Solid Axle Suspension - Leaf Spring
Solid axle suspension with leaf spring
Description
The Solid Axle Suspension - Leaf Spring block implements a solid axle
suspension with a coil spring for multiple axles with multiple tracks per axle.
The block models the suspension compliance, damping, and
geometric effects as functions of the track positions and velocities, with axle-specific
compliance and damping parameters. Using the track position and velocity, the block calculates
the vertical track position and suspension forces on the vehicle and wheel. The block uses the
Z-down (defined in SAE J670) and a solid axle coordinate system. The solid axle coordinate
system, shown here, is aligned with the Z-down vehicle coordinate system, with the
x-axis in the direction of forward vehicle motion.
For Each | You Can Specify |
---|
Axle
|
Multiple tracks. Suspension parameters.
|
Track
|
|
The block contains energy-storing spring elements and energy-dissipating damper
elements. The block also stores energy via the axle roll angular acceleration and axle center of
mass vertical and lateral acceleration.
This table summarizes the block parameter settings for a
vehicle with:
Parameter | Setting |
---|
Number of axles, NumAxl | 2
|
Number of tracks by axle,
NumTracksByAxl | [2 2]
|
Steered axle enable by axle, StrgEnByAxl | [1 0]
|
Suspension Compliance and Damping
The block uses a linear spring and damper to model the vertical dynamic effects of the
suspension system on the vehicle and wheel. Specifically, the block:
Uses
|
To Calculate
|
---|
Longitudinal and lateral displacement and velocity of the
vehicle. Longitudinal and lateral displacement and velocity of the
track. Vertical wheel forces applied to the vehicle.
|
Suspension forces applied to the axle center. Vertical displacements and velocities of the vehicle and
track. Longitudinal, lateral and vertical suspension forces and
moments applied to the vehicle. Longitudinal, lateral and vertical suspension forces and
moments applied to the wheel.
|
To calculate the dynamics of the axle, the block implements these equations. The block
neglects the effects of:
The net vertical force on the axle center of mass is the sum of the wheel and suspension
forces acting on the axle.
The net moment about the roll axis of the solid axle suspension accounts for the
hardpoint coordinates of the suspension and tracks.
Block parameters provide the track and suspension hardpoints coordinates.
The block uses Euler angles to transform the track and suspension displacements,
velocities, and accelerations to the vehicle coordinate system.
To calculate the suspension forces applied to the vehicle, the block implements this equation.
The suspension forces and moments applied to the vehicle are equal to the suspension
forces and moments applied to the wheel.
To calculate the vertical force applied to the suspension at the track location, the block
implements a stiff spring-damper.
The equations use these variables.
Fwza,t, Mwza,t | Suspension force and moment applied to the wheel on axle a , track t along wheel-fixed z-axis |
Fwxa,t, Mwxa,t | Suspension force and moment applied to the wheel on axle a , track t along wheel-fixed x-axis |
Fwya,t, Mwya,t | Suspension force and moment applied to the wheel on axle a , track t along wheel-fixed y-axis |
Fvza,t, Mvza,t | Suspension force and moment applied to the vehicle on axle a , track t along wheel-fixed z-axis |
Fvxa,t, Mvxa,t | Suspension force and moment applied to the vehicle on axle a , track t along wheel-fixed x-axis |
Fvya,t, Mvya,t | Suspension force and moment applied to the vehicle on axle a , track t along wheel-fixed y-axis |
Fz0a | Vertical suspension spring preload force applied to the wheels on axle a |
kza | Vertical spring constant applied to tracks on axle a |
mhsteera | Steering angle to vertical force slope applied at wheel carrier for tracks on axle a |
δsteera,t | Steering angle input for axle a , track t |
cza | Vertical damping constant applied to tracks on axle a |
Rewa,t | Effective wheel radius for axle a , track t |
Fzhstopa,t | Vertical hardstop force at axle a , track t , along the vehicle-fixed z-axis |
Fzaswya,t | Vertical anti-sway force at axle a , track t , along the vehicle-fixed z-axis |
zva,t, żva,t | Vehicle displacement and velocity at axle a , track t , along the vehicle-fixed z-axis |
zwa,t, żwa,t | Track displacement and velocity at axle a , track t , along the vehicle-fixed z-axis |
xva,t, ẋva,t | Vehicle displacement and velocity at axle a , track t , along the vehicle-fixed z-axis |
xwa,t, ẋwa,t | Track displacement and velocity at axle a , track t , along the vehicle-fixed z-axis |
yva,t, ẏva,t | Vehicle displacement and velocity at axle a , track t , along the vehicle-fixed y-axis |
ywa,t, ẏwa,t | Track displacement and velocity at axle a , track t , along the vehicle-fixed y-axis |
Ha,t | Suspension height at axle a , track t |
Rewa,t | Effective wheel radius at axle a , track t |
Hardstop Forces
The hardstop feedback force, Fzhstopa,t, that the block applies depends on whether the suspension is compressing or extending. The block applies the force:
In compression, when the suspension is compressed more than the maximum distance specified by the Suspension maximum height, Hmax parameter.
In extension, when the suspension extension is greater than maximum extension specified by the Suspension maximum height, Hmax parameter.
To calculate the force, the block uses a stiffness based on a hyperbolic tangent and exponential scaling.
Camber, Caster, and Toe Angles
To calculate the camber, caster, and toe angles, block uses linear functions of the suspension
height and steering angle.
The equations use these variables.
ξa,t |
Camber angle of wheel on axle a , track
t
|
ηa,t |
Caster angle of wheel on axle a , track
t
|
ζa,t |
Toe angle of wheel on axle a , track
t
|
ξ0a,
η0a,
ζ0a |
Nominal suspension axle a camber, caster, and toe angles, respectively, at zero
steering angle
|
mhcambera,
mhcastera,
mhtoea |
Camber, caster, and toe angles, respectively, versus suspension height slope for
axle a
|
mcambersteera,
mcastersteera,
mtoesteera |
Camber, caster, and toe angles, respectively, versus steering angle slope for
axle a
|
mhsteera |
Steering angle versus vertical force slope for axle a
|
δsteera,t |
Steering angle input for axle a , track
t
|
zva,t |
Vehicle displacement at axle a , track t ,
along the vehicle-fixed z-axis
|
zwa,t |
Track displacement at axle a , track t ,
along the vehicle-fixed z-axis
|
Steering Angles
Optionally, you can input steering angles for the tracks. To calculate the steering angles for
the wheels, the block offsets the input steering angles with a linear function of the suspension height.
The equation uses these variables.
mtoesteera |
Axle a toe angle versus steering angle slope
|
mhsteera |
Axle a steering angle versus vertical force slope
|
mhtoea |
Axle a toe angle versus suspension height slope
|
δwhlsteera,t |
Wheel steering angle for axle a , track
t
|
δsteera,t |
Steering angle input for axle a , track
t
|
zva,t |
Vehicle displacement at axle a , track t ,
along the vehicle-fixed z-axis
|
zwa,t |
Track displacement at axle a , track t ,
along the vehicle-fixed z-axis
|
Power and Energy
The block calculates these suspension characteristics for each axle,
a
, track,
t
.
Calculation | Equation |
---|
Dissipated power,
Psuspa,t |
|
Absorbed energy,
Esuspa,t |
|
Suspension height,
Ha,t |
|
Distance from wheel carrier center to
tire/road interface |
|
The equations use these variables.
mhsteera | Steering angle
to vertical force slope applied at wheel carrier
for tracks on axle
a |
δsteera,t | Steering angle
input for axle a , track
t |
Rewa,t | Axle
a , track t
effective wheel radius from wheel carrier center
to tire/road interface |
Fz0a | Vertical
suspension spring preload force applied to the
wheels on axle a |
zwtra,t | Distance from
wheel carrier center to tire/road interface, along
the vehicle-fixed z-axis
|
zva,t,
żva,t | Vehicle
displacement and velocity at axle
a , track t ,
along the vehicle-fixed
z-axis |
zwa,t,
żwa,t | Track
displacement and velocity at axle
a , track t ,
along the vehicle-fixed
z-axis |
Ports
Input
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WhlPz
— Track z
-axis displacement
array
Track displacement, zw, along wheel-fixed
z-axis, in m. Array dimensions are 1
by the
total number of tracks on the vehicle.
For example, for a two-axle vehicle with two tracks per axle, the
WhlPz
:
WhlRe
— Wheel effective radius
array
Effective wheel radius, Rew, in m. Array
dimensions are 1
by the total number of tracks on the vehicle.
For example, for a two-axle vehicle with two tracks per axle, the
WhlRe
:
WhlVz
— Track z
-axis velocity
array
Track velocity, żw, along wheel-fixed
z-axis, in m. Array dimensions are 1
by the
total number of tracks on the vehicle.
For example, for a two-axle vehicle with two tracks per axle, the
WhlVz
:
WhlFx
— Longitudinal wheel force on vehicle
array
Longitudinal wheel force applied to vehicle,
Fwx, along the vehicle-fixed
x-axis. Array dimensions are 1
by the total
number of tracks on the vehicle.
For example, for a two-axle vehicle with two tracks per axle, the
WhlFx
:
WhlFy
— Lateral wheel force on vehicle
array
Lateral wheel force applied to vehicle,
Fwy,
along the vehicle-fixed y-axis. Array
dimensions are 1
by the total number of
tracks on the vehicle.
For example, for a two-axle vehicle with two tracks per axle, the
WhlFy
:
WhlM
— Suspension moment on wheel
array
Longitudinal, lateral, and vertical suspension
moments at axle a
, track
t
, applied to the wheel at the
axle wheel carrier reference coordinate, in N·m.
Array dimensions are 3
by the
total number of tracks on the vehicle.
WhlM(1,...)
— Suspension
moment applied to the wheel about the
vehicle-fixed x-axis
(longitudinal)
WhlM(2,...)
— Suspension
moment applied to the wheel about the
vehicle-fixed y-axis
(lateral)
WhlM(3,...)
— Suspension
moment applied to the wheel about the
vehicle-fixed z-axis
(vertical)
For example, for a two-axle vehicle with two
tracks per axle, the WhlM
:
VehP
— Vehicle displacement
array
Vehicle displacement from axle a
, track t
along
vehicle-fixed coordinate system, in m. Array dimensions are 3
by the
total number of tracks on the vehicle.
VehP(1,...)
— Vehicle displacement from track,
xv, along the vehicle-fixed
x-axis
VehP(2,...)
— Vehicle displacement from track,
yv, along the vehicle-fixed
y-axis
VehP(3,...)
— Vehicle displacement from track,
zv, along the vehicle-fixed
z-axis
For example, for a two-axle vehicle with two tracks per axle, the
VehP
:
VehV
— Vehicle velocity
array
Vehicle velocity at axle a
, track t
along
vehicle-fixed coordinate system, in m. Input array dimensions are 3
by a
*t
.
VehV(1,...)
— Vehicle velocity at track,
xv, along the vehicle-fixed
x-axis
VehV(2,...)
— Vehicle velocity at track,
yv, along the vehicle-fixed
y-axis
VehV(3,...)
— Vehicle velocity at track,
zv, along the vehicle-fixed
z-axis
For example, for a two-axle vehicle with two tracks per axle, the
VehV
:
StrgAng
— Steering angle, optional
array
Optional steering angle for each wheel, δ.
Input array dimensions are 1
by
the number of steered tracks.
For example, for a two-axle vehicle with two tracks per axle, you can input steering angles for both wheels on the first axle.
To create the StrgAng
port, set Steered axle enable by axle,
StrgEnByAxl to [1 0]
. The input signal array dimensions are [1x2]
.
The StrgAng
signal contains two steering angles according to their axle and
track locations.
Array Element | Axle | Track |
---|
StrgAng(1,1) | 1 | 1 |
StrgAng(1,2) | 1 | 2 |
Dependencies
Setting an element of the Steered axle enable by axle, StrgEnByAxl
vector to 1 creates:
Input port StrgAng
.
Parameters:
Toe angle vs steering angle slope,
ToeStrgSlp
Caster angle vs steering angle slope,
CasterStrgSlp
Camber angle vs steering angle slope,
CamberStrgSlp
Suspension height vs steering angle slope,
StrgHgtSlp
Output
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Info
— Bus signal
bus
Bus signal containing block values. The signals are arrays that depend on the track
location.
For example, here are the indices for a two-axle, two-track vehicle. The total number
of tracks is four.
1D array signal (1-by-4)
Array Element | Axle | Track |
---|
(1,1) | 1 | 1 |
(1,2) | 1 | 2 |
(1,3) | 2 | 1 |
(1,4) | 2 | 2 |
3D array signal (3-by-4)
Array Element | Axle | Track |
---|
(1,1) | 1 | 1 |
(1,2) | 1 | 2 |
(1,3) | 2 | 1 |
(1,4) | 2 | 2 |
(2,1) | 1 | 1 |
(2,2) | 1 | 2 |
(2,3) | 2 | 1 |
(2,4) | 2 | 2 |
(3,1) | 1 | 1 |
(3,2) | 1 | 2 |
(3,3) | 2 | 1 |
(3,4) | 2 | 2 |
Signal | Description | Array Signal | Variable | Units |
---|
Camber | Wheel angles according to the
axle. | 1D |
| rad |
Caster |
|
Toe |
|
Height | Suspension height | 1D | H | m |
Power | Suspension power dissipation | 1D | Psusp | W |
Energy | Suspension absorbed energy | 1D | Esusp | J |
VehF | Suspension forces applied to the vehicle | 3D | For a two-axle, two tracks per axle vehicle:
| N |
VehM | Suspension moments applied to vehicle | 3D | For a two-axle, two tracks per axle vehicle:
| N·m |
WhlF | Suspension force applied to wheel | 3D | For a two-axle, two tracks per axle vehicle:
| N |
WhlP | Track displacement | 3D | For a two-axle, two tracks per axle vehicle:
| m |
WhlV | Track velocity | 3D | For a two-axle, two tracks per axle vehicle:
| m/s |
WhlAng | Wheel camber, caster, toe angles | 3D | For a two-axle, two tracks per axle vehicle:
| rad |
VehF
— Suspension force on vehicle
array
Longitudinal, lateral, and vertical
suspension force at axle a
,
track t
, applied to the vehicle
at the suspension connection point, in N. Array
dimensions are 3
by the total
number of tracks on the vehicle.
VehF(1,...)
— Suspension
force applied to vehicle along the vehicle-fixed
x-axis (longitudinal)
VehF(2,...)
— Suspension
force applied to vehicle along the vehicle-fixed
y-axis (lateral)
VehF(3,...)
— Suspension
force applied to vehicle along the vehicle-fixed
z-axis (vertical)
For example, for a two-axle vehicle with two
tracks per axle, the VehF
:
VehM
— Suspension moment on vehicle
array
Longitudinal, lateral, and vertical
suspension moment at axle a
,
track t
, applied to the vehicle
at the suspension connection point, in N·m. Array
dimensions are 3
by the total
number of tracks on the vehicle.
VehM(1,...)
— Suspension
moment applied to the vehicle about the vehicle-fixed
x-axis (longitudinal)
VehM(2,...)
— Suspension
moment applied to the vehicle about the vehicle-fixed
y-axis (lateral)
VehM(3,...)
— Suspension
moment applied to the vehicle about the vehicle-fixed
z-axis (vertical)
For example, for a two-axle vehicle with two
tracks per axle, the VehM
:
WhlF
— Suspension force on wheel
array
Longitudinal, lateral, and vertical
suspension forces at axle a
,
track t
, applied to the wheel
at the axle wheel carrier reference coordinate, in
N. Array dimensions are 3
by
the total number of tracks on the vehicle.
WhlF(1,...)
— Suspension
force on wheel along the vehicle-fixed
x-axis (longitudinal)
WhlF(2,...)
— Suspension
force on wheel along the vehicle-fixed
y-axis (lateral)
WhlF(3,...)
— Suspension
force on wheel along the vehicle-fixed
z-axis (vertical)
For example, for a two-axle vehicle with two
tracks per axle, the WhlF
:
WhlV
— Track velocity
array
Longitudinal, lateral, and vertical track
velocity at axle a
, track
t
, in m/s. Array dimensions are
3
by the total number of tracks
on the vehicle.
WhlV(1,...)
— Track
velocity along the vehicle-fixed
x-axis (longitudinal)
WhlV(2,...)
— Track
velocity along the vehicle-fixed
y-axis (lateral)
WhlV(3,...)
— Track
velocity along the vehicle-fixed
z-axis (vertical)
For example, for a two-axle vehicle with two
tracks per axle, the WhlV
:
WhlAng
— Wheel camber, caster, toe angles
array
Camber, caster, and toe angles at axle a
, track
t
, in rad. Array dimensions are 3
by the total
number of tracks on the vehicle.
WhlAng(1,...)
— Camber angle
WhlAng(2,...)
— Caster angle
WhlAng(3,...)
— Toe angle
For example, for a two-axle vehicle with two tracks per axle, the
WhlAng
:
Parameters
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Axles
Number of axles, NumAxl
— Number of axles
2
(default) | scalar
Number of axles, Na,
dimensionless.
Number of tracks by axle, NumTracksByAxl
— Number of tracks per axle
[2 2]
(default) | vector
Number of tracks per axle, Nta,
dimensionless. Vector is 1
by the number of vehicle axles,
Na. For example,
[1,2]
represents one track on axle 1 and two tracks on axle
2.
Steered axle enable by axle, StrgEnByAxl
— Boolean vector to enable axle steering
[1 0]
(default) | vector
Boolean vector that enables axle steering,
Ensteer, dimensionless. Vector is
1
by the number of vehicle axles,
Na. For example:
[1 0]
—For a two-axle vehicle, enables axle 1
steering and disables axle 2 steering
[1 1]
—For a two-axle vehicle, enables axle 1 and
axle 2 steering
Dependencies
Setting an element of the Steered axle enable by axle,
StrgEnByAxl vector to 1:
For example, for a two-axle vehicle with two tracks per axle, you can input steering angles for both wheels on the first axle.
To create the StrgAng
port, set Steered axle enable by axle,
StrgEnByAxl to [1 0]
. The input signal array dimensions are [1x2]
.
The StrgAng
signal contains two steering angles according to their axle and
track locations.
Array Element | Axle | Track |
---|
StrgAng(1,1) | 1 | 1 |
StrgAng(1,2) | 1 | 2 |
Axle and wheels lumped principal moments of inertia about longitudinal axis, AxlIxx
— Inertia
300
(default) | vector
Axle and wheels lumped principal moments of inertia about longitudinal axis,
AxleIxx a, in kg*m^2.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Axle and wheels lumped mass, AxlM
— Mass
[2 2]
(default) | vector
Axle and wheels lumped mass, a, in kg.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Track hardpoint coordinates relative to axle center, TrackCoords
— Point
[0 0 0 0;-1 1 -1 1;0 0 0 0]
(default) | array
Track hardpoint coordinates, Tct, along
the solid axle x, y, and
z-axes, in m.
For example, for a two-axle vehicle with two tracks per axle, the
TrackCoords
array:
Suspension hardpoint coordinates relative to axle center, SuspCoords
— Point
[0 0 0 0;-1 1 -1 1;0 0 0 0]
(default) | array
Suspension hardpoint coordinates, Sct,
along the solid axle x-, y-, and
z-axes, in m.
For example, for a two-axle vehicle with two tracks per axle, the
SuspCoords
array:
Wheel and axle interface compliance constant, KzWhlAxl
— Spring rate
6437000
(default) | scalar
Wheel and axle interface compliance constant,
Kz, in N/m.
Wheel and axle interface compliance preload, F0zWhlAxl
— Spring rate
9810
(default) | scalar
Wheel and axle interface compliance preload,
F0z, in N.
Wheel and axle interface damping constant, CzWhlAxl
— Damping
10000
(default) | scalar
Wheel and axle interface damping constant,
Cz, in m.
Suspension
Compliance and Damping - Passive
Suspension spring constant, Kz
— Suspension spring constant
64370
(default) | scalar
| vector
Linear vertical spring constant for independent suspension tracks on axle a,
kza, in
N/m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Suspension spring preload, F0z
— Suspension spring preload
9810
(default) | scalar
| vector
Vertical preload spring force applied to the wheels on the axle at wheel carrier
reference coordinates,
Fz0a, in N.
Positive preload forces:
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Suspension shock damping constant, Cz
— Suspension shock damping constant
10000
(default) | scalar
| vector
Linear vertical damping constant for independent suspension tracks on axle a,
cza, in
Ns/m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Dependencies
To create this parameter, clear Enable active
damping.
Suspension maximum height, Hmax
— Height
0.5
(default) | scalar
| vector
Maximum suspension extension or minimum suspension compression height,
Hmax, for axle
a
before the suspension reaches a hardstop, in m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Geometry
Toe angle at steering center, Toe
— Toe angle
0.0349
(default) | scalar
Nominal suspension toe angle at zero steering angle,
ζ0a, in rad.
Roll steer vs suspension height slope, RollStrgSlp
— Steer angle suspension slope
-0.2269
(default) | scalar
| vector
Roll steer angle versus suspension height,
mhtoea,
in rad/m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Toe angle vs steering angle slope, ToeStrgSlp
— Toe angle steering slope
0.01
(default) | scalar
| vector
Toe angle versus steering angle slope,
mtoesteera,
dimensionless.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Dependencies
Setting an element of the Steered axle enable by axle, StrgEnByAxl
vector to 1 creates:
Input port StrgAng
.
Parameters:
Toe angle vs steering angle slope,
ToeStrgSlp
Caster angle vs steering angle slope,
CasterStrgSlp
Camber angle vs steering angle slope,
CamberStrgSlp
Suspension height vs steering angle slope,
StrgHgtSlp
Caster angle at steering center, Caster
— Caster angle at steering center
0.0698
(default) | scalar
Nominal suspension caster angle at zero steering angle,
η0a, in rad.
Caster angle vs suspension height slope, CasterHslp
— Caster angle versus suspension height slope
-0.2269
(default) | scalar
| vector
Caster angle versus suspension height,
mhcastera,
in rad/m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Caster angle vs steering angle slope, CasterStrgSlp
— Caster angle versus steering angle slope
0.01
(default) | scalar
| vector
Caster angle versus steering angle slope,
mcastersteera,
dimensionless.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Dependencies
Setting an element of the Steered axle enable by axle, StrgEnByAxl
vector to 1 creates:
Input port StrgAng
.
Parameters:
Toe angle vs steering angle slope,
ToeStrgSlp
Caster angle vs steering angle slope,
CasterStrgSlp
Camber angle vs steering angle slope,
CamberStrgSlp
Suspension height vs steering angle slope,
StrgHgtSlp
Camber angle at steering center, Camber
— Camber angle at steering center
0.0698
(default) | scalar
Nominal suspension camber angle at zero steering angle,
ξ0a, in rad.
Camber angle vs suspension height slope, CamberHslp
— Camber angle versus suspension height slope
-0.2269
(default) | scalar
| vector
Camber angle versus suspension height,
mhcambera,
in rad/m.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Camber angle vs steering angle slope, CamberStrgSlp
— Camber angle versus steering angle slope
0.01
(default) | scalar
| vector
Camber angle versus steering angle slope,
mcambersteera,
dimensionless.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Dependencies
Setting an element of the Steered axle enable by axle, StrgEnByAxl
vector to 1 creates:
Input port StrgAng
.
Parameters:
Toe angle vs steering angle slope,
ToeStrgSlp
Caster angle vs steering angle slope,
CasterStrgSlp
Camber angle vs steering angle slope,
CamberStrgSlp
Suspension height vs steering angle slope,
StrgHgtSlp
Suspension height vs steering angle slope, StrgHgtSlp
— Suspension height versus steering angle slope
0.1432
(default) | scalar
| vector
Steering angle to vertical force slope applied at suspension wheel carrier
reference point,
mhsteera, in
m/rad.
Vector is 1
by the number of vehicle axles,
Na. If you provide a scalar value, the block
uses that value for all axles.
Dependencies
Setting an element of the Steered axle enable by axle, StrgEnByAxl
vector to 1 creates:
Input port StrgAng
.
Parameters:
Toe angle vs steering angle slope,
ToeStrgSlp
Caster angle vs steering angle slope,
CasterStrgSlp
Camber angle vs steering angle slope,
CamberStrgSlp
Suspension height vs steering angle slope,
StrgHgtSlp
References
[1] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale,
PA: Society of Automotive Engineers, 1992.
[2] Vehicle Dynamics Standards Committee.
Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society
of Automotive Engineers, 2008.
[3] Technical Committee. Road
vehicles — Vehicle dynamics and road-holding ability — Vocabulary. ISO
8855:2011. Geneva, Switzerland: International Organization for Standardization,
2011.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Introduced in R2018a