One of the uses of the bicycle model of a ground vehicle is for stability considerations. For this purpose it is assumed that v x is large compared to v y , and v x is virtually constant. Also, the...

One of the uses of the bicycle model of a ground vehicle is for stability considerations. For this purpose it is assumed that v_x
is large compared to v_y, and v_x
is virtually constant. Also, the steering angle δ is small, and the slip angles front and rear are small enough that the cornering forces are related to their respective slip angles by the linear relationships

Modify the bond graph from Problem 9-21 to reflect these additional simplifications. Assign causality and identify state variables.

Problem 9-21

A classical simplified vehicle model, known as the bicycle model, is shown in a top view in the figure. The vehicle travels in the xy-plane and has no width. There is also no suspension, and only cornering forces are considered. The front wheel can be steered through the angle δ. The only angular velocity considered is that about the body-fixed z (vertical) axis, ωz. There is no wheel mass, nor any bushings to consider. Using Figures 9.2, 9.25, and 9.26, construct a complete bond graph model of this vehicle and assign causality.