Contact point between tire and ground

Question

Tom 2014-10-28

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回答： Steve Miller 2018-3-7

Hi, Currently I am working on a Mac Pherson front axle in Simmechanics 2nd Generation. The model itself behaves pretty well but I don't really know how to model the contact point between the tire and the ,,road". I've tried to put a 6DoF-Joint into the road and added a tranlational hard stop with lower bound at position 0. This actually does not work out well. Does anyone know a better way for solving this problem?

Thanks a lot

Tom

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Muhammad Huzaifa 2015-1-11

You can check out the rolling sphere example that comes with the 2nd Generation Sim Mechanics (just type mech_rolling_sphere in the commandline)

N/A 2015-1-12

编辑：N/A 2015-1-12

Small correction: mech_rolling_sphere is a first-generation example :D

A good second-generation example would be sm_double_wishbone_suspension. Just take a peek at the Test Bed subsystems. There are two, one for each wheel. These subsystems model contact using the Simscape Translational Hard Stop block.

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Answer 1

Steve Miller 2018-3-7

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I recommend looking at the File Exchange submission Simscape Multibody Contact Forces Library. It contains a library of blocks for use with Simscape Multibody that detect collision between various shapes, calculates the normal force and friction force on each part, and applies them to the colliding parts.

Below are a few animations that test models included in the submission. The Simscape Multibody Contact Forces Library contains the library for current and previous MATLAB releases.

Also look at the File Exchange Submission Vehicle Model with Delft-Tyre in Simscape Multibody that includes a full vehicle model that has 15 DOF, and it uses the free software Delft-Tyre to model the contact between the car and the road

Thanks,

--Steve

Two-wheeled robot:

Ball in spinning cone: