buick Model 10 1908 Roadster Ford . '. Gentlemen's Roadsters (concept cars). Aerocar Runabout 1907, " " Hupmobile 1909. . Hupmobile Roadsters 750 $ 3.000-5.000 $ Simplex.

1.18. Ford Model N 1906 Buick Model 10 1908

15

1.19. Aerocar Runabout 1907 Hupmobile 1909

Roadsters . . Roadster . 1.20 Stearns Roadster toy tonneau baby tonneau pony tonneau . Roadster, , , . . . 1907 1910.

16

1.20. Stearns Roadster 1907 Menard Auto Buggy 1908 1907

buggy Menard Auto Buggy, 1.20, . . ' . Middle West , . 1910 1911 . ' Ford Model T 1908.

Ford Model T 6181 Buick 8487 Cadillac 2380. 1908 1927 15 Ford Model T, 1.21, 70 Volkswagen.

17

1.21 Ford Model T, 15 1908 1927

. , . , 80 35 ... . 1919 Studebaker Baker, 1.22.

1.22. Studebaker electric Baker electric 1910.

1.23

Torpedo Body (). Stafford 1911 . Haynes 1910. , .

18

1.23. Haynes 1910 Stafford 1911

. , . 1906 Presto-o-Lite , 1.23. 1908 . , , . 1912 (, ) . .

19

1.24. Opel Torpedo, 1912

1.25. Premier Little Six 1913, Winton Six 1914

Torpedo Body (Streamline Body) . 1.24 Opel Torpedo 1912 . Premier Little Six 1913, 1.25. Winton Six 1914 Kissel Kar 1914, 1.26 .

20 (Collonial Style) 1916-17, 1.26.

1.26. Kissel Kar 1914 Chalmers Colonial Coupe

.

, , , , , , .

, . . .

21

. 1920 , , , .

1920 : , , , , 1906 1919, . , . , , Austin Seven, 1922, , , 1.27.

1.27. Austin Seven, 1922 ,

, ..., , , , . , 1920, 1922 .

1927 , , 1920. ',

22 . ' Royale Buggati, Phantom III Rolls Royce, Bentley Hispano - Suisa ( 1.28). . , , , , (choke) .

1.28. Hispano-Suiza 1925 1920 , ,

. .

Mercedes 1901 1.10 . ' . . ' . . .

. , . Lancia, 1922, Lambda , 1.29. , , .

23

. .

1.29. Lancia Lambda 1922 1920

. , . , ( ) .

, . , 1928 Cadillac , . 1.30 Citroen 1925 . . .

24

1.30 Peugeot Quadrilette 1922, Tourer 1928 Citroen 1925

: .

25

. . .

1920: . , , .

1.4 1927 1956 1927 Ford Model T

. Henry Ford Alfred Sloan General Motors. Ford , . .

1.31 Laurent Clement 1926, Duesenberg (Murphy) 1931 Ford

1935 .

26 Alfred Sloan

, . General Motors . : , . 1930 , ( 1.31).

1.32 Mercedes-Benz 1933

1.33 Citroen Traction Avant 1934

-

27

1.34 Opel Olympia 1935, Vauxhall 1937 Cord 1936-37

28

. 20 Artz . Artz . 1930 , . . , .

. , 500 , 1930 120. (stylists) . . , , . .

1.34 Opel Olympia 1935 -. Vauxhall 1937 - . General Motors . Opel Olympia Renault. Kadett Moskvitch. Cord 1936-37 .

. . . , . , (, ). : . .

.

29

1.35. Buggati Cadillac 1930 Cadillac Victoria 1933.

30

. 1.35 Buggati Cadillac 1930 Cadillac 1934 1.36 Talbot 26 1947 Allard M81 1949. H Bayerische Motoren-Werke A.G. , B.M.W., Austin Seven, 18 "Wartburg". 1931, 788 ..

1.36 Talbot 26 1947 Allard M81, 1949.

1930,

, V8 , , . , 1938, , KDF,

31

V.W. , 1.37.

1.37 Volkswagen 1938 1936 . Fiat 500

Austin Seven 1920 3,2 ., 1,2 ., 500 cc 13 HP 85 Km/h, 1.38.

1.38 Fiat 500 Topolino, 1936.

, , .

32 , . , , . , . Nash 1951 1.40.

, . , . , , , .

To 1949 Fiat 500 (Giardiniera) 16 HP 95 Km/h, 1.39.

1.39 Fiat 500 C unificata, 1949, 1975 ,

, , , . , , .

33

, .

1.40. Nash Statesman Super 1951, Tucker 1947 Cadillac 1948.

34

1.41 Chevrolet Fleetmaster 1947 Oldsmobile Dynamic 76 1948 .

. . .. 1948 Goodrich .

35

, 1946. , , , .

1947 Tucker Torpedo, 1.40, . 51 ( ). Tucker , 25 G. M. , , , . Cadillac , P-38 Lightning, , 1.40. H G. M. , . , .

1.42 Studebaker 1950.

50 Studebaker, jet, 1.42. , Studebakers. 1950 . . 1953 ( 1.43) .

36

1.43. Studebaker 1953 coupe sedan Fiat 1947

Fiat 1947 Pinin Farina

. Fiat 1947 Studebaker 1953 90 Peugeot 406 coupe. Pinin

37

Farina. Fiat 1947 Peugeot 406 1997, 1.44. 1953 Studebaker .

1.44. Peugeot 406 coupe, 1997

38

1.45. Chevrolet 1951 1950

, (). . Chevrolet 1951 ( 1.45). . , . , .

, . . . .

. , -. , . ,

39

. 50 General Motors, Buick,

Oldsmobile Cadillac . Buick 1950, 1.46 . . , . , , . . Buick 1950 . , , .

1.46 Buick Series 40, Buick Coupe 1950

40

Chevrolet Corvette 1953 . 1955 Citroen DS 19, 1.47. , ( ) . : , , . Lanchester , . , 1953 .

1.47 Chevrolet Corvette, 1954, Citroen DS 19, 1954.

41

1.48 Fiat 1100d 1953 Vespa 400 1960 BMW 600 1958.

42

1.49 Oldsomobile Dynamic 76 1948 Cadillac Elvis 1956

1.50 Panhard Dyna 1954 .

43

Wankel, 1957, . , , . , .

1.51 Giulietta Spider Veloce 1959 Rover 100 1961. 1960

,

44 . . . , .

1.5

1940 1960 , . , . , . 1965 . . , 1960, .

1970 . . , . , , , . , , .

, , . "" . . , . , , , .

. : (, , ) . ,

45

. . . .

1.52 Peugeot 403, 404, 405. 60, 70 80.

46

. . . , , . , , , . . .

, . . , , , , . , .

, . 1950. 1955. , , , , , , , , , , , 1950.

1960 . (). , , , , , .

47

1970 . 1979 1980 500.000 . , 1/1/71 . , . 21%. , . . 1984 . , , , , 150.000 cd 75.000 cd

1980 . 1985 17 ( 51% ) . 1985 , , .

1990 . , . , . :

""

48

1.53

. . . , , , , , , .

49

, , , , .

1.54 Ford Model T Mondeo 2000

, . , .

50 , .

. . ' , . . , . , , , , , .

2.1 2.1 ,

. () .

2.1 a. (Range Rover Land Rover) b. (FORD)

2.2

, Jeep ( 2.1), .

, . , . .

2.2. , . , . . , .

"" . "" , .

2.2 , , . , . .

, 2.2 . , , , . .

2.3

2.2 . .

. . . .

2.4

2.2

. ' , 2.2 :

1. . 2. .

1 , 2 ...

3. ,

( ). 4. . 5. () , '

. 6. '

. 7. ,

. , , , , .

8. . ,

...

2.3 2.4

. : 1. ' (,

, , ..) 2. ,

, .

3. . ' . (, , , ..) , .

2.5

4. .

() .

2.4

:

1. , , , .

2. 2.3 :

) (), . ) (),

. ) (), ,

. ) (), . ) (), . ) ' () ,

.

2.3 3. ,

, .. 4. .

2.6

2.5

, . , , . :

1. . .

o ' 2600 - 2800 mm 1350 - 1450 kg. ( ), , .

, . .

2. .

. . . , . . ( ), .

3. . .

, . . , . . . .

- , .

2.7

2.3.

2.3.1

, , ( 2.4). , ( ).

2.4: ' : ) .

) . (c.m) ,

:

Rfr = Rfl = 0.5 ma g ( b/L ) (2.1)

Rrr = Rrl = 0.5 ma g ( a/L ) (2.2) :

ma , a, b

, L (L= a + b).

. , , , ' . '

2.8

. .

, , :

h0 = ftf + fsf (Bf/Sf ) + Bf (ftr/Br + fsr/Sr ) (2.3)

: ftf ftr , fsf fsr , Bf Br Sf Sr .

, :

h0 = ftf + fsf ( Bf/Sf ) + Bf (ftr/Br + fsr/Sr + ) (2.4)

:

ft = R/ct , fs = RB/(csS) , = RB/(2c) (2.5)

( c ), (2.4) :

1 1 Bf

2 1 Br Bf h0 = R[ + + Bf ( + + )] (2.6)

ctf csf Sf 2 ctrBr ctrS

2r 2c

h0

h , , :

= 0.5 RB (2.7)

: R .

h0 h', :

T = 0.5 RB h'/h0 (2.8)

h 200 300 mm

.

2.9

, ( ), f/(2c) (2.6) ( T = 0.5 RB). ( ), Bf/(2c) . ( T 0.5 RB).

, : .

, , , , ( T = 0.5 RB) :

Rfr = 0 (2.9)

Rfl = ma g b/L (2.10)

Rrr = ma/(2L) g ( a + b Bf/Br ) (2.11)

Rrl = ma/(2L) g ( a - b Bf/Br ) (2.12)

[ T = 0.5 RB(h'/h0)] :

Rfr = (ma/2) g b/L (1 - h'/h0 ) (2.13)

Rfl = (ma/2) g b/L ( 1 + h'/h0 ) (2.14)

Rrr = (ma/2) (g /L) [a + b(Bf/Br)(h'/h0)] (2.15)

Rrl = (ma/2) (g /L) [a - b (Bf/Br)(h'/h0)] (2.16)

. , 2.5 g . : = ma g b Bf / (2L). , S B cs .

2.10

2.3.2

' , , . , , . , .

, . Nm/deg.

. N/mm.

( CJt ). , , . Nm2/deg.

( E ). , , . Nm3/mm.

, ( , ) ( ) . .

2.3.3

- . , . . . , (, , , ).

2.11

. , , , . . . , , . . . . ( ) .

2.5 . m a. H max min :

m= (max + min)/2 (2.17)

a= (max - min)/2 (2.18)

, min=0

m=max/2 =a (2.19)

m=0

max=-min=a (2.20) T 2.6 .

2.12

2.5: (= ,=)

2.6: ) )

Wohler

( 2.7) : m a

2.13

. m a. Wohler a(N) m .

2.7: Wohler

m (N ). , , .

(N ) , = 107 , Wohler . ( > 107) .

m a Smith Haigh 2.8. 2.8.a m. Smith ( 2.8.b) . Haigh ( 2.8.c). Smith Haigh B.

2.14

2.8: a) Wohler b) Smith c) Haigh i

. ni/Ni . 1, 2, ..., i n1, n2, ... ni , :

n1/N1 + n2/N2 + ... + ni/Ni =

(2.21) ni/Ni =

. = 1.0.

. , .

2.15

, , , ..

, , . , , , .

2.3.5

. , , ( ) .

, ( ) ( ). ( ) .

.

f(y) f(w) y w 2.9. n y w , III . , . . y w, :

M = y - w < 0 (2.22)

.

, , , M .

2.16

2.9: . : _ _ _

M = y - w , 2 = y2 + w2 (2.23)

f(M). . . I II . .

_ 1 (Mi - M)2

f(M) = exp [ - ] (2.24) 2(2)1/2 2 2 : _ 1 (Mi - M)2

F(M) = exp [ - ] dM (2.25) +

2(2)1/2 2 2 : _

(Mi - M ) / = z (2.26)

2.17

F(z) = 1/(2)1/2 + exp [ - z2/2 ] dz (2.27)

up. (quantile). :

_ (Mi - M )/M = up (2.28)

_

Mi = M + up M (2.29) i = 0 . _ _ _

up = - ( M/M ) = - ( y - w )/(y2 + w2 )1/2 (2.30) vy vw : _ _ _

vy = y/y , vw = w/w (2.31) (2.38) (2.39) :

up = ( 1 - n )/( n2 vy

2+ vw2) 1/2 (2.32)

, n,

up P. (2.32) -oo up,

F(z) = 1/(2)1/2 + exp [ - z2/r ] dz (2.33)

F(z) .

. :

vy, vw P, ' .

up = ( 1 - n ) / ( n

2 vy2+ vw

2) (2.34)

, (2.34)

2.18

n2 ( 1 - up2 vy2 ) - 2n + ( 1 - up2 vw2 ) = 0 (2.35)

2.4.

2.4.1

. . . .

, ( , . ) , , . 0 - 100%.

. , , , , , . , , , .

, . , , .

. . .

2.10. . . .

2.19

. , . 2.10.

2.10

.

-. .

2.20

2.4.2

: , , , ( ), . .

20. 08 . , 3 - 4 mm. ( ).

l, , Kevlar . , , . ' .

"" . 370 . , . ', , , . . 67% , , . , "", . , . (Mg) (Si) , . .

, , . , 100 . , . () ( ) , . , .

2.21

. , , , . . , , 77 (kWh) .

, 18 kWh , , . ' , ' . . ', , , , , 50%. .

2.4.3

: 1.

. . .

2. . . , ,

, , , . , .

- , . , , , 3Nm. , .

2.22

. :

1) . , , .

2) . . .

3) . , . . "" .

( ) :

1. . .

2. , , ' 300 mm.

, , , , , . , , .

- - . . ( ). ' () .

. , .

2.23

, . , . .

2.11: .

2.11,

. , . , , :

TI:TII:...:TV:T1:T2:...:T4 = JpI:JpII:...:JpV:Jp1:Jp2:...:Jp4 (2.36)

:

, ,... , ,..., JpI, JpII,... ,,..., 1, 2,... ,

,..., Jp1, Jp2,...

, ,...

2.24

2.12: . ,

, 2.11.

:

RL - ( TI + TII + TIII + TIV + TV ) + QII l1 - QIII ( l1 + l2 ) -

- QIV ( l1 + l2 + l3 ) - QV ( l1 + l2 + l3 + l4 ) = 0 (2.37)

:

TII = TI ( JpII/JpJ ) , TIII = TI ( JpIII/JpJ ) ,...

TI = TI ( JpI/JpJ ) , T2 = TI ( Jp2/JpJ ) ,... (2.38) QI = ( 2T1/C ) = ( 2T1/C ) ( JpI/JpJ ) QII = 2 ( T2 - T1 )/C = ( 2TI/CJkI ) (Jp2 - Jp1 ) :

(2.39)

RLJ pJT =I

JV 4 pn + (2 / c) (J lpm )m

1

1

2.25

: n m . ,

(2.38) .

2.13 Wartburg 353W 1000 cc, 55 HP. 1965 1990.

4

4.1.

. , .

, . , , .

' , . , , . , . ( ), ( ) ( ), , .

.

4.1. Peugeot 405, , .

4.2

.

, . , , .

. . : , . : , .

: )

. , .

) . ,

. , , .

) . ,

. , , , .

. . , . . ' , , .

() () .

: i) . ii) ,

4.3

4.2. ( )

4.4

'

, - , ' - , . .

4.3. .

4.5

4.2. 4.2.1. .

, , , .

, . ' 3 - 3.5 m/sec, , . , , , .

4.1.

) )

4.6

, , , .

, , , , " - - " () .

4.1.

( m/s2) , :

tu =j dec

u = ( ) m/s t ( , 0.1 sec).

4.2.

4.7

. .

. , 4.2.

tr , . 0.4 - 1 sec. , tr 0.8 sec.

To tdr , . , . tdr , 0.2 - 0.4 sec 0.6 - 0.8 sec . () tdr 1 - 2 sec.

tin ( ) , ( ) . tin , , . tin ( sec) .

0.05-0.2 0.05-0.4 () 4500 g 0.15-1.2 4500 g 0.20-1,5 0.20-1.3 tin

, tin. tin .

tbr . tr+tdr u tin . tbr .

, ( ).

4.8

13 71/320 ( ) :

22.2 m/s 500 ( m) :

10u =S

2

br

, 13.8

m/s, 700 .

2br 0.1u0.54u =S +

11.5 m/s.

2br 0.113u + 0.65u =S

, , .

4.2.2. .

, , Mbr , Pbr .

Pbr max . ( 4.4), ( ) :

)Z+(Z =Z +Z =P+P=P 21x2x1xbr2br1xma br

a21 G=Z+Z

: (4.1) a G = P xbrmax

0.8 - 0.9, , 80 - 90% .

, br,

4.9

.

4.2.3. .

, :

(4.2) 0 =P-P+P+P+P+P =P-P+P+P+P+P+P+P+P inhfeairrdbrinhfeairgr2r1br2br1

P+ P+ P=P

P+ P=P

r2r1rd

br2br1br

Pfe = ().

4.4. '

Mfe, Pfe ( )

:

rev

trfe

rev

trfefe n

iP =

rniM

=P (4.3)

( m) , :

cylhmfe iVp8.0=M:

4.10

pm = (N/m2). Vh = ,(m3) icyl = . ,

Pfe = 0. (4.2) jdec (m/s2):

a MP+P+P+P

=jrot.b

hairrdbrdec

: Ma = (Kg), rot.b = . ,

Pair=0. Ph Pbr, . , , (4.2) :

0=P-P+P inrdbr

(4.1) :

0 =jM -G +G decrot.bax a a (4.4)

:

0 = jg - + dec

rot.bx

(4.5)

4.2.4. .

, jdec (m/s2), t ( sec) Sbr ( m). .

(4.5) jdec (m/s2) :

4.11

g =jrot.b

xdec

+ (4.6)

x , (4.6) .

' :

g =jrot.b

xdec

(4.7)

rot.b g=10m/s2, , 8 - 9 m/s2. , , 1.5 - 2.5 m/s2 ( ). , , .

, ( 4.3).

jdec = f(u) (4.4). ' , jdec = f(u) . , t t, . tbr = f(u) 4.3.

(4.2) tst , . tin . tin 0.5 jdec,max . ( m/sec) :

2

tj=u indec.max (4.8)

( m/sec) jdec,max. :

2

tj -u =u -u =u indec.max ' (4.9)

4.12

jdec,max , t , u' . br

:

u'= jdec,max tbr (4.10)

(4.10) tbr ( sec) u' (4.9), :

t = u'j

= uj

- tbrdec max dec max

in (4.11)

', ( sec) :

t = t + t + t + t = t + t + t2

+ uj

= t + ujst r dr in br r dr

in

dec maxtot

dec max

(4.12)

, , (4.7). , 1 rot.b , :

g

u + ttx

totst (4.13)

= f(u) . t = f(u) , S , . S , . (4.3) = f(u), Pr, Pair Ph .

t br

S

br

br

Sbr

, , , 4.2.

4.13

' , u u', 0.5 . , :

jdec .max

dec.max

22

dec.maxm

min j

)(u' -u =j 0.51

2)u'-(u )u'+(u =

juu =S (4.14)

4.3.

) ,

) 1,2,3 ( - , - )

u' ( m) :

j dec .max

dec.max

2

br j2)u( =S

(4.15)

S . ( m)

br

t br Sst

4.14

, , .

Sbr

S = u (t + t ) + S + S = u (t + t ) + uj

- (u' )2 jst r dr in br r dr

2

dec.max

2

dec.max

(4.16)

(4.16) u' (4.9) t , : 2 in

dec.max

2

2ju

totst + tu =S (4.17)

, , (4.4) = = 0, :

PfePh

g2

u g2)(u'

]airP +sin G +cos G +[ 2

)u'( M =S

x

2

x

2rot.b

x

2 rot.b

br

a

a (4.18)

'

. ( 4.3). , :

Sbr

g2

u + tu tot =x

2

st S (4.19)

S (4.12) (4.17) , . , (4.3) (4.19)

tst st

tst Sst

x .

4.2.5. .

' , ( 4.4) : .

Pinhg.c

4.15

, , , , . '

1 2

2G G1

m mr1 r2 . x , m mr1 r2 :

g.cxx h -1 =

bh

r2g.c m r1 +1 =m (4.20)

m mr1 r2 , 1.5 - 2 0.5 - 0.7, .

m m r1 r2 , N:

Z = m G = m G2 r2 2 1 r1 1

. P Pbr2

0

br1 , , ' ,

Pbr

. .

0 , , :

br1

br2

br

br10 P

P -1 =PP =

. 0 :

L

h +b = g.c00

.

, , 20 - 40%

4.16

. , Keff , , . Keff , , 1.2 1.4 - 1.6 .

' :

g2u K +u t =S

g2u K

=S

guK + t=t

x

2

efftotst

x

2eff

br

xefftotst

4.2.6. -

, . , .

, . , , , , ... , , . , , . , , , (...) .

. ' , .

: .

ssk

x .

4.17

. Keff , (4.7) , . , ' , ( ) . ' ( m/s) , :

0 =s - t0.5 -1 skin2

dec.maxuu

j2 (4.9), (4.15)

t : in2

dec.maxskindec.maxj0.5

kn

j2s +t =u (4.21) ,

( 4.5). .

sp

' S, .

4.5 . ( ) ( V). . () s .

sskp

' , .

, t . > t ' .

p

t knpt

t kn < t p .

. , ( m/s) :

ssk

dec.maxknkn j2s = (4.22)

4.18

(4.21), , (4.19) ( sec) :

sst

dec.max

knindrrkn j

- +0.5t +t +t =t (4.23) ,

. ( sec) , :

p

pp

s=t (4.24)

: (4.25) t kn p t

t , t kn p

( 4.5).

, , ( sec).

t = (4.26) t - tdel p kn ,

, : deldel t =s (4.27)

4.19

4.5. .

4.5, s

, : (4.28) l -s -s +s = s kndelst l

. s

, , , . s

4.20

( ). , , . , . () . .

PfeP' fe

. . , (4.2) :

jdec.com.brjdec.br

aM

P+P+P+P+P 1 =j trfeairrdbr

rotdec.com.br (4.29)

: Ptr = ,

, ().

rot = . :

rot.brot = . ' :

aM

P+P+P+P 1 =j hairrdbr

rotdec.br (4.30)

H , ,

, :

dec.br dec.com.br j >j

rot.bhairrdbr

rot

trfeairrdbr P+P+P+P > P+P+P+P+P

,

,

4.21

, P , P , P , P , Prd air tr h ferot.b

brP

rot . 1, 2 3 4.3

. , , ( ) ( ). , , . ' .

Pbr

jdec.com.brj

dec.br

4.3.2.

. , . , ' , .

, . , , , , , . , , , .

, . (A.B.S. - ntilock Braking Systems) . .

4.4. 4.4.1 ()

. ( 4.6). , () . fN , rd .

4.22

4.6. ()

. b. - c. -

d.

,

. : (

) . :

, .

: .

f, , , () . () .

:

4.23

)rP(TK d11T1e = )rP(TK d22T2e = ]r)PP[(TK d21Te += TT1, TT2 TT

, , . 1P 2P

. , f , , .

1eK 2eK

4.6 . ' 1PP 21 < . 1 = 2 , . . , (0,60 - 0,80). , ( 10 tn ).

4.6b . , ' , .

. f = 0,35 e = 0,81, 116% ( 4.6). 1 - 2 , . .

4.6c . . . () ( ) ( ). ( 4.3b) .

)PP( 2T1T >

4.24

4.6d. () , . . , , . (). .

4.4.2

, , , . , , .

.

4.7. .

a . b . ()

() . ( 4.7) .

1y

1A

4.25

' , , .

1A

( ) . , . ,

. :

1O

11EE

1OO

11B OB

11BB 1

11111 cosC =

: )(90 11

1 += max1111 ==

() : )sin( 11max1

1 +

(4.31) )sin( 11max2

2 +

1max 2max : 1, y1

1 OB1 OB1 OO1 ( ), x1 .

1y

. ' , A1 d ( . 4.4b). ' 1 11BB . , OB1, 1C1.

d :

0111 90BBA =

dsinsinBBCB 11

11111 ===

4.26

, 11/sina = rd/sin. :

drOBOA == 11 11OBA

= dsinrd1 (4.32) = sinqq max11

, () , (4.31) (4.32).

.

umax qq= (4.33)

, . .

uq

maxq

4.4.3

.

4.8. 4.9.

4.27

TT , y .

, b ( 4.8). ,

addbr

adabrqdabrqdN ddu sinmax==

(4.34) fdN adasinbrqdNfrdT dmaxdT == . , : (4.35) )cos(cosbrqT dmaxT = (4.36) = dbrqdN du )(fbrqT duT = (4.35) (4.36)

. .

()

1

111 = f (4.37) 1 1

( 4.9). 1fN ( 4.35 )

. 1, 1,

:

0)sinf(cosNSacosP 111x101 =+ (4.38) 0NfcSP 11x11 =+

4.28

1 x 1,S1x x .

( 4.38 ) N1 : ]f)sinf(cosc[PhN 111

11 += (4.39)

() , (4.37) : 11111

111 BP]f)sinf(cosc[hfP =+= (4.40)

, (4.37) : 22222


. d ( 4.8) dx dy , (4.34) :

N x= = dNsin dbrqmax dNsin2 =

= ( ) 42sinsin2brq dmax + (4.42)

N y = = dNcos dcossinbrq dmax =

dNcossin

= ( ) 42cos2cosbrq dmax (4.43)

'O, ( ) ( ) ( )[ ]+ == 2sin2sin22cos2cosarctgNNarctg xy

= ( 4.35 ) ( 4.37 ) :

2y2x1 NNN +=

:

22d )2sin2sin2()2cos2(cos/coscos4r ++=

4.29

' '' , , . , , :

221121 BPBP +=+= 1 = 2. : 21 )BB(P +=

:

11 B5.0P = 22 P5.0P =

. (4.40). (4.40) .

0f)sinfsco(c 111 =+

)sinc()cosc(f 1

11 <

(4.35) (4.40)

() :

]f)sinf(cosc)[cos(cosbrhPq

1112

d

11max 1 +

=

4.4.4

. . .

:

4.30

maxg

maxg

zr

zf

Tr

Tf

hahb

RR

PP

+== (4.44)

' (4.44),

asd. 1.3 - 1.6 , 0.5 - 0.7 = 0.40 - 0.55.

.

dTfTP rPT f = maxzfTf RP = dTrTP rPT r = maxzrTr RP =

.

rd, , () , , 20-30 mm.

90-120. x ( ) , . b , 2.5 a. , , p , (15), 0.25 a 11 tons 0.3 a 11 tons:

[ ]p)AA(qm rfa + (4.45) , am rf A,A

.

- () .

1 1 . , :

avq

=avq 1/1 < 2 a

4.31

, : A

[ ]fr2maxaa LA2m , Lfr .

1000-1500 2cmJ . 600 800 2cmJ .

() . , , . , .

, ( 4.10). ( 4.10b) 1 2, . ( ) 3 ( 4.10c) . , . 4 , , dc. . 12-25 cm 30-40 cm .

4.32

4.10. . b. c.

, , , :

( ) LtCmCm rrdd + md mr o

, . Cd Cr ( C = 482 J/(KgK), C = 880 J/(KgK), t (' , = 30 Km/h , 15C) L , .

, . ' , , . ':

++=ba

gbha2

vmL gd.s

2a

af

+=

bahaga

2v

mL gd.s2a

ar

, a b ,

() . gh

d.sa :

( 4.11 4.12). ( 4.9) .

, , . , , - .

4.33

4.11. 1. 2. ()

3. 4. 5. () 6.

4.34

4.12.

4.35

4.13. 1. 2.

3. 4.

4.36

4.14. ( )

1. 2. 3. 4. 5. 6. 7. 8.

9. 10. ()

(, , ). ()

( 4.12). ( ), . ' 4 ( 4.13), 7 ( 4.14) .

4.37

45 (). () . .

, . , 5 ( 4.14) 9, , 1, () .

: , . . . . , . () . () ( 4.11) 2 . , () . 5 (). 6 45 , .

: 4.12, 2, 6, 4 5. . 3 . . ' : , . 4.15 . , (. 4.15) 1 2 3 . , 1 , , . , , , 2 . ( 4.15b 4.15c).

. , ~ 12 .

4.38

, FW

( 4.15d).

)(Ptg2F 2aw = FW , ,

.

4.15. .

a. b.

c. ( ) d.

4.4.6

( ). .

4.16 . :

avT rNfi=T

f (-),

N

4.39

rav .

4.16. a) ,

b) (Pb )

,

p, i dc .

:

=

=n

1i

2c idp25.0N

, rav = ( rex + rin) /2. rex rin .

(

12-16% )

4.40

: ) ( 4.17) ) ( 4.18)

4.17.

1. 2. 3. 4. 5.

4.18. . a. b.

4.41

4.6. & .

4.6.1.

.

4.6.2.

. . (). . , Diesel . 0.5-0.9 bar. . , . , . .

. .

, , . 4.6.3.

. . , ( ) ( ). . (ABS), . ,

4.42

. , . ( ). ( ), ( ) ( ).

4.19. ( ) 1. 2. ,

3. 4. 5. () 6.

7. ().

, .

.

4.43

4.6.4. .

. .

4.1. (DIN 74 000)

4.44

4.6.5. ()

, . i :

0E

AF -F

F = tana = i ( 4.4.)

. , . , , . 4.20. , .

4.20. . 1. ( )

2. 3. ( ) 4. 5.

4.45

4.4. (BOSCH Handbook 1996)

' , , (.. ) 4.21.

(1) . 5 6 . 8, 3 . .

(10), , (9) 1.5 bar . .

4.46

. , 3 5 (1) .

:

6 8 , .

4.21. . 1. 2.

3. 4. 5. 6.

7. 8. 9. 10.

6 ( 4 5 4.21.). .

,

4.47

.

, . , . , .. . , , . , . , :

- . - .

4.5. .

,

.

4.48

.

' .

, , , , .

4.22. . 1. 2.

3. 4. 5.

4.7. 4.7.1.

. . , . . T : .

4.49

- , .

4.50

4.23.

1. 2. 3. 4. 5.

. , .

' . , , .

, . . .

4.51

4.24.

1. 2. 3. 4. 5. (/)

4.6.

4.52

, . , . , .

4.25.

1. 2. 3. 4.

4.7.

4.53

. .

:

-

4.8.

- -

- - .

. , . .

4.54

' . . , . .

, , . . , .

' , ( )

- -. ( ) . . . , , .

4.26. , 1. 2. 3. , 4. 5. 6. . 7. 8. , 9. , 10. , 11.

4.55

4.27.

1. , 2. , 3. , 4. , 5. ,

6. , 7. , 8. ,

9. ,10. ( ),

11. , 12. , 13. ,

14. - , 15. , 16. - ,

17. ,18. , 19. , 20., 21. ,

22. , 23. ,24. ,

25 , 26 , 27. , 28. ,

29. .

4.56

4.28.

4.29.

4.57

4.30.

4.31.

4.58

4.7.2.

: - - - ( - ) ,

. .

. :

- .

- .

, , . , .

4.32. 1. 2. 3.

4.59

,

, , , ( ). , .

: , 7 10 bar ( ) 14 20 bar ( ). , 6 8 bar.

. , 00C. , , .

: - (.. ) - (.. ) - (.. ) - (..

) -

.

, .

, . .

, . '

4.60

( ) .

. , . , . . , , .

-

. (

) ( ). . .

.

. , . ( ), . , . .

( ). .

4.61

4.9. ( )

1. 2. 3. 4.

5. 6. VA , HA (Bosch

Hanbook 1996(

, , , . .

4.62

. .

. , . . . , ( ) ( ). , . . . . , , . . , 2:1.

4.34. 1. E 2. 3. K 1

4. K 5. K 2 6. A 7. E

4.63

8. K 1 9. B 10. K 2

4.35. 1. 2. , 3. ,

4. 5. 6. 7. 8. 9. 10. .

4.36. 1. 1 2.

3. 2 4. 5. 6. 7.

4.64

8. 9.

, . , .

, . 1 () 2 ( ) .

1 2. .

. .

4.37. . 1.

2. 3. 4. 5.

.

.

4.65

. . .

- - ( 4.36). . , . , . , . .

, , . . , , .

4.38. ABS 3 (Bosch).

1. 2. 3&4. 5.

6. 7.

4.66

8. 9. 10. ABS, (Bosch Handbook 1996).