Fundamental study on yaw resonance mode (Change in yaw resonance mode depending on vehicle speed)

Abstract

This paper starts with describing a method of deriving the resonance mode of a pendulum utilizing its equation of motion. Its resonance mode is that the particle accelerates toward the equilibrium position in the vertical plane including its fixed point. Therefore, a resonance mode can be derived by finding its equilibrium position and something to accelerate from its equation of motion. To derive the yaw resonance mode, the former paper transformed the equation of motion of vehicles into a structure that matches the equation of motion of the pendulum by assuming a special vehicle speed. This paper derives the yaw resonance mode at general velocities by modifying the variables that satisfy the configuration of the equation of motion derived in the former paper. As a result, this paper found that the yaw resonance equilibrium position is on the vehicle speed vector at the position where the side slip angle of the vehicle body is 0 in a steady state turning. This paper also found that something that accelerates towards equilibrium is the rear wheel. This acceleration of the rear wheels toward this extension is the restoration of yaw resonance.