Magnetorheological Fluid Technology

285Haptic Applications for Vehicles

pressure. Therefore, the manifold dynamics are usually modeled as a rst-

order linear system as:

p k m M( )

 



= − (9.20)

where k = 0.5786, which is determined from specic gas constant, tempera-

ture, and manifold volume under idealized assumptions.

M



is the mass

ow rate into the cylinder given by [20, 21]

M pn np n p0.366 8.979979 337 0.01

2 2



= − + − +

(9.21)

where n is the angular velocity of the engine. The air-fuel mixture is charged

into the cylinder during the intake stroke, which takes place in the rst π

rotation of the crankshaft in the four-stroke cycle: the intake, compression,

combustion, and ...