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# Untitled

By: a guest on May 25th, 2013  |  syntax: MatLab  |  size: 1.44 KB  |  views: 47  |  expires: Never
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1. function dv = dof3(t,v)
2. dv = zeros(4,1);
3. m   =3.085; % mass, tonnes
4. m_f =0.060; % mass of front wheel, tonnes
5. m_r =0.060; % mass of rear wheel, tonnes
6. I_xxb=1.190; % sprung mass roll inertia, tm^2
7. I_zzb=7.050; % sprung mass yaw inertia, tm^2
8. l=3.650; % a+b wheelbase, m
9. b=1.520; % b CoG distance from rear axle, m
10. a=l-b; % a
11. Cf=140; % Front cornering stiffness, kN/rad
12. Cr=190; % Rear cornering stiffness, kN/rad
13. U=16.66; % Forward speed,m/s
14. I_zzr=0.0012; % yaw inertia of rear wheel, tm^2
15. I_zzf=0.0012; % yaw inertia of front wheel, tm^2
16. mb = m-2*0.160 ; % sprung body mass,
17. h_cf= 0.760  ; % Height of roll centre, m
18. h_cr= 0.760  ; % Height of roll centre, m
19. h_a=  0.260   ; % height of reference roll axis, m
20. K_phi=10000  ; % Torsional stiffness coefficient, kNm/rad
21. C_phi=0.250  ; % Torsional damping coefficient,
22. h=0.5 ;
23. D_phi=0.5*C_phi*0.1*0.1 ;
24. I_xx = I_xxb + mb*(h)^2;
25. I_zz = I_zzb + I_zzf + I_zzr + m_f*a^2 + m_r*b^2;
26. df = h_cf-h_a;
27. dr = h_cr-h_a;
28. g=9.8;
29. ass=0.3*9.81; % Steady state acceleration, m/s^2
30. delf=(l^2*Cf*Cr+m*U^2*(b*Cr-a*Cf))*ass/(l*Cf*Cr*U^2); % Steer angle front, rad
31.
32. Mass = [m a*m_f-b*m_r mb*h 0; a*m_f-b*m_r I_zz 0 0;mb*h  0 I_xx 0; 0 0 0 1];
33. M1   =-[(Cf+Cr)/U (a*Cf-b*Cr)/U+m*U 0 0;(a*Cf-b*Cr)/U ((a^2)*Cf+(b^2)*Cr)/U+(a*m_f-b*m_r)*U 0 0;(df*Cf+dr*Cr)/U (a*df*Cf-b*dr*Cr)/U+mb*h*U D_phi K_phi-mb*g*h;0 0 -1 0];
34. M2   = [Cf*delf;a*Cf*delf;df*Cf*delf;0];
35.
36. dv = inv(Mass)*M1*v+inv(Mass)*M2 ;  % equation
37.
38. end
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