Circle-Plane wheel model component for Simscape Multibody

This is a Circle-Plane force / wheel model component for Simscape Multibody.
Updated 3 Jun 2021

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- 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.

Cite As

András Szántó (2024). Circle-Plane wheel model component for Simscape Multibody (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2018b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes

description ++


Link to the thesis.