simscape bicycle model with non-linear tires

simscape bicycle model with non-linear tires

The bicycle model: elegant, fast, brilliant for intuition. Low complexity, great for control design. But linear tires? Beyond a steering limit, reality walks out of the door.

Tweak for non-linearity of tires' force and moment - realism creeps in. The handling limit actually exists now.

For a first-cut handling analysis, getting hundreds of parameters for vehicle and tire is almost impossible. What really helps is a minimal-parameter model with reasonable fidelity -> it gives good insight into handling limits without overwhelming complexity.

see a demo here

In the images below, observe values yawrate, sideslip angle (2 dofs) for same sine with dwell steering input

non linear tire wioth relaxation

Force and Moment for steer angle frequency sweep - hysterisis

linear tire