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Modeling and Simulation of Vehicles Carrying Liquid Cargo

Rozema, G. (2004) Modeling and Simulation of Vehicles Carrying Liquid Cargo. Master's Thesis / Essay, Mathematics.

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Abstract

The ride behavior and stability of vehicles carrying liquid cargo may be affected by the liquid motion. In a partially filled tank the liquid is allowed to move from side to side, affecting for example cornering and rollover behavior. Also, liquid motion may become exaggerated due to driver inputs or excitations generated by the road surface, which in turn can have substantial effects on the motion of the vehicle. The main objective of this thesis is to investigate the dynamical interaction between the liquid dynamics and the vehicle dynamics using simulation studies. Of most interest are simulations of realistic maneuvers. Simulation results of a cornering maneuver (rollover performance) and a bumpy road (exaggerated liquid motion) are presented in this thesis, enabling us to study the effects of the sloshing liquid on the motion of the vehicle. In order to be able to perform these simulations, a simple vehicle model is developed in Matlab/Simulink, based on the conservation of linear and angular momentum of a solid body. For simulating the liquid dynamics the computer program ComFlo is used. ComFlo is capable of simulating sloshing liquids. The model for the fluid dynamics used in ComFlo is based on an equation for conservation of mass (continuity equation) and an equation for conservation of momentum (Navier-Stokes equation). These equations are solved for the fluid pressure and velocity field. To account for the vehicle motion, the liquid velocity is considered with respect to a moving reference frame (fixed with respect to the vehicle). The vehicle is modeled in Matlab/Simulink, whereas ComFlo is a Fortran computer program. To execute this Fortran code from Simulink, the vehicle model is expanded with a block containing an adapted version of the Com-Flo program. The force and torque that the fluid exerts on the tank are computed in ComFlo and used as input for the vehicle model. The vehicle motion in turn is used as input for ComFlo. The actual vehicle model (based on dynamical interaction) is developed in chapter 3, followed by simulation results in chapter 4. Before that, the necessary rigid body dynamics are explained in chapter 2. As an example, the free rotation of a rectangular plate is modeled and simulated in Matlab/Simulink.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Mathematics
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 07:28
Last Modified: 15 Feb 2018 07:28
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/8438

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