As the driver carries out a sudden steering manoeuvre yaw movements are introduced in the yaw plane. Causes for the differing yaw behaviour in different vehicles are investigated in the report. The correlation of angles in the yaw plane while driving round a bend is discussed, and the make up of the "swim" angle (elastic deviation of tyre) on the wheel axles is explained graphically. To calculate the angles of axle steering angle a knowledge of the ground reactions are required which can be obtained from the force and moment equilibrium conditions during steady-state driving round a bend. For the purpose of calculating the part angles making up the axle steering angle, the angles due to oblique motion of the tyre, steering elasticity and angle due to rolling friction are explained in detail, and mathematical formulae are given. In addition, a differential equation for the yaw movement is developed and also a continuous equation for the sensitivity of yaw angle rate.
Samenvatting