Full vehicle model help

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SilverSurfer
SilverSurfer 2016-5-3
回答： Steve Miller 2023-5-9
I'm trying to model a full vehicle with 8 dof:
  • surge
  • sway
  • yaw
  • roll
  • rotation of wheels
I'm using a SAE coordinate system:
  • x forward
  • y to the right of the driver
  • z down
I use Pacejka's formula for the calculation of longitudinal and lateral forces. These are the basics equations:
http://s5.postimg.org/z97j0ieg7/Equazioni1.png
http://s5.postimg.org/6an2dxxnr/Equazioni2.png
As regards notation
  • AS is front left
  • AD is front right
  • PS is rear left
  • PD is rear right
Can anyone help me to find out if I made modeling errors and to tune the model?
It seems to me the main problem is longitudinal slip. I do not understand which convention should I use. Inside Pacejka's book I found this:
I also found different formulas for driving condition where at denominator there is r*omega.
I find strange behaviours in the model, for example if I try to plot longitudinal rear force vs longitudinal slip. If I make a simulation without steering I get non zero values for roll angle, yaw rate, lateral velocity.
Now I'm using a step size of 0.001. Before I was using 0.01 and the graphics look like they came from experimental data.

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Steve Miller
Steve Miller 2023-5-9

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