Motorcycle Body Longitudinal In-Plane

Longitudinal in-plane motorcycle vehicle motion

Since R2021b

Libraries:
Powertrain Blockset / Vehicle Dynamics
Vehicle Dynamics Blockset / Vehicle Body

Description

The Motorcycle Body Longitudinal In-Plane block implements a longitudinal in-plane motorcycle body model to calculate longitudinal, vertical, and pitch motion. The block accounts for:

Mass of the frame, rear arm, front upper fork, front lower fork, front wheel, and rear wheel
In-plane dynamic effects of the frame, front lower fork, front wheel, rear wheel, rear suspension, front suspension, rear wheel damper, rear arm, and chain
External forces, external moments, and aerodynamic drag
Road incline
Weight distribution between the axles due to acceleration

Consider using this block to represent motorcycle motion in powertrain and fuel economy studies, for example, in studies with heavy breaking or acceleration or road profiles that contain larger vertical changes.

The block uses rigid-body vehicle motion, suspension system forces, and wind and drag forces to calculate the forces on the motorcycle frames. The block then determines the position and velocity of motorcycle at the front and rear contact patches.

Layout

To determine the rigid-body motorcycle motion, the block uses right-handed (RH) Cartesian reference frames systems attached to the motorcycle. i, j, and k are orthogonal unit vectors attached to the frames.

Motorcycle body diagram

Frame	Variable in Figure	Description
Road	x, z	Road-fixed coordinate system. x is along road grade, and z points downward.
Motorcycle main frame i_Frm – Forward along vector given by θ_frm k_Frm – Downward j_Frm – Orthogonal to motorcycle plane	O_Frm	Main frame origin
	G_Frm	Center of mass (CM) of the main frame with respect to O_Frm, along i_Frm and k_Frm, respectively
	G_Rdr	CM of the rider with respect to O_Frm, along i_Frm and k_Frm, respectively
	ϴ_frm	Main frame rotation about j_Frm
Upper fork i_FrkUp – Forward along vector given by θ_frm k_FrkUp – Downward j_FrkUp – Orthogonal to motorcycle plane	O_FrkUp	Upper fork origin
	G_FrkUp	CM of the upper fork with respect to O_FrkUp, along i_FrkUp and k_FrkUp, respectively
Lower fork i_FrkLw – Forward along vector given by θ_frm k_FrkLw – Downward j_FrkLw – Orthogonal to motorcycle plane	O_FrkLw	Lower fork origin
	G_FrkLw	CM of the lower fork with respect to O_FrkLw, along i_FrkLw and k_FrkLw, respectively
Rear arm i_ArmRr – Forward along vector given by θ_ra k_ArmRr – Downward j_ArmRr – Orthogonal to motorcycle plane	O_ArmRr	Rear arm origin
	G_ArmRr	CM of the rear arm with respect to O_ArmRr, along i_ArmRr and k_ArmRr, respectively
	ϴ_ra	Rear arm rotation about j_ArmRr
Front wheel contact patch i_CpF – Forward along vector given by road-fixed x- axis k_CpF – Downward along vector given by road-fixed z- axis j_CpF – Orthogonal to motorcycle plane	O_CpF	Front wheel contact patch origin
Rear wheel contact patch i_CpR – Forward along vector given by road-fixed x- axis k_CpR – Downward along vector given by road-fixed z- axis j_CpR – Orthogonal to motorcycle plane	O_CpR	Rear wheel contact patch origin

Use the parameters in this table to specify the geometric layout of your motorcycle.

Parameter			Variable in Figure
Initial conditions	Position	Rear contact patch longitudinal coordinate, CpRrX0	O_CpR with respect to road-fixed coordinate system, along `x`
		Rear contact patch vertical coordinate, CpRrZ0	O_CpR with respect to road-fixed coordinate system, along `z`
		Pitch angle of rear arm, ArmRrAng0	θ_ra
		Pitch angle of main frame, FrmAng0	θ_Frm
		Fork length, FrkFrL0	d_f
Frame		Center of mass location, FrmCmPxz	G_Frm with respect to O_Frm, along i_Frm and k_Frm, respectively
Frame		Length, FrmLen	FrmLen
Rider		Center of mass location, RdrCmPxz	G_Rdr with respect to O_Frm, along i_Frm and k_Frm, respectively
Front Fork	Upper	Position, FrkUpCmPxz	G_FrkUp with respect to O_FrkUp, along i_FrkUp and k_FrkUp, respectively
	Upper	Offset, FrkOfs	FrkOfs
	Lower	Position, FrkLwCmPxz	G_FrkLw with respect to O_FrkLw, along i_FrkLw and k_FrkLw, respectively
Rear Arm		Position, ArmRrCmPxz	G_ArmRr with respect to O_ArmRr, along i_ArmRr and k_ArmRr, respectively
Rear Arm		Length, ArmRrLen	ArmRrLen
Wheels	Front	Radius, WhlFrR	WhlFrR
Wheels	Rear	Radius, WhlRrR	WhlRrR
Suspension	Front	Equilibrium length, FrkLwL0	d_f
Suspension	Rear	Equilibrium angle, ShkRrAng0	θ_Frm

Input Signals

You can use these block parameters to create additional input ports. This table summarizes the settings.

Input Signals Pane Parameter	Input Port	Description
External forces	`FExt`	External longitudinal and vertical forces applied at equivalent rider and motorcycle center of mass (CM).
External moments	`MExt`	External moment about equivalent rider and motorcycle CM, for example, moment due to rider physical motion.
External front wheel moment	`MWhlF`	External moment at the front wheel G_WhlFr, for example, wheel motors and external intermittent friction-related disturbances.
External rear wheel moment	`MWhlR`	External moment at the rear wheel G_WhlRr, for example, wheel motors and external intermittent friction-related disturbances.
Grade angle	`Grade`	Road grade angle.
Wind velocity	`WindXYZ`	Wind speed.
Ambient temperature	`Temp`	Ambient air temperature. Consider this option if you want to vary the temperature during run-time.

Suspension System

Use the Suspension type parameter to specify the type of suspension.

Setting	Description
`Simple`	Block models the suspension force and moment as a spring-damper system: Suspension force at the upper fork Suspension moment at the rear arm
`User-defined`	Input the suspension force and moment: `FSuspF` – Suspension force at the upper fork `MSuspR` – Suspension moment at the rear arm

Setting

Description

Simple

Block models the suspension force and moment as a spring-damper system:

Suspension force at the upper fork
Suspension moment at the rear arm

User-defined

Input the suspension force and moment:

FSuspF – Suspension force at the upper fork
MSuspR – Suspension moment at the rear arm

Wind and Drag Forces

The block subtracts the wind speeds from the vehicle velocity components to obtain a net relative airspeed. To calculate the drag force and moments acting on the motorcycle, the block uses the net relative airspeed.

Power Accounting

The block accounts for the power transferred, not transferred, and stored.

Bus Signal			Description
`PwrInfo`	`PwrTrnsfrd` — Power transferred between blocks Positive signals indicate flow into block Negative signals indicate flow out of block	`PwrFxExt`	Mechanical power from longitudinal external force
		`PwrFzExt`	Mechanical power from vertical external force
		`PwrMyExt`	Mechanical power from external pitch moment
	`PwrNotTrnsfrd` — Power crossing the block boundary, but not transferred Positive signals indicate an input Negative signals indicate a loss	`PwrFxDrag`	Mechanical power loss from longitudinal drag force
		`PwrFzDrag`	Mechanical power loss from vertical lift
		`PwrMyDrag`	Mechanical power loss from pitch moment drag
	`PwrStored` — Stored energy rate of change Positive signals indicate an increase Negative signals indicate a decrease	`PwrStoredGrvty`	Rate change in gravitational potential energy
		`PwrStoredxdot`	Rate of change of longitudinal kinetic energy
		`PwrStoredzdot`	Rate of change of vertical kinetic energy
		`PwrStoredq`	Rate of change of rotational pitch kinetic energy
		`PwrStoredFsFzSprng`	Stored spring energy from front suspension
		`PwrStoredFsRzSprng`	Stored spring energy from rear suspension

Ports

Input

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FCpF — Longitudinal and vertical forces at front wheel contact patch
`vector`

Longitudinal and vertical forces at front wheel contact patch O_CpF, along i_CpF and k_CpF, in N. Signal vector dimensions are [1x2] or [2x1].

FCpR — Longitudinal and vertical forces at rear wheel contact patch
`vector`

Longitudinal and vertical forces at rear wheel contact patch O_CpR, along i_CpR and k_CpR, in N. Signal vector dimensions are [1x2] or [2x1].

MDrvArmR — Drive chain moment at rear arm
`scalar`

Drive chain moment at rear arm O_ArmRr, about j_ArmRr, in N·m.

MDrvFrm — Drive chain moment at frame
`scalar`

Drive chain moment at the frame O_Frm, about j_Frm, in N·m.

FExt — External longitudinal and vertical forces at frame
`vector`

External longitudinal and vertical forces applied at equivalent rider and motorcycle center of mass (CM), along i_Frm and k_Frm, in N. Signal vector dimensions are [1x2] or [2x1].

Dependencies

To create this port, select External forces.

MExt — External moment about frame
`scalar`

External moment about equivalent rider and motorcycle CM, j_Frm, for example, moment due to rider physical motion, in N·m.

Dependencies

To create this port, select External moments.

MBrkF — Brake moment at front wheel
`scalar`

Brake moment at the front wheel G_WhlFr, about j_WhlFr, in N·m.

MBrkR — Brake moment at rear wheel
`scalar`

Brake moment at the rear wheel G_WhlRr, about j_WhlRr, in N·m.

MWhlF — External moment at front wheel
`scalar`

External moment at the front wheel G_WhlFr, in N·m.

Dependencies

To create this port, select External front wheel moment.

MWhlR — External moment at rear wheel
`scalar`

External moment at the rear wheel G_WhlRr, in N·m.

Dependencies

To create this port, select External rear wheel moment.

FSuspF — External suspension force at upper fork
`scalar`

External suspension force at upper fork O_FrkUp, along k_FrkUp, in N.

Dependencies

To create this port, set Suspension type to User-defined.

MSuspR — External suspension moment at rear arm
`scalar`

External suspension force at upper fork O_ArmRr, about j_ArmRr, in N·m.

Dependencies

To create this port, set Suspension type to User-defined.

Grade — Road grade angle
`scalar`

Road grade angle, $γ$ , in deg.

Dependencies

To create this port, select Grade angle.

WindXYZ — Wind speed
`array`

Wind speed, W_X, W_Y, W_Z along earth-fixed X-, Y-, and Z-axes, in m/s. Signal vector dimensions are [1x3] or [3x1].

Dependencies

To create this port, select Wind velocity.

Temp — Ambient air temperature
`scalar`

Ambient air temperature, T_air, in K. Considering this option if you want to vary the temperature during run-time.

Dependencies

To create this port, select Ambient temperature.

Output

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Info — Bus signal
bus

Bus signal containing these block calculations.

Signal						Signal	Units
`Geom`				`PosOrgInert`		Main frame position along the earth-fixed axes	m
				`PosFwBdy`		Front wheel center position relative to initial vehicle-fixed wheel position, along the vehicle Z-down X-, Y-, and Z-axes	m
				`PosRwBdy`		Rear wheel center position relative to initial vehicle-fixed wheel position, along the vehicle Z-down X-, Y-, and Z-axes	m
				`AngOrgInert`		Main frame rotation about the earth-fixed axes	rad
`Frame`	`Inert`	`Cg`	`Disp`	`X`		Vehicle CM displacement along the earth-fixed X-axis	m
				`Y`		Vehicle CM displacement along the earth-fixed Y-axis	m
				`Z`		Vehicle CM displacement along the earth-fixed Z-axis	m
			`Vel`	`Xdot`		Vehicle CM velocity along the earth-fixed X-axis	m/s
				`Ydot`		Vehicle CM velocity along the earth-fixed Y-axis	m/s
				`Zdot`		Vehicle CM velocity along the earth-fixed Z-axis	m/s
			`Ang`	`phi`		Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll)	rad
				`theta`		Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch)	rad
				`psi`		Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw)	rad
	`BdyFrm`	`Cg`	`Disp`	`x`		Vehicle CM position along the road-fixed x-axis	m
				`y`		Vehicle CM position along the road-fixed y-axis	m
				`z`		Vehicle CM position along the road-fixed z-axis	m
			`Vel`	`xdot`		Vehicle CM velocity along the road-fixed x-axis	m/s
				`ydot`		Vehicle CM velocity along the road-fixed y-axis	m/s
				`zdot`		Vehicle CM velocity along the road-fixed z-axis	m/s
			`AngVel`	`p`		Vehicle angular velocity about the road-fixed x-axis (roll rate)	rad/s
				`q`		Vehicle angular velocity about the road-fixed y-axis (pitch rate)	rad/s
				`r`		Vehicle angular velocity about the road-fixed z-axis (yaw rate)	rad/s
			`Acc`	`ax`		Vehicle CM acceleration along the road-fixed x-axis	m/s²
				`ay`		Vehicle CM acceleration along the road-fixed y-axis	m/s²
				`az`		Vehicle CM acceleration along the road-fixed z-axis	m/s²
				`xddot`		Vehicle CM acceleration along the road-fixed x-axis	m/s²
				`yddot`		Vehicle CM acceleration along the road-fixed y-axis	m/s²
				`zddot`		Vehicle CM acceleration along the road-fixed z-axis	m/s²
			`AngAcc`	`pdot`		Vehicle angular acceleration about the road-fixed x-axis	rad/s²
				`qdot`		Vehicle angular acceleration about the road-fixed y-axis	rad/s²
				`rdot`		Vehicle angular acceleration about the road-fixed z-axis	rad/s²
		`Forces`	`Ext`	`Fx`		External force on vehicle CM along the road-fixed x-axis	N
				`Fy`		External force on vehicle CM along the road-fixed x-axis	N
				`Fz`		External force on vehicle CM along the road-fixed x-axis	N
			`Drag`	`Fx`		Drag force on vehicle CM along the road-fixed x-axis	N
				`Fy`		Drag force on vehicle CM along the road-fixed y-axis	N
				`Fz`		Drag force on vehicle CM along the road-fixed z-axis	N
			`Grvty`	`Fx`		Gravity force on vehicle CM along the road-fixed x-axis	N
				`Fy`		Gravity force on vehicle CM along the road-fixed y-axis	N
				`Fz`		Gravity force on vehicle CM along the road-fixed z-axis	N
		`Moments`	`Drag`	`Mx`		Drag moment on vehicle CM about the road-fixed x-axis	N·m
				`My`		Drag moment on vehicle CM about the road-fixed z-axis	N·m
				`Mz`		Drag moment on vehicle CM about the road-fixed z-axis	N·m
			`Ext`	`Mx`		External moment on vehicle CG about the road-fixed x-axis	N·m
				`My`		External moment on vehicle CG about the road-fixed y-axis	N·m
				`Mz`		External moment on vehicle CG about the road-fixed z-axis	N·m
		`Pwr`	`PwrExt`			Applied external power	W
		`Pwr`	`Drag`			Power loss due to drag	W
	`PwrInfo`	`Pwr` `Trnsfrd`	`PwrFxExt`			Mechanical power from longitudinal external force	W
			`PwrFzExt`			Mechanical power from vertical external force	W
			`PwrMyExt`			Mechanical power from external pitch moment	W
		`PwrNot` `Trnsfrd`	`PwrFxDrag`			Mechanical power loss from longitudinal drag force	W
			`PwrFzDrag`			Mechanical power loss from vertical lift force	W
			`PwrMyDrag`			Mechanical power loss from pitch moment drag	W
		`PwrStored`	`PwrStoredGrvty`			Rate change in gravitational potential energy	W
			`PwrStoredxdot`			Rate of change of longitudinal kinetic energy	W
			`PwrStoredzdot`			Rate of change of vertical kinetic energy	W
			`PwrStoredq`			Rate of change of rotational pitch kinetic energy	W
	`Genrl`	`Vel`	`xdot`			Vehicle CM velocity along the road-fixed x-axis	m/s
		`Vel`	`zdot`			Vehicle CM velocity along the road-fixed z-axis	m/s
		`Ang`	`thetafrm`			Pitch angle of main frame	rad
		`AngVel`	`thetafrmdot`			Main frame rotational velocity	rad/s
		`AngAcc`	`thetafrmddot`			Main frame rotational acceleration	rad/s²
`Whl`	`Genrl`	`Frnt`	`Cp`	`Disp`	`x`	Front wheel contact patch position along the road-fixed x-axis	m
				`Disp`	`z`	Front wheel contact patch position along the road-fixed z-axis	m
				`Vel`	`xdot`	Front wheel contact patch velocity along the road-fixed x-axis	m/s
				`Vel`	`zdot`	Front wheel contact patch velocity along the road-fixed z-axis	m/s
				`Acc`	`xddot`	Front wheel contact patch acceleration along the road-fixed x-axis	m/s²
				`Acc`	`zddot`	Front wheel contact patch acceleration along the road-fixed z-axis	m/s²
			`Axl`	`Vel`	`xdot`	Front wheel axle velocity along the road-fixed x-axis	m/s
			`Axl`	`Vel`	`zdot`	Front wheel axle velocity along the road-fixed z-axis	m/s
		`Rear`	`Cp`	`Disp`	`x`	Rear wheel contact patch position along the road-fixed x-axis	m
				`Disp`	`z`	Rear wheel contact patch position along the road-fixed z-axis	m
				`Vel`	`xdot`	Rear wheel contact patch velocity along the road-fixed x-axis	m/s
				`Vel`	`zdot`	Rear wheel contact patch velocity along the road-fixed z-axis	m/s
				`Acc`	`xddot`	Rear wheel contact patch acceleration along the road-fixed x-axis	m/s²
				`Acc`	`zddot`	Rear wheel contact patch acceleration along the road-fixed z-axis	m/s²
			`Axl`	`Vel`	`xdot`	Rear wheel axle velocity along the road-fixed x-axis	m/s
			`Axl`	`Vel`	`zdot`	Rear wheel axle velocity along the road-fixed z-axis	m/s
`RearArm`	`Genrl`	`Vel`	`xdot`			Rear arm velocity along the road-fixed x-axis	m/s
		`Vel`	`zdot`			Rear arm velocity along the road-fixed z-axis	m/s
		`Ang`	`thetara`			Pitch angle of rear arm	rad
		`AngVel`	`thetaradot`			Rear arm rotational velocity	rad/s
		`AngAcc`	`thetaraddot`			Rear arm rotational acceleration	rad/s²
`Fork`	`Genrl`	`Upr`	`Vel`	`xdot`		Upper fork velocity along the road-fixed x-axis	m/s
		`Upr`	`Vel`	`zdot`		Upper fork velocity along the road-fixed z-axis	m/s
		`Lwr`	`Disp`	`df`		Fork length	m
			`Vel`	`xdot`		Lower fork velocity along the road-fixed x-axis	m/s
				`zdot`		Lower fork velocity along the road-fixed z-axis	m/s
				`dfdot`		Fork length velocity	m/s
			`Acc`	`dfddot`		Fork length acceleration	m/s²
`Susp`	`Genrl`	`Rear`	`Moments`	`Mthetafrm`		Rear suspension moment at frame	N·m
`Susp`	`Genrl`	`Frnt`	`Forces`	`Fdf`		Suspensive force at upper fork	N

VCpF — Longitudinal, lateral, and vertical velocity at front wheel contact patch
`vector`

Longitudinal, lateral, and vertical velocity at front wheel contact patch O_CpF, along i_CpF and k_CpF, in m/s. Signal vector dimensions are [1x3] or [3x1]. The lateral component is set to 0.

PCpF — Longitudinal, lateral, and vertical position at front wheel contact patch
`vector`

Longitudinal, lateral, and vertical position at front wheel contact patch O_CpF, along i_CpF and k_CpF, in m. Signal vector dimensions are [1x3] or [3x1]. The lateral component is set to 0.

VCpR — Longitudinal, lateral, and vertical velocity at rear wheel contact patch
`vector`

Longitudinal, lateral, and vertical velocity at rear wheel contact patch O_CpR, along i_CpR and k_CpR, in m/s. Signal vector dimensions are [1x3] or [3x1]. The lateral component is set to 0.

PCpR — Longitudinal, lateral, and vertical position at rear wheel contact patch
`vector`

Longitudinal, lateral, and vertical position at rear wheel contact patch O_CpR, along i_CpR, and k_CpR, in m. Signal vector dimensions are [1x3] or [3x1]. The lateral component is set to 0.

ThetaFrm — Main frame pitch angle
`scalar`

Main frame pitch angle, ϴ_frm, in rad.

ThetaArmR — Rear arm pitch angle
`scalar`

Rear arm pitch angle, ϴ_ra, in rad.

Parameters

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Options

Suspension type — Type of suspension
`Simple` (default) | `User-defined`

Use the Suspension type parameter to specify the type of suspension.

Setting	Description
`Simple`	Block models the suspension force and moment as a spring-damper system: Suspension force at the upper fork Suspension moment at the rear arm
`User-defined`	Input the suspension force and moment: `FSuspF` – Suspension force at the upper fork `MSuspR` – Suspension moment at the rear arm

Setting

Description

Simple

Block models the suspension force and moment as a spring-damper system:

Suspension force at the upper fork
Suspension moment at the rear arm

User-defined

Input the suspension force and moment:

FSuspF – Suspension force at the upper fork
MSuspR – Suspension moment at the rear arm

Input signals

External forces — `FExt` input port
`off` (default) | `on`

Specify to create input port FExt.

External moments — `MExt` input port
`off` (default) | `on`

Specify to create input port MExt.

External front wheel moment — `MWhlF` input port
`off` (default) | `on`

Specify to create input port MWhlF. Consider using this port to input external moments such as wheel motors and external intermittent friction-related disturbances.

External rear wheel moment — `MWhlR` input port
`off` (default) | `on`

Specify to create input port MWhlR. Consider using this port to input external moments such as wheel motors and external intermittent friction-related disturbances.

Grade angle — `Grade` input port
`on` (default) | `off`

Specify to create input port Grade.

Wind velocity — `WindXYZ` input port
`on` (default) | `off`

Specify to create input port WindXYZ.

Ambient temperature — `Temp` input port
`off` (default) | `on`

Specify to create input port Temp.

Layout

Motorcycle body diagram

Use the parameters in this table to specify the geometric layout of your motorcycle.

Parameter			Variable in Figure
Initial conditions	Position	Rear contact patch longitudinal coordinate, CpRrX0	O_CpR with respect to road-fixed coordinate system, along `x`
		Rear contact patch vertical coordinate, CpRrZ0	O_CpR with respect to road-fixed coordinate system, along `z`
		Pitch angle of rear arm, ArmRrAng0	θ_ra
		Pitch angle of main frame, FrmAng0	θ_Frm
		Fork length, FrkFrL0	d_f
Frame		Center of mass location, FrmCmPxz	G_Frm with respect to O_Frm, along i_Frm and k_Frm, respectively
Frame		Length, FrmLen	FrmLen
Rider		Center of mass location, RdrCmPxz	G_Rdr with respect to O_Frm, along i_Frm and k_Frm, respectively
Front Fork	Upper	Position, FrkUpCmPxz	G_FrkUp with respect to O_FrkUp, along i_FrkUp and k_FrkUp, respectively
	Upper	Offset, FrkOfs	FrkOfs
	Lower	Position, FrkLwCmPxz	G_FrkLw with respect to O_FrkLw, along i_FrkLw and k_FrkLw, respectively
Rear Arm		Position, ArmRrCmPxz	G_ArmRr with respect to O_ArmRr, along i_ArmRr and k_ArmRr, respectively
Rear Arm		Length, ArmRrLen	ArmRrLen
Wheels	Front	Radius, WhlFrR	WhlFrR
Wheels	Rear	Radius, WhlRrR	WhlRrR
Suspension	Front	Equilibrium length, FrkLwL0	d_f
Suspension	Rear	Equilibrium angle, ShkRrAng0	θ_Frm

Frame

Center of mass location, FrmCmPxz — Frame location
`[0.255, -0.02]` (default) | `vector`

Center of mass location of the frame, G_Frm. Specified as a vector with respect to O_Frm, along i_Frm and k_Frm, respectively.

Mass, FrmMass — Frame mass
`223` (default) | `scalar`

Frame mass, FrmMass, in kg.

Mass moment of inertia, FrmIyy — Frame inertia
`26.2` (default) | `scalar`

Mass moment of inertia, FrmIyy, in kg·m².

Length, FrmLen — Frame length
`0.730` (default) | `scalar`

Length of the frame, FrmLen, in m.

Rider

Center of mass location, RdrCmPxz — Rider location
`[0.275, -0.61]` (default) | `vector`

Center of mass location of the rider, G_Rdr. Specified as a vector with respect to O_Frm, along i_Frm and k_Frm, respectively.

Mass, RdrMass — Rider mass
`78` (default) | `scalar`

Rider mass, RdrMass, in kg.

Mass moment of inertia, RdrIyy — Rider inertia
`26.2` (default) | `scalar`

Rider mass moment of inertia, RdrIyy, in kg·m².

Front Fork – Upper

Position, FrkUpCmPxz — Upper fork location
`[0.023, -0.098]` (default) | `vector`

Center of mass location of the upper fork, G_FrkUp. Specified as a vector with respect to O_FrkUp, along i_FrkUp and k_FrkUp, respectively.

Mass, FrkUpMass — Upper fork mass
`8.8` (default) | `scalar`

Upper fork mass, FrkUpMass, in kg.

Mass moment of inertia, FrkUpIyy — Upper fork inertia
`0.14` (default) | `scalar`

Upper fork mass moment of inertia, FrkUpIyy, in kg·m².

Offset, FrkOfs — Upper fork offset
`0.034` (default) | `scalar`

Upper fork offset, FrkOfs, in m.

Front Fork – Lower

Position, FrkLwCmPxz — Lower fork location
`[-0.029, -0.189]` (default) | `vector`

Center of mass location of the lower fork, G_FrkLw. Specified as a vector with respect to O_FrkLw, along i_FrkLw and k_FrkLw, respectively.

Mass, FrkLwMass — Lower fork mass
`7.0` (default) | `scalar`

Lower fork mass, FrkLwMass, in kg.

Mass moment of inertia, FrkLwIyy — Lower fork inertia
`0.18` (default) | `scalar`

Lower fork mass moment of inertia, FrkLwIyy, in kg·m².

Rear Arm

Position, ArmRrCmPxz — Rear arm location
`[0.275, -0.052]` (default) | `vector`

Center of mass location of the rear arm, G_ArmRr. Specified as a vector with respect to O_ArmRr, along i_ArmRr and k_ArmRr, respectively.

Mass, ArmRrMass — Rear arm mass
`10` (default) | `scalar`

Rear arm mass, ArmRrMass, in kg.

Mass moment of inertia, ArmRrIyy — Rear arm inertia
`0.8` (default) | `scalar`

Rear arm mass moment of inertia, ArmRrIyy, in kg·m².

Length, ArmRrLen — Rear arm length
`0.535` (default) | `scalar`

Rear arm length, ArmRrLen, in m.

Wheels – Front

Mass, WhlFrMass — Front wheel mass
`12` (default) | `scalar`

Front wheel mass, WhlFrMass, in kg.

Radius, WhlFrR — Front wheel radius
`0.3` (default) | `scalar`

Front wheel radius, WhlFrR, in m.

Wheels – Rear

Mass, WhlRrMass — Rear wheel mass
`16.2` (default) | `scalar`

Rear wheel mass, WhlRrMass, in kg.

Radius, WhlRrR — Rear wheel radius
`0.33` (default) | `scalar`

Rear wheel radius, WhlRrR, in m.

Suspension – Front

Stiffness, SuspFrK — Front suspension stiffness
`25e3` (default) | `scalar`

Front suspension stiffness at O_FrkUp, along k_FrkUp, in N/m.

Damping, SuspFrC — Front suspension damping
`1250` (default) | `scalar`

Front suspension damping, at O_FrkUp, along k_FrkUp, in N·s/m.

Equilibrium length, FrkLwL0 — Front suspension equilibrium length
`0.473` (default) | `scalar`

Front suspension equilibrium length, d_f, in m.

Suspension – Rear

Stiffness, SuspRrK — Rear arm suspension stiffness
`1500` (default) | `scalar`

Rear arm suspension stiffness at O_ArmRr, about j_ArmRr, in N/rad.

Damping, SuspRrC — Rear arm suspension damping
`150` (default) | `scalar`

Rear arm suspension damping at O_ArmRr, about j_ArmRr, in N·s/rad.

Equilibrium angle, ShkRrAng0 — Rear suspension equilibrium angle
`0` (default) | `scalar`

Rear suspension equilibrium angle, θ_Frm, in rad.

Aerodynamic

Longitudinal drag area, Af — Area
`2` (default) | `scalar`

Effective vehicle cross-sectional area, A_f to calculate the aerodynamic drag force on the vehicle, in m².

Longitudinal drag coefficient, Cd — Drag
`.2` (default) | `scalar`

Air drag coefficient, C_d, dimensionless.

Longitudinal lift coefficient, Cl — Lift
`.1` (default) | `scalar`

Air lift coefficient, C_l, dimensionless.

Longitudinal drag pitch moment, Cpm — Pitch drag
`.1` (default) | `scalar`

Longitudinal drag pitch moment coefficient, C_pm, dimensionless.

Pitch moment length, Lcpm — Pitch drag
`2` (default) | `scalar`

Pitch moment length, Lcpm, in m.

Environment

Gravitational acceleration, g — Gravity
`9.80665` (default) | `scalar`

Gravitational acceleration, g, in m/s².

Absolute air pressure, Pabs — Pressure
`101325` (default) | `scalar`

Environmental air absolute pressure, P_abs, in Pa.

Air temperature, Tair — Ambient air temperature
`273` (default) | `scalar`

Ambient air temperature, T_air, in K.

Dependencies

To enable this parameter, clear Ambient temperature.

Initial conditions

Position

Rear contact patch longitudinal coordinate, CpRrX0 — Longitudinal coordinate
`0` (default) | `scalar`

Rear contact patch longitudinal coordinate, O_CpR, with respect to road-fixed coordinate system, along x, in m.

Rear contact patch vertical coordinate, CpRrZ0 — Vertical coordinate
`0` (default) | `scalar`

Rear contact patch vertical coordinate, O_CpR, with respect to road-fixed coordinate system, along z, in m.

Pitch angle of rear arm, ArmRrAng0 — Rear arm angle
`0.0590379` (default) | `scalar`

Pitch angle of rear arm, θ_ra, in rad.

Pitch angle of main frame, FrmAng0 — Angle length
`0.377024` (default) | `scalar`

Pitch angle of main frame, θ_Frm, in rad.

Fork length, FrkFrL0 — Fork length
`0.4262193` (default) | `scalar`

Fork length, d_f, in m.

Velocity

Longitudinal velocity of rear contact patch — Longitudinal velocity
`0` (default) | `scalar`

Rear contact patch longitudinal coordinate, ${\dot{O}}_{C p R}$ , with respect to road-fixed coordinate system, along x, in m/s.

Vertical velocity of rear contact patch, CpRrVz0 — Vertical velocity
`0` (default) | `scalar`

Vertical velocity of rear contact patch, ${\dot{O}}_{C p R}$ , with respect to road-fixed coordinate system, along z, in m/s.

Pitch rate of rear arm, ArmRrAngV0 — Pitch rate
`0` (default) | `scalar`

Pitch rate of rear arm, ${\dot{θ}}_{r a}$ , in rad/s.

Pitch rate of main frame, FrmAngV0 — Pitch rate
`0` (default) | `scalar`

Pitch rate of main frame, ${\dot{θ}}_{F r m}$ , in rad/s.

Lower fork deformation velocity, FrkLwV0 — Deformation velocity
`0` (default) | `scalar`

Lower fork deformation velocity, ${\dot{d}}_{f}$ , in m/s.

Coordinate Offsets

Longitudinal offset, longOff — Longitudinal offset
`0` (default) | `scalar`

Vehicle main frame offset along the earth-fixed X-axis, in m.

Lateral offset, latOff — Lateral offset
`0` (default) | `scalar`

Vehicle main frame offset along the earth-fixed Y-axis, in m.

Vertical offset, vertOff — Vertical offset
`0` (default) | `scalar`

Vehicle main frame offset along the earth-fixed Z-axis, in m.

Roll offset, pitchOff — Roll offset
`0` (default) | `scalar`

Vehicle main frame offset about the earth-fixed X-axis, in rad.

Pitch offset, pitchOff — Pitch offset
`0` (default) | `scalar`

Vehicle main frame offset about the earth-fixed Y-axis, in rad.

Yaw offset, pitchOff — Yaw offset
`0` (default) | `scalar`

Vehicle main frame offset about the earth-fixed Z-axis, in rad.

References

[1] Giner, David Moreno. “Symbolic-Numeric Tools for the Analysis of Motorcycle Dynamics. Development of a Virtual Rider for Motorcycles Based on Model Predictive Control.” PhD diss., Universidad Miguel Hernández de Elche, 2016.

Extended Capabilities

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

Version History

Introduced in R2021b

Motorcycle Body Longitudinal In-Plane

Description

Layout

Input Signals

Suspension System

Wind and Drag Forces

Power Accounting

Ports

Input

FCpF — Longitudinal and vertical forces at front wheel contact patch vector

FCpR — Longitudinal and vertical forces at rear wheel contact patch vector

MDrvArmR — Drive chain moment at rear arm scalar

MDrvFrm — Drive chain moment at frame scalar

FExt — External longitudinal and vertical forces at frame vector

Dependencies

MExt — External moment about frame scalar

Dependencies

MBrkF — Brake moment at front wheel scalar

MBrkR — Brake moment at rear wheel scalar

MWhlF — External moment at front wheel scalar

Dependencies

MWhlR — External moment at rear wheel scalar

Dependencies

FSuspF — External suspension force at upper fork scalar

Dependencies

MSuspR — External suspension moment at rear arm scalar

Dependencies

Grade — Road grade angle scalar

Dependencies

WindXYZ — Wind speed array

Dependencies

Temp — Ambient air temperature scalar

Dependencies

Output

Info — Bus signal bus

VCpF — Longitudinal, lateral, and vertical velocity at front wheel contact patch vector

PCpF — Longitudinal, lateral, and vertical position at front wheel contact patch vector

VCpR — Longitudinal, lateral, and vertical velocity at rear wheel contact patch vector

PCpR — Longitudinal, lateral, and vertical position at rear wheel contact patch vector

ThetaFrm — Main frame pitch angle scalar

ThetaArmR — Rear arm pitch angle scalar

Parameters

Options

Suspension type — Type of suspension Simple (default) | User-defined

External forces — FExt input port off (default) | on

External moments — MExt input port off (default) | on

External front wheel moment — MWhlF input port off (default) | on

External rear wheel moment — MWhlR input port off (default) | on

Grade angle — Grade input port on (default) | off

Wind velocity — WindXYZ input port on (default) | off

Ambient temperature — Temp input port off (default) | on

Layout

Center of mass location, FrmCmPxz — Frame location [0.255, -0.02] (default) | vector

Mass, FrmMass — Frame mass 223 (default) | scalar

Mass moment of inertia, FrmIyy — Frame inertia 26.2 (default) | scalar

Length, FrmLen — Frame length 0.730 (default) | scalar

Center of mass location, RdrCmPxz — Rider location [0.275, -0.61] (default) | vector

Mass, RdrMass — Rider mass 78 (default) | scalar

Mass moment of inertia, RdrIyy — Rider inertia 26.2 (default) | scalar

Position, FrkUpCmPxz — Upper fork location [0.023, -0.098] (default) | vector

Mass, FrkUpMass — Upper fork mass 8.8 (default) | scalar

Mass moment of inertia, FrkUpIyy — Upper fork inertia 0.14 (default) | scalar

Offset, FrkOfs — Upper fork offset 0.034 (default) | scalar

Position, FrkLwCmPxz — Lower fork location [-0.029, -0.189] (default) | vector

Mass, FrkLwMass — Lower fork mass 7.0 (default) | scalar

Mass moment of inertia, FrkLwIyy — Lower fork inertia 0.18 (default) | scalar

Position, ArmRrCmPxz — Rear arm location [0.275, -0.052] (default) | vector

Mass, ArmRrMass — Rear arm mass 10 (default) | scalar

Mass moment of inertia, ArmRrIyy — Rear arm inertia 0.8 (default) | scalar

Length, ArmRrLen — Rear arm length 0.535 (default) | scalar

Mass, WhlFrMass — Front wheel mass 12 (default) | scalar

Radius, WhlFrR — Front wheel radius 0.3 (default) | scalar

Mass, WhlRrMass — Rear wheel mass 16.2 (default) | scalar

Radius, WhlRrR — Rear wheel radius 0.33 (default) | scalar

Stiffness, SuspFrK — Front suspension stiffness 25e3 (default) | scalar

Damping, SuspFrC — Front suspension damping 1250 (default) | scalar

Equilibrium length, FrkLwL0 — Front suspension equilibrium length 0.473 (default) | scalar

Stiffness, SuspRrK — Rear arm suspension stiffness 1500 (default) | scalar

Damping, SuspRrC — Rear arm suspension damping 150 (default) | scalar

Equilibrium angle, ShkRrAng0 — Rear suspension equilibrium angle 0 (default) | scalar

FCpF — Longitudinal and vertical forces at front wheel contact patch
`vector`

FCpR — Longitudinal and vertical forces at rear wheel contact patch
`vector`

MDrvArmR — Drive chain moment at rear arm
`scalar`

MDrvFrm — Drive chain moment at frame
`scalar`

FExt — External longitudinal and vertical forces at frame
`vector`

MExt — External moment about frame
`scalar`

MBrkF — Brake moment at front wheel
`scalar`

MBrkR — Brake moment at rear wheel
`scalar`

MWhlF — External moment at front wheel
`scalar`

MWhlR — External moment at rear wheel
`scalar`

FSuspF — External suspension force at upper fork
`scalar`

MSuspR — External suspension moment at rear arm
`scalar`

Grade — Road grade angle
`scalar`

WindXYZ — Wind speed
`array`

Temp — Ambient air temperature
`scalar`

Info — Bus signal
bus

VCpF — Longitudinal, lateral, and vertical velocity at front wheel contact patch
`vector`

PCpF — Longitudinal, lateral, and vertical position at front wheel contact patch
`vector`

VCpR — Longitudinal, lateral, and vertical velocity at rear wheel contact patch
`vector`

PCpR — Longitudinal, lateral, and vertical position at rear wheel contact patch
`vector`

ThetaFrm — Main frame pitch angle
`scalar`

ThetaArmR — Rear arm pitch angle
`scalar`

Suspension type — Type of suspension
`Simple` (default) | `User-defined`

External forces — `FExt` input port
`off` (default) | `on`

External moments — `MExt` input port
`off` (default) | `on`

External front wheel moment — `MWhlF` input port
`off` (default) | `on`

External rear wheel moment — `MWhlR` input port
`off` (default) | `on`

Grade angle — `Grade` input port
`on` (default) | `off`

Wind velocity — `WindXYZ` input port
`on` (default) | `off`

Ambient temperature — `Temp` input port
`off` (default) | `on`

Center of mass location, FrmCmPxz — Frame location
`[0.255, -0.02]` (default) | `vector`

Mass, FrmMass — Frame mass
`223` (default) | `scalar`

Mass moment of inertia, FrmIyy — Frame inertia
`26.2` (default) | `scalar`

Length, FrmLen — Frame length
`0.730` (default) | `scalar`

Center of mass location, RdrCmPxz — Rider location
`[0.275, -0.61]` (default) | `vector`

Mass, RdrMass — Rider mass
`78` (default) | `scalar`

Mass moment of inertia, RdrIyy — Rider inertia
`26.2` (default) | `scalar`

Position, FrkUpCmPxz — Upper fork location
`[0.023, -0.098]` (default) | `vector`

Mass, FrkUpMass — Upper fork mass
`8.8` (default) | `scalar`

Mass moment of inertia, FrkUpIyy — Upper fork inertia
`0.14` (default) | `scalar`

Offset, FrkOfs — Upper fork offset
`0.034` (default) | `scalar`

Position, FrkLwCmPxz — Lower fork location
`[-0.029, -0.189]` (default) | `vector`

Mass, FrkLwMass — Lower fork mass
`7.0` (default) | `scalar`

Mass moment of inertia, FrkLwIyy — Lower fork inertia
`0.18` (default) | `scalar`

Position, ArmRrCmPxz — Rear arm location
`[0.275, -0.052]` (default) | `vector`

Mass, ArmRrMass — Rear arm mass
`10` (default) | `scalar`

Mass moment of inertia, ArmRrIyy — Rear arm inertia
`0.8` (default) | `scalar`

Length, ArmRrLen — Rear arm length
`0.535` (default) | `scalar`

Mass, WhlFrMass — Front wheel mass
`12` (default) | `scalar`

Radius, WhlFrR — Front wheel radius
`0.3` (default) | `scalar`

Mass, WhlRrMass — Rear wheel mass
`16.2` (default) | `scalar`

Radius, WhlRrR — Rear wheel radius
`0.33` (default) | `scalar`

Stiffness, SuspFrK — Front suspension stiffness
`25e3` (default) | `scalar`

Damping, SuspFrC — Front suspension damping
`1250` (default) | `scalar`

Equilibrium length, FrkLwL0 — Front suspension equilibrium length
`0.473` (default) | `scalar`

Stiffness, SuspRrK — Rear arm suspension stiffness
`1500` (default) | `scalar`

Damping, SuspRrC — Rear arm suspension damping
`150` (default) | `scalar`

Equilibrium angle, ShkRrAng0 — Rear suspension equilibrium angle
`0` (default) | `scalar`

Longitudinal drag area, Af — Area
`2` (default) | `scalar`

Longitudinal drag coefficient, Cd — Drag
`.2` (default) | `scalar`

Longitudinal lift coefficient, Cl — Lift
`.1` (default) | `scalar`

Longitudinal drag pitch moment, Cpm — Pitch drag
`.1` (default) | `scalar`

Pitch moment length, Lcpm — Pitch drag
`2` (default) | `scalar`

Gravitational acceleration, g — Gravity
`9.80665` (default) | `scalar`

Absolute air pressure, Pabs — Pressure
`101325` (default) | `scalar`

Air temperature, Tair — Ambient air temperature
`273` (default) | `scalar`

Rear contact patch longitudinal coordinate, CpRrX0 — Longitudinal coordinate
`0` (default) | `scalar`

Rear contact patch vertical coordinate, CpRrZ0 — Vertical coordinate
`0` (default) | `scalar`

Pitch angle of rear arm, ArmRrAng0 — Rear arm angle
`0.0590379` (default) | `scalar`

Pitch angle of main frame, FrmAng0 — Angle length
`0.377024` (default) | `scalar`

Fork length, FrkFrL0 — Fork length
`0.4262193` (default) | `scalar`

Longitudinal velocity of rear contact patch — Longitudinal velocity
`0` (default) | `scalar`

Vertical velocity of rear contact patch, CpRrVz0 — Vertical velocity
`0` (default) | `scalar`

Pitch rate of rear arm, ArmRrAngV0 — Pitch rate
`0` (default) | `scalar`

Pitch rate of main frame, FrmAngV0 — Pitch rate
`0` (default) | `scalar`

Lower fork deformation velocity, FrkLwV0 — Deformation velocity
`0` (default) | `scalar`

Longitudinal offset, longOff — Longitudinal offset
`0` (default) | `scalar`

Lateral offset, latOff — Lateral offset
`0` (default) | `scalar`

Vertical offset, vertOff — Vertical offset
`0` (default) | `scalar`

Roll offset, pitchOff — Roll offset
`0` (default) | `scalar`