Circle-Plane wheel model component for Simscape Multibody

This is a Circle-Plane force / wheel model component for Simscape Multibody.

Methods:

- The contact normal force is calculated by intersection depth and its velocity (spring and damper).

- The longitudinal and lateral forces are calculated by a linear wheel model, the saturation in the force(slip) characteristic is neglected. The longitudinal and lateral slips are calculated according to the Pacejka semi-empirical wheel model.

A sketch for the calculations is presented below.

Created in MATLAB 2018b.

File Exchange Dependency: Simscape Multibody Multiphysics Library (only for the truth3.slx test case model).

This is a custom method I used in my Master's Thesis titled “Model-in-Loop development of the control of a gyroscopically-balanced bicycle”. In the thesis, I applied the Control System Tuner App for the control development.

Link to the thesis: https://www.researchgate.net/publication/351849507_Model-in-Loop_development_of_the_control_of_a_gyroscopically-balanced_bicycle

Link to test case videos: https://www.youtube.com/playlist?list=PLEGTtQuYygkx0pyFDXwhreAjSOyTkeIiM