Independent Suspension - K and C

Kinematics and compliance test suspension

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• Vehicle Dynamics Blockset / Suspension

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Description

The Independent Suspension - K and C block implements the kinematics and compliance (K and C) test suspension characteristics measured from simulated or actual laboratory suspension tests. The block models the kinematics and compliance effects of four independent suspensions on a vehicle with two axles and two tracks per axle. You can specify positive directions for steer angles, forces, jounce, and moments

The block parameters correspond to these standard kinematics and compliance test measurements:

• Shock force

• Bounce, roll, and steer tests

• Longitudinal compliance braking test

• Lateral and aligning torque compliance-opposed test

The block uses standard kinematics and compliance test parameters to calculate:

• Wheel orientation changes due to suspension displacement and applied loads.

• Suspension forces on the vehicle and wheels.

K and C Effects on Suspension

To determine the overall suspension forces and geometric effects on the vehicle and wheels, the block adds the individual effect of each suspension movement, including bounce, roll, and steering. Specifically, the block multiplies the suspension geometry states by either constant or table values to determine these individual effects on the suspension forces and geometry:

• Anti-sway bar

• Camber, caster, and toe angles

• Lateral wheel center compliance

• Longitudinal wheel center compliance

• Shock force

• Wheel rate

• Contact patch swing arm (CPSA) force

Anti-Sway Bar

Optionally, use the Anti-sway axle enable by axle, AntiSwayEnByAxl parameter to implement anti-sway bar reaction forces by axle.

The anti-sway bar reaction force is the difference between the anti-sway bar torque parameter, Suspension roll stiffness with anti-roll bar, RollStiffArb, and the roll stiffness parameter measured with no anti-roll bar present Suspension roll stiffness without anti-roll bar, RollStiffNoArb.

Camber, Caster, and Toe Angles

The block uses these parameters to account for the effect of bounce, roll, and steering inputs on the camber, caster, and toe angles.

• Bounce test

• Steer test

• Longitudinal compliance braking test

• Lateral compliance-opposed braking test

• Aligning torque compliance-opposed braking test

To offset the camber, caster and toe angles, use the Static alignment settings parameters.

Lateral Wheel Center Compliance

The block uses these parameters to account for the effect of bounce, roll, and steering inputs on the Lateral wheel center compliance.

• Bounce test

• Longitudinal compliance braking test

• Lateral compliance-opposed braking test

Longitudinal Wheel Center Compliance

The block uses these parameters to account for the effect of bounce, roll, and steering inputs on the longitudinal wheel center compliance.

• Bounce test

• Longitudinal compliance braking test

Shock Force

The block uses the Shock force parameters to account for the effect of bounce, roll, and steering inputs on the vertical suspension force. You can specify table-based or constant parameter values.

Wheel Rate

The block uses the Bounce test parameters to account for the effect of bounce, roll, and steering inputs on the suspension.

Contact Patch Swing Arm

The block uses these equations to calculate the effect of the contact patch swing arm (CPSA) forces on vertical suspension force.

$$\begin{array}{l}{\theta }_w=f(Z_w)\\ F_{zCPSA}=F_y{\theta }_w\end{array}$$

The equations use these variables.

ϴw	Track angle displacement due to vertical displacement at contact patch
Fy	Lateral suspension force
FzCPSA	CPSA effect on vertical suspension force
zw	Track displacement

Ports

Input

WhlPz — Track z-axis displacement

array

Track displacement, z_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlPz}=z_w=\left[\begin{array}{cccc}{z}_{w_{1,1}}& z_{w_{1,2}}& z_{w_{2,1}}& z_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlPz(1,1)	1	1
  WhlPz(1,2)	1	2
  WhlPz(1,3)	2	1
  WhlPz(1,4)	2	2

WhlRe — Wheel effective radius

array

Effective wheel radius, Re_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{Whl}\mathrm{Re}=R{e}_w=\left[\begin{array}{cccc}R{e}_{w_{1,1}}& R{e}_{w_{1,2}}& R{e}_{w_{2,1}}& R{e}_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlRe(1,1)	1	1
  WhlRe(1,2)	1	2
  WhlRe(1,3)	2	1
  WhlRe(1,4)	2	2

WhlVz — Track z-axis velocity

array

Track velocity, ż_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlVz}={\dot{z}}_w=\left[\begin{array}{cccc}{\dot{z}}_{w_{1,1}}& {\dot{z}}_{w_{1,2}}& {\dot{z}}_{w_{2,1}}& {\dot{z}}_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlVz(1,1)	1	1
  WhlVz(1,2)	1	2
  WhlVz(1,3)	2	1
  WhlVz(1,4)	2	2

WhlFx — Longitudinal wheel force on vehicle

array

Longitudinal wheel force applied to vehicle, F_wx, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlFx}=F_{wx}=\left[\begin{array}{cccc}{F}_{w{x}_{1,1}}& F_{w{x}_{1,2}}& F_{w{x}_{2,1}}& F_{w{x}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlFx(1,1)	1	1
  WhlFx(1,2)	1	2
  WhlFx(1,3)	2	1
  WhlFx(1,4)	2	2

WhlFy — Lateral wheel force on vehicle

array

Lateral wheel force applied to vehicle, F_wy, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlFy}=F_{wy}=\left[\begin{array}{cccc}{F}_{w{y}_{1,1}}& F_{w{y}_{1,2}}& F_{w{y}_{2,1}}& F_{w{y}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlFy(1,1)	1	1
  WhlFy(1,2)	1	2
  WhlFy(1.3)	2	1
  WhlFy(1,4)	2	2

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. Input array dimensions are 3 by a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains suspension moments applied to four wheels according to their axle and track locations.

  $$\mathrm{WhlM}=M_w=\left[\begin{array}{cccc}{M}_{w{x}_{1,1}}& M_{w{x}_{1,2}}& M_{w{x}_{2,1}}& M_{w{x}_{2,2}}\\ M_{w{y}_{1,1}}& M_{w{y}_{1,2}}& M_{w{y}_{2,1}}& M_{w{y}_{2,2}}\\ M_{w{z}_{1,1}}& M_{w{z}_{1,2}}& M_{w{z}_{2,1}}& M_{w{z}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Moment Axis
  WhlM(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  WhlM(1,2)	1	2
  WhlM(1,3)	2	1
  WhlM(1,4)	2	2
  WhlM(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  WhlM(2,2)	1	2
  WhlM(2,3)	2	1
  WhlM(2,4)	2	2
  WhlM(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  WhlM(3,2)	1	2
  WhlM(3,3)	2	1
  WhlM(3,4)	2	2

VehP — Vehicle displacement

array

Vehicle displacement from axle a, track t along vehicle-fixed coordinate system, in m. Input array dimensions are 3 by a*t.

• VehP(1,...) — Vehicle displacement from track, x_v, along the vehicle-fixed x-axis

• VehP(2,...) — Vehicle displacement from track, y_v, along the vehicle-fixed y-axis

• VehP(3,...) — Vehicle displacement from track, z_v, along the vehicle-fixed z-axis

For example, for a two-axle vehicle with two tracks per axle, the VehP:

• Signal dimensions are [3x4].

• Signal contains four track displacements according to their axle and track locations.

  $$\mathrm{VehP}=\left[\begin{array}{c}{x}_v\\ y_v\\ z_v\end{array}\right]=\left[\begin{array}{cccc}{x}_v{}_{{}_{1,1}}& x_v{}_{{}_{1,2}}& x_v{}_{{}_{2,1}}& x_v{}_{{}_{2,2}}\\ y_v{}_{{}_{1,1}}& y_v{}_{{}_{1,2}}& y_v{}_{{}_{2,1}}& y_v{}_{{}_{2,2}}\\ z_v{}_{{}_{1,1}}& z_v{}_{{}_{1,2}}& z_v{}_{{}_{2,1}}& z_v{}_{{}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Axis
  VehP(1,1)	1	1	Vehicle-fixed x-axis
  VehP(1,2)	1	2
  VehP(1,3)	2	1
  VehP(1,4)	2	2
  VehP(2,1)	1	1	Vehicle-fixed y-axis
  VehP(2,2)	1	2
  VehP(2,3)	2	1
  VehP(2,4)	2	2
  VehP(3,1)	1	1	Vehicle-fixed z-axis
  VehP(3,2)	1	2
  VehP(3,3)	2	1
  VehP(3,4)	2	2

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, x_v, along the vehicle-fixed x-axis

• VehV(2,...) — Vehicle velocity at track, y_v, along the vehicle-fixed y-axis

• VehV(3,...) — Vehicle velocity at track, z_v, along the vehicle-fixed z-axis

For example, for a two-axle vehicle with two tracks per axle, the VehV:

• Signal dimensions are [3x4].

• Signal contains 4 track velocities according to their axle and track locations.

  $$\mathrm{VehV}=\left[\begin{array}{c}{\dot{x}}_v\\ {\dot{y}}_v\\ {\dot{z}}_v\end{array}\right]=\left[\begin{array}{cccc}{\dot{x}}_{v_{1,1}}& {\dot{x}}_{v_{1,2}}& {\dot{x}}_{v_{2,1}}& {\dot{x}}_{v_{2,2}}\\ {\dot{y}}_{v_{1,1}}& {\dot{y}}_{v_{1,2}}& {\dot{y}}_{v_{2,1}}& {\dot{y}}_{v_{2,2}}\\ {\dot{z}}_{v_{1,1}}& {\dot{z}}_{v_{1,2}}& {\dot{z}}_{v_{2,1}}& {\dot{z}}_{v_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Axis
  VehV(1,1)	1	1	Vehicle-fixed x-axis
  VehV(1,2)	1	2
  VehV(1,3)	2	1
  VehV(1,4)	2	2
  VehV(2,1)	1	1	Vehicle-fixed y-axis
  VehV(2,2)	1	2
  VehV(2,3)	2	1
  VehV(2,4)	2	2
  VehV(3,1)	1	1	Vehicle-fixed z-axis
  VehV(3,2)	1	2
  VehV(3,3)	2	1
  VehV(3,4)	2	2

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.

  $$\mathrm{StrgAng}={\delta }_{steer}=\left[\begin{array}{cc}{\delta }_{stee{r}_{1,1}}& {\delta }_{stee{r}_{1,2}}\end{array}\right]$$

  Array Element	Axle	Track
  StrgAng(1,1)	1	1
  StrgAng(1,2)	1	2

Dependencies

To create input port StrgAng, set an element of the Steered axle enable by axle, StrgEnByAxl vector to 1.

WhlPz — Track z-axis displacement

array

Track displacement, z_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlPz}=z_w=\left[\begin{array}{cccc}{z}_{w_{1,1}}& z_{w_{1,2}}& z_{w_{2,1}}& z_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlPz(1,1)	1	1
  WhlPz(1,2)	1	2
  WhlPz(1,3)	2	1
  WhlPz(1,4)	2	2

WhlRe — Wheel effective radius

array

Effective wheel radius, Re_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{Whl}\mathrm{Re}=R{e}_w=\left[\begin{array}{cccc}R{e}_{w_{1,1}}& R{e}_{w_{1,2}}& R{e}_{w_{2,1}}& R{e}_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlRe(1,1)	1	1
  WhlRe(1,2)	1	2
  WhlRe(1,3)	2	1
  WhlRe(1,4)	2	2

WhlVz — Track z-axis velocity

array

Track velocity, ż_w, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlVz}={\dot{z}}_w=\left[\begin{array}{cccc}{\dot{z}}_{w_{1,1}}& {\dot{z}}_{w_{1,2}}& {\dot{z}}_{w_{2,1}}& {\dot{z}}_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlVz(1,1)	1	1
  WhlVz(1,2)	1	2
  WhlVz(1,3)	2	1
  WhlVz(1,4)	2	2

WhlFx — Longitudinal wheel force on vehicle

array

Longitudinal wheel force applied to vehicle, F_wx, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlFx}=F_{wx}=\left[\begin{array}{cccc}{F}_{w{x}_{1,1}}& F_{w{x}_{1,2}}& F_{w{x}_{2,1}}& F_{w{x}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlFx(1,1)	1	1
  WhlFx(1,2)	1	2
  WhlFx(1,3)	2	1
  WhlFx(1,4)	2	2

WhlFy — Lateral wheel force on vehicle

array

Lateral wheel force applied to vehicle, F_wy, 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:

• Signal array dimensions are [1x4].

• Array dimensions are axle by track.

  $$\mathrm{WhlFy}=F_{wy}=\left[\begin{array}{cccc}{F}_{w{y}_{1,1}}& F_{w{y}_{1,2}}& F_{w{y}_{2,1}}& F_{w{y}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track
  WhlFy(1,1)	1	1
  WhlFy(1,2)	1	2
  WhlFy(1.3)	2	1
  WhlFy(1,4)	2	2

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. Input array dimensions are 3 by a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains suspension moments applied to four wheels according to their axle and track locations.

  $$\mathrm{WhlM}=M_w=\left[\begin{array}{cccc}{M}_{w{x}_{1,1}}& M_{w{x}_{1,2}}& M_{w{x}_{2,1}}& M_{w{x}_{2,2}}\\ M_{w{y}_{1,1}}& M_{w{y}_{1,2}}& M_{w{y}_{2,1}}& M_{w{y}_{2,2}}\\ M_{w{z}_{1,1}}& M_{w{z}_{1,2}}& M_{w{z}_{2,1}}& M_{w{z}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Moment Axis
  WhlM(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  WhlM(1,2)	1	2
  WhlM(1,3)	2	1
  WhlM(1,4)	2	2
  WhlM(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  WhlM(2,2)	1	2
  WhlM(2,3)	2	1
  WhlM(2,4)	2	2
  WhlM(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  WhlM(3,2)	1	2
  WhlM(3,3)	2	1
  WhlM(3,4)	2	2

VehP — Vehicle displacement

array

Vehicle displacement from axle a, track t along vehicle-fixed coordinate system, in m. Input array dimensions are 3 by a*t.

• VehP(1,...) — Vehicle displacement from track, x_v, along the vehicle-fixed x-axis

• VehP(2,...) — Vehicle displacement from track, y_v, along the vehicle-fixed y-axis

• VehP(3,...) — Vehicle displacement from track, z_v, along the vehicle-fixed z-axis

For example, for a two-axle vehicle with two tracks per axle, the VehP:

• Signal dimensions are [3x4].

• Signal contains four track displacements according to their axle and track locations.

  $$\mathrm{VehP}=\left[\begin{array}{c}{x}_v\\ y_v\\ z_v\end{array}\right]=\left[\begin{array}{cccc}{x}_v{}_{{}_{1,1}}& x_v{}_{{}_{1,2}}& x_v{}_{{}_{2,1}}& x_v{}_{{}_{2,2}}\\ y_v{}_{{}_{1,1}}& y_v{}_{{}_{1,2}}& y_v{}_{{}_{2,1}}& y_v{}_{{}_{2,2}}\\ z_v{}_{{}_{1,1}}& z_v{}_{{}_{1,2}}& z_v{}_{{}_{2,1}}& z_v{}_{{}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Axis
  VehP(1,1)	1	1	Vehicle-fixed x-axis
  VehP(1,2)	1	2
  VehP(1,3)	2	1
  VehP(1,4)	2	2
  VehP(2,1)	1	1	Vehicle-fixed y-axis
  VehP(2,2)	1	2
  VehP(2,3)	2	1
  VehP(2,4)	2	2
  VehP(3,1)	1	1	Vehicle-fixed z-axis
  VehP(3,2)	1	2
  VehP(3,3)	2	1
  VehP(3,4)	2	2

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, x_v, along the vehicle-fixed x-axis

• VehV(2,...) — Vehicle velocity at track, y_v, along the vehicle-fixed y-axis

• VehV(3,...) — Vehicle velocity at track, z_v, along the vehicle-fixed z-axis

For example, for a two-axle vehicle with two tracks per axle, the VehV:

• Signal dimensions are [3x4].

• Signal contains 4 track velocities according to their axle and track locations.

  $$\mathrm{VehV}=\left[\begin{array}{c}{\dot{x}}_v\\ {\dot{y}}_v\\ {\dot{z}}_v\end{array}\right]=\left[\begin{array}{cccc}{\dot{x}}_{v_{1,1}}& {\dot{x}}_{v_{1,2}}& {\dot{x}}_{v_{2,1}}& {\dot{x}}_{v_{2,2}}\\ {\dot{y}}_{v_{1,1}}& {\dot{y}}_{v_{1,2}}& {\dot{y}}_{v_{2,1}}& {\dot{y}}_{v_{2,2}}\\ {\dot{z}}_{v_{1,1}}& {\dot{z}}_{v_{1,2}}& {\dot{z}}_{v_{2,1}}& {\dot{z}}_{v_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Axis
  VehV(1,1)	1	1	Vehicle-fixed x-axis
  VehV(1,2)	1	2
  VehV(1,3)	2	1
  VehV(1,4)	2	2
  VehV(2,1)	1	1	Vehicle-fixed y-axis
  VehV(2,2)	1	2
  VehV(2,3)	2	1
  VehV(2,4)	2	2
  VehV(3,1)	1	1	Vehicle-fixed z-axis
  VehV(3,2)	1	2
  VehV(3,3)	2	1
  VehV(3,4)	2	2

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.

  $$\mathrm{StrgAng}={\delta }_{steer}=\left[\begin{array}{cc}{\delta }_{stee{r}_{1,1}}& {\delta }_{stee{r}_{1,2}}\end{array}\right]$$

  Array Element	Axle	Track
  StrgAng(1,1)	1	1
  StrgAng(1,2)	1	2

Dependencies

To create input port StrgAng, set an element of the Steered axle enable by axle, StrgEnByAxl vector to 1.

Phi — Vehicle pitch angle

scalar

Vehicle pitch angle about earth-fixed Y-axis, in rad.

TrckWdth — Track width

array

Track width. Input array dimensions are 1-by-2.

Array Element	Description
TrckWdth(1,1)	Front axle track width
TrckWdth(1,2)	Rear axle track width

Output

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 and track location.	1D	$$\mathrm{WhlAng}[1,\mathrm{...}]=\xi =\left[{\xi }_{a,t}\right]$$	rad
Caster			$$\mathrm{WhlAng}[2,\mathrm{...}]=\eta =\left[{\eta }_{a,t}\right]$$
Toe			$$\mathrm{WhlAng}[3,\mathrm{...}]=\zeta =\left[{\zeta }_{a,t}\right]$$
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: $$\mathrm{VehF}=F_v=\left[\begin{array}{cccc}{F}_v{}_{x_{1,1}}& F_v{}_{x_{1,2}}& F_v{}_{x_{2,1}}& F_v{}_{x_{2,2}}\\ F_v{}_{y_{1,1}}& F_v{}_{y_{1,2}}& F_v{}_{y_{2,1}}& F_v{}_{y_{2,2}}\\ F_v{}_{z_{1,1}}& F_v{}_{z_{1,2}}& F_v{}_{z_{2,1}}& F_v{}_{z_{2,2}}\end{array}\right]$$	N
VehM	Suspension moments applied to vehicle	3D	For a two-axle, two tracks per axle vehicle: $$\mathrm{VehM}=M_v=\left[\begin{array}{cccc}{M}_{v{x}_{1,1}}& M_{v{x}_{1,2}}& M_{v{x}_{2,1}}& M_{v{x}_{2,2}}\\ M_{v{y}_{1,1}}& M_{v{y}_{1,2}}& M_{v{y}_{2,1}}& M_{v{y}_{2,2}}\\ M_{v{z}_{1,1}}& M_{v{z}_{1,2}}& M_{v{z}_{2,1}}& M_{v{z}_{2,2}}\end{array}\right]$$	N·m
WhlF	Suspension force applied to wheel	3D	For a two-axle, two tracks per axle vehicle: $$\mathrm{WhlF}=F_w=\left[\begin{array}{cccc}{F}_w{}_{x_{1,1}}& F_w{}_{x_{1,2}}& F_w{}_{x_{2,1}}& F_w{}_{x_{2,2}}\\ F_w{}_{y_{1,1}}& F_w{}_{y_{1,2}}& F_w{}_{y_{2,1}}& F_w{}_{y_{2,2}}\\ F_w{}_{z_{1,1}}& F_w{}_{z_{1,2}}& F_w{}_{z_{2,1}}& F_w{}_{z_{2,2}}\end{array}\right]$$	N
WhlP	Track displacement	3D	For a two-axle, two tracks per axle vehicle: $$\mathrm{WhlP}=\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\end{array}\right]=\left[\begin{array}{cccc}{x}_w{}_{{}_{1,1}}& x_w{}_{{}_{1,2}}& x_w{}_{{}_{2,1}}& x_{w_{2,2}}\\ y_w{}_{{}_{1,1}}& y_w{}_{{}_{1,2}}& y_w{}_{{}_{2,1}}& y_w{}_{y_{2,2}}\\ z_{wtr}{}_{{}_{1,1}}& z_{wtr}{}_{{}_{1,2}}& z_{wtr}{}_{{}_{2,1}}& z_{wt{r}_{2,2}}\end{array}\right]$$	m
WhlV	Track velocity	3D	For a two-axle, two tracks per axle vehicle: $$\mathrm{WhlV}=\left[\begin{array}{c}{\dot{x}}_w\\ {\dot{y}}_w\\ {\dot{z}}_w\end{array}\right]=\left[\begin{array}{cccc}{\dot{x}}_{w_{1,1}}& {\dot{x}}_{w_{1,2}}& {\dot{x}}_{w_{2,1}}& {\dot{x}}_{w_{2,2}}\\ {\dot{y}}_{w_{{}_{1,1}}}& {\dot{y}}_{w_{1,2}}& {\dot{y}}_{w_{2,1}}& {\dot{y}}_{w_{2,2}}\\ {\dot{z}}_{w_{{}_{1,1}}}& {\dot{z}}_{w_{1,2}}& {\dot{z}}_{w_{2,1}}& {\dot{z}}_{w_{2,2}}\end{array}\right]$$	m/s
WhlAng	Wheel camber, caster, toe angles	3D	For a two-axle, two tracks per axle vehicle: $$\mathrm{WhlAng}=\left[\begin{array}{c}\xi \\ \eta \\ \zeta \end{array}\right]=\left[\begin{array}{cccc}{\xi }_{1,1}& {\xi }_{1,2}& {\xi }_{2,1}& {\xi }_{2,2}\\ {\eta }_{1,1}& {\eta }_{1,2}& {\eta }_{2,1}& {\eta }_{2,2}\\ {\zeta }_{1,1}& {\zeta }_{1,2}& {\zeta }_{2,1}& {\zeta }_{2,2}\end{array}\right]$$	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 a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains suspension forces applied to the vehicle according to the axle and track locations.

  $$\mathrm{VehF}=F_v=\left[\begin{array}{cccc}{F}_v{}_{x_{1,1}}& F_v{}_{x_{1,2}}& F_v{}_{x_{2,1}}& F_v{}_{x_{2,2}}\\ F_v{}_{y_{1,1}}& F_v{}_{y_{1,2}}& F_v{}_{y_{2,1}}& F_v{}_{y_{2,2}}\\ F_v{}_{z_{1,1}}& F_v{}_{z_{1,2}}& F_v{}_{z_{2,1}}& F_v{}_{z_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Force Axis
  VehF(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  VehF(1,2)	1	2
  VehF(1,3)	2	1
  VehF(1,4)	2	2
  VehF(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  VehF(2,2)	1	2
  VehF(2,3)	2	1
  VehF(2,4)	2	2
  VehF(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  VehF(3,2)	1	2
  VehF(3,3)	2	1
  VehF(3,4)	2	2

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 a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains suspension moments applied to vehicle according to the axle and track locations.

  $$\mathrm{VehM}=M_v=\left[\begin{array}{cccc}{M}_{v{x}_{1,1}}& M_{v{x}_{1,2}}& M_{v{x}_{2,1}}& M_{v{x}_{2,2}}\\ M_{v{y}_{1,1}}& M_{v{y}_{1,2}}& M_{v{y}_{2,1}}& M_{v{y}_{2,2}}\\ M_{v{z}_{1,1}}& M_{v{z}_{1,2}}& M_{v{z}_{2,1}}& M_{v{z}_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Moment Axis
  VehM(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  VehM(1,2)	1	2
  VehM(1,3)	2	1
  VehM(1,4)	2	2
  VehM(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  VehM(2,2)	1	2
  VehM(2,3)	2	1
  VehM(2,4)	2	2
  VehM(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  VehM(3,2)	1	2
  VehM(3,3)	2	1
  VehM(3,4)	2	2

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 a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains wheel forces applied to the vehicle according to the axle and track locations.

  $$\mathrm{WhlF}=F_w=\left[\begin{array}{cccc}{F}_w{}_{x_{1,1}}& F_w{}_{x_{1,2}}& F_w{}_{x_{2,1}}& F_w{}_{x_{2,2}}\\ F_w{}_{y_{1,1}}& F_w{}_{y_{1,2}}& F_w{}_{y_{2,1}}& F_w{}_{y_{2,2}}\\ F_w{}_{z_{1,1}}& F_w{}_{z_{1,2}}& F_w{}_{z_{2,1}}& F_w{}_{z_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Force Axis
  WhlF(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  WhlF(1,2)	1	2
  WhlF(1,3)	2	1
  WhlF(1,4)	2	2
  WhlF(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  WhlF(2,2)	1	2
  WhlF(2,3)	2	1
  WhlF(2,4)	2	2
  WhlF(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  WhlF(3,2)	1	2
  WhlF(3,3)	2	1
  WhlF(3,4)	2	2

WhlV — Track velocity

array

Longitudinal, lateral, and vertical track velocity at axle a, track t, in m/s. Array dimensions are 3 by a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains wheel forces applied to the vehicle according to the axle and track locations.

  $$\mathrm{WhlV}=\left[\begin{array}{c}{\dot{x}}_w\\ {\dot{y}}_w\\ {\dot{z}}_w\end{array}\right]=\left[\begin{array}{cccc}{\dot{x}}_{w_{1,1}}& {\dot{x}}_{w_{1,2}}& {\dot{x}}_{w_{2,1}}& {\dot{x}}_{w_{2,2}}\\ {\dot{y}}_{w_{{}_{1,1}}}& {\dot{y}}_{w_{1,2}}& {\dot{y}}_{w_{2,1}}& {\dot{y}}_{w_{2,2}}\\ {\dot{z}}_{w_{{}_{1,1}}}& {\dot{z}}_{w_{1,2}}& {\dot{z}}_{w_{2,1}}& {\dot{z}}_{w_{2,2}}\end{array}\right]$$

  Array Element	Axle	Track	Force Axis
  WhlV(1,1)	1	1	Vehicle-fixed x-axis (longitudinal)
  WhlV(1,2)	1	2
  WhlV(1,3)	2	1
  WhlV(1,4)	2	2
  WhlV(2,1)	1	1	Vehicle-fixed y-axis (lateral)
  WhlV(2,2)	1	2
  WhlV(2,3)	2	1
  WhlV(2,4)	2	2
  WhlV(3,1)	1	1	Vehicle-fixed z-axis (vertical)
  WhlV(3,2)	1	2
  WhlV(3,3)	2	1
  WhlV(3,4)	2	2

WhlAng — Wheel camber, caster, toe angles

array

Camber, caster, and toe angles at axle a, track t, in rad. Array dimensions are 3 by a*t.

• 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:

• Signal dimensions are [3x4].

• Signal contains wheel angles according to the axle and track locations.

  $$\mathrm{WhlAng}=\left[\begin{array}{c}\xi \\ \eta \\ \zeta \end{array}\right]=\left[\begin{array}{cccc}{\xi }_{1,1}& {\xi }_{1,2}& {\xi }_{2,1}& {\xi }_{2,2}\\ {\eta }_{1,1}& {\eta }_{1,2}& {\eta }_{2,1}& {\eta }_{2,2}\\ {\zeta }_{1,1}& {\zeta }_{1,2}& {\zeta }_{2,1}& {\zeta }_{2,2}\end{array}\right]$$

  Array Element	Axle	Track	Angle
  WhlAng(1,1)	1	1	Camber
  WhlAng(1,2)	1	2
  WhlAng(1,3)	2	1
  WhlAng(1,4)	2	2
  WhlAng(2,1)	1	1	Caster
  WhlAng(2,2)	1	2
  WhlAng(2,3)	2	1
  WhlAng(2,4)	2	2
  WhlAng(3,1)	1	1	Toe
  WhlF(3,2)	1	2
  WhlF(3,3)	2	1
  WhlF(3,4)	2	2

Parameters

Steered axle enable by axle, StrgEnByAxl — Boolean vector to enable axle steering

[1 0] (default) | vector

Boolean vector that enables axle steering, En_steer, dimensionless. Vector is 1 by the number of vehicle axles, N_a. 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 any element of the Steered axle enable by axle, StrgEnByAxl vector to 1 creates Input port StrgAng.

Anti-sway axle enable by axle, AntiSwayEnByAxl — Boolean vector to enable axle anti-sway

[0 0] (default) | vector

Boolean vector that enables axle anti-sway for axle a, dimensionless. For example, [1 0] enables axle 1 anti-sway and disables axle 2 anti-sway. Vector is 1 by the number of vehicle axles, N_a.

Dependencies

This table provides the parameter that the block uses for the roll bar stiffness.

Anti-Sway Enable	Roll Bar Stiffness
1 — true	Suspension roll stiffness with anti-roll bar, RollStiffArb
0 — false	Suspension roll stiffness without anti-roll bar, RollStiffNoArb

Suspension Parameters

Directions

+ Steer angle — Positive steer angle

Right (default) | Left

Direction of positive steer angle during kinematics and compliance test.

+ Fx used in compliance tests — Positive longitudinal force

Front (default) | Rear

Direction of positive longitudinal force during kinematics and compliance test.

+ Fy used in compliance tests — Positive lateral force

Right (default) | Left

Direction of positive lateral force during kinematics and compliance test.

+ Suspension Jounce — Positive suspension jounce

Up (default) | Down

Direction of positive suspension jounce during kinematics and compliance test.

+ WhlMz used in compliance tests — Positive yaw moment

Counter-clockwise (default) | Clockwise

Direction of positive yaw moment during kinematics and compliance test.

Shock force

Shock type — Type of shock force

Table-based (default) | Table-based individualConstant

Type of shock force.

If a table-based individual setting is chosen, table-based shock force is implemented together with constant motion ratios. If a table-based setting is chosen both shock force and motion ratios are calculated from lookup tables.

Setting	Implementation
Table-based	Table-based shock force and motion ratios.
Table-based individual	Table-based shock force and constant motion ratios.
Constant	Constant shock force and motion ratios.

Shock force vs shock compression rate, ShckFrceVsCompRate — Table

struct('FL',[-100. -5000;0 0;100. 5000],'FR',[-100. -5000;0 0;100. 5000],'RL',[-100. -5000;0 0;100. 5000],'RR',[-100. -5000;0 0;100. 5000]) (default)

Shock force versus shock compression rate, specified as a structure, in N/mm per sec.

Dependencies

To create this parameter, set Shock type to Table-based or Table-based individual.

Data Types: struct

Motion ratios by axle, MotRatios — Table

struct('FL',[-0.1 -0.1;0 0;0.1 0.1],'FR',[-0.1 -0.1;0 0;0.1 0.1],'RL',[-0.1 -0.1;0 0;0.1 0.1],'RR',[-0.1 -0.1;0 0;0.1 0.1]) (default)

Motion ratios by axle, specified as a structure.

Data Types: struct

Bounce test

Bump steer, BumpSteer — Table

struct('FL',[-0.1 1.1459;0 0;0.1 -1.1459],'FR',[-0.1 1.1459;0 0;0.1 -1.1459],'RL',[-0.1 0.;0 0;0.1 0.],'RR',[-0.1 0.;0 0;0.1 0.]) (default)

Bump steer, specified as a structure, in deg/m.

Data Types: struct

Bump camber, BumpCamber — Table

struct('FL',[-0.1 1.7189;0 0;0.1 -1.7189],'FR',[-0.1 1.7189;0 0;0.1 -1.7189],'RL',[-0.1 0.;0 0;0.1 0.],'RR',[-0.1 0.;0 0;0.1 0.]) (default)

Bump camber, specified as a structure, in deg/m.

Data Types: struct

Bump caster, BumpCaster — Table

struct('FL',[-0.1 1.1459;0 0;0.1 -1.1459],'FR',[-0.1 1.1459;0 0;0.1 -1.1459],'RL',[-0.1 -11.4592;0 0;0.1 11.4592],'RR',[-0.1 -11.4592;0 0;0.1 11.4592]) (default)

Bump caster, specified as a structure, in deg/m.

Data Types: struct

Lateral wheel center displacement, LatWhlCtrDisp — Table

struct('FL',[-0.1 0.02;0 0;0.1 -0.02],'FR',[-0.1 0.02;0 0;0.1 -0.02],'RL',[-0.1 0.;0 0;0.1 0.],'RR',[-0.1 0.;0 0;0.1 0.]) (default)

Lateral wheel center displacement, specified as a structure, in mm/mm.

Data Types: struct

Longitudinal wheel center displacement, LngWhlCtrDisp — Table

struct('FL',[-0.1 -0.002;0 0;0.1 0.002],'FR',[-0.1 -0.002;0 0;0.1 0.002],'RL',[-0.1 0.;0 0;0.1 0.],'RR',[-0.1 0.02;0 0;0.1 0.01]) (default)

Longitudinal wheel center displacement, specified as a structure, in mm/mm.

Data Types: struct

Normal wheel rates, NrmlWhlRates — Table

struct('FL',[-100. -5000;0 0;100. 5000],'FR',[-100. -5000;0 0;100. 5000],'RL',[-100. -5000;0 0;100. 5000],'RR',[-100. -5000;0 0;100. 5000]) (default) | vector

Normal wheel rates, specified as a structure, in N/mm.

Data Types: struct

Normal wheel force offsets, NrmlWhlFrcOff — Force offset

[0 0 0 0] (default)

Normal wheel force offsets, specified as a vector, in N.

Dependencies

To create this parameter, specify a Normal wheel rates, NrmlWhlRates vector.

Data Types: struct

Roll test

Suspension roll stiffness with anti-roll bar, RollStiffArb — Anti-sway bar enabled

[856 722] (default) | 1-by-2 vector

Suspension roll stiffness with anti-roll bar, specified as a 1-by-2 vector, in Nm/deg. The first element is the front axle roll stiffness. The second element is the rear axle roll stiffness.

Dependencies

If Anti-sway axle enable by axle, AntiSwayEnByAxl is enabled for an axle, the block uses this parameter for the roll stiffness.

Data Types: double

Suspension roll stiffness without anti-roll bar, RollStiffNoArb — Anti-sway bar not enabled

[0 0] (default) | 1-by-2 vector

Suspension roll stiffness without anti-roll bar, specified as a 1-by-2 vector, in Nm/deg. The first element is the front axle roll stiffness. The second element is the rear axle roll stiffness.

Dependencies

If Anti-sway axle enable by axle, AntiSwayEnByAxl is not enabled for an axle, the block uses this for the roll stiffness.

Data Types: double

Steer test

Camber vs steer angle, CambVsSteerAng — Table

struct('FL',[-10. -1.;0 0;10. 1.],'FR',[-10. 1.;0 0;10. -1.],'RL',[-10. -1.;0 0;10. 1.],'RR',[-10. 1.;0 0;10. -1.]) (default)

Camber vs steer angle, specified as a structure, in deg/deg.

Data Types: struct

Caster vs steer angle, CastVsSteerAng — Table

struct('FL',[-10. -1.;0 0;10. 1.],'FR',[-10. 1.;0 0;10. -1.],'RL',[-10. -1.;0 0;10. 1.],'RR',[-10. 1.;0 0;10. -1.]) (default)

Caster vs steer angle, specified as a structure, in deg/deg.

Data Types: struct

Longitudinal compliance braking test

Longitudinal steer compliance, LngSteerCompl — Table

struct('NegFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.]),'PosFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.])) (default)

Longitudinal steer compliance, specified as a structure, in deg/kN.

Data Types: struct

Longitudinal camber compliance, LngCambCompl — Table

struct('NegFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.]),'PosFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.])) (default)

Longitudinal camber compliance, specified as a structure, in deg/kN.

Data Types: struct

Longitudinal caster compliance, LngCastCompl — Table

struct('NegFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.]),'PosFx',struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.])) (default)

Longitudinal caster compliance, specified as a structure, in deg/kN.

Data Types: struct

Longitudinal wheel center compliance, LngWhlCtrCompl — Table

struct('NegFx',struct('FL',[-2. -10.;0 0;2. 10.],'FR',[-2. 10.;0 0;2. -10.],'RL',[-2. -10.;0 0;2. 10.],'RR',[-2. 10.;0 0;2. -10.]),'PosFx',struct('FL',[-2. -10.;0 0;2. 10.],'FR',[-2. 10.;0 0;2. -10.],'RL',[-2. -10.;0 0;2. 10.],'RR',[-2. 10.;0 0;2. -10.])) (default)

Longitudinal wheel center compliance, specified as a structure, in mm/kN.

Data Types: struct

Lateral wheel center compliance from braking, LatWhlCtrComplLngBrk — Table

struct('NegFx',struct('FL',[-2. -10.;0 0;2. 10.],'FR',[-2. 10.;0 0;2. -10.],'RL',[-2. -10.;0 0;2. 10.],'RR',[-2. 10.;0 0;2. -10.]),'PosFx',struct('FL',[-2. -10.;0 0;2. 10.],'FR',[-2. 10.;0 0;2. -10.],'RL',[-2. -10.;0 0;2. 10.],'RR',[-2. 10.;0 0;2. -10.])) (default)

Lateral wheel center compliance from braking, specified as a structure, in mm/kN.

Data Types: struct

Lateral compliance-opposed braking test

Lateral steer compliance, LatSteerCompl — Table

struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.]) (default)

Lateral steer compliance, specified as a structure, in deg/kN.

Data Types: struct

Lateral camber compliance, LatCambCompl — Table

struct('FL',[-2. -1.;0 0;2. 1.],'FR',[-2. 1.;0 0;2. -1.],'RL',[-2. -1.;0 0;2. 1.],'RR',[-2. 1.;0 0;2. -1.]) (default)

Lateral camber compliance, specified as a structure, in deg/kN.

Data Types: struct

Lateral wheel center compliance from lateral sources, LatWhlCtrComplLat — Table

struct('FL',[-2. -5.;0 0;2. 5.],'FR',[-2. 5.;0 0;2. -5.],'RL',[-2. -5.;0 0;2. 5.],'RR',[-2. 5.;0 0;2. -5.]) (default)

Lateral wheel center compliance from lateral sources, specified as a structure, in mm/kN.

Data Types: struct

Aligning torque compliance-opposed braking test

Aligning torque steer compliance, AlgnTrqSteerCompl — Table

struct('FL',[-0.2 -1.;0 0;0.2 1.],'FR',[-0.2 1.;0 0;0.2 -1.],'RL',[-0.2 -1.;0 0;0.2 1.],'RR',[-0.2 1.;0 0;0.2 -1.]) (default)

Aligning torque steer compliance, specified as a structure, in deg/kNm.

Data Types: struct

Aligning torque camber compliance, AlgnTrqCambCompl — Table

struct('FL',[-0.2 -1.;0 0;0.2 1.],'FR',[-0.2 1.;0 0;0.2 -1.],'RL',[-0.2 -1.;0 0;0.2 1.],'RR',[-0.2 1.;0 0;0.2 -1.]) (default)

Aligning torque camber compliance, specified as a structure, in deg/kNm.

Data Types: struct

Static alignment settings

Toe, StatToe — Wheel toe angle

[0 0 0 0] (default) | 1-by-4 vector

Static toe angle for each wheel, specified as a 1-by-4 vector, in deg.

Wheel	Array Element	Axle	Track
Front left	(1,1)	1	1
Front right	(1,2)	1	2
Rear left	(1,3)	2	1
Rear left	(1,4)	2	2

Data Types: double

Camber, StatCamber — Wheel camber angle

[0 0 0 0] (default) | 1-by-4 vector

Static camber angle for each wheel, specified as a 1-by-4 vector, in deg.

Wheel	Array Element	Axle	Track
Front left	(1,1)	1	1
Front right	(1,2)	1	2
Rear left	(1,3)	2	1
Rear left	(1,4)	2	2

Data Types: double

Caster, StatCaster — Wheel caster angle

[0 0 0 0] (default) | 1-by-4 vector

Static caster angle for each wheel, specified as a 1-by-4 vector, in deg.

Wheel	Array Element	Axle	Track
Front left	(1,1)	1	1
Front right	(1,2)	1	2
Rear left	(1,3)	2	1
Rear left	(1,4)	2	2

Data Types: double

Wheels

Static loaded radius of wheels, StatLdWhlR — Wheel radius

[0.3 0.3 0.3 0.3] (default) | 1-by-4 vector

Static loaded radius of wheels, specified as a 1-by-4 vector, in m.

Wheel	Array Element	Axle	Track
Front left	(1,1)	1	1
Front right	(1,2)	1	2
Rear left	(1,3)	2	1
Rear left	(1,4)	2	2

Data Types: double

Model Examples

Double Lane Change Reference Application

Simulate a full vehicle dynamics model undergoing a double lane change maneuver standard ISO 3888-2. Use for vehicle dynamics ride and handling analysis and chassis controls development, including yaw stability and lateral acceleration limits.

Open Example

References

[1] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive Engineers, 1992.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2022a