Twist-Beam Suspension - K and C
![](susp_twist_kandc.png)
Libraries:
Vehicle Dynamics Blockset /
Suspension
Description
In the Vehicle Dynamics Blockset™ library, there are two types of suspension blocks that implement the kinematics and compliance (K and C) test suspension characteristics measured from simulated or actual laboratory suspension tests.
Block | Suspension type Setting | Implementation |
---|---|---|
Twist-Beam Suspension - K and C |
| Kinematics and compliance effects of:
|
Independent Suspension - K and C |
| Kinematics and compliance effects of four independent suspensions on a vehicle with two axles and two wheels per axle. For more information, see Independent Suspension - K and C. |
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 effects from kinematic (bounce, roll, steering) and compliance (longitudinal and lateral forces, aligning moments) inputs. Specifically, the block multiplies the suspension geometry states by either gradient or table values to determine the K and C effects on wheel orientation and suspension forces.
Wheel orientation:
Camber, caster, and steer angles
Lateral wheel center displacement
Longitudinal wheel center displacement
Vertical suspension forces:
Anti-sway bar
Shock force
Wheel rate
Contact patch swing arm (CPSA) force
Longitudinal side view swing arm (SVSA) anti-effects
The block uses these parameters to account for the K and C effects on the camber, caster, and steer angles.
Bounce test– Independent suspension
Roll test– Independent suspension
Steer test
Longitudinal compliance test
Lateral compliance-opposed test
Aligning torque compliance-opposed test
Use the Static alignment settings parameters to set the initial state of the suspension.
The block uses these parameters to account for the K and C effects the lateral wheel center displacement.
Bounce test
Longitudinal compliance test
Lateral compliance-opposed test
The block uses these parameters to account for the K and C effects on the longitudinal wheel center displacement.
Bounce test
Longitudinal compliance test
The block uses the Shock force parameters to calculate the shock force effect on the vertical suspension force. You can specify table-based or constant parameter values.
The block uses the Bounce test parameters to calculate the wheel rate effect on the vertical suspension force.
The block uses these equations to calculate the effect of the contact patch swing arm (CPSA) forces on vertical suspension force.
The block also uses the Static loaded radius of wheels parameter in the CPSA force calculation.
The equations use these variables.
ϴCPSA | Contact patch swing arm angle |
Fy | Lateral suspension force |
FzCPSA | CPSA effect on vertical suspension force |
zw | Wheel displacement |
The block uses these equations to calculate the effect of the side view swing arm (SVSA) forces on vertical suspension force during acceleration and braking.
Use the Drivetrain type parameter to ensure that the block applies the acceleration anti-effects to the correct wheels.
The equations use these variables.
ϴSVSA | Contact patch swing arm angle |
Fx | Longitudinal wheel force |
FzSVSA | SVSA effect on vertical suspension force |
zw | Wheel displacement |
Anti-Sway Bar
Optionally, use the Anti-sway axle enable by axle, AntiSwayEnByAxl parameter to implement anti-sway bar reaction forces by axle.
If you do not enable an anti-sway bar, the axle roll stiffness is 0.
If you enable an anti-sway bar on the axle, the anti-sway bar stiffness is the difference between the anti-sway bar torque parameter, Front suspension roll stiffness with anti-roll bar, RollStiffArbFrnt, and the roll stiffness parameter measured with no anti-sway bar present Front suspension roll stiffness without anti-roll bar, RollStiffNoArbFrnt.
If you enable an anti-sway bar on the rear axle, the block uses this equation to calculate the twist-beam roll stiffness.
The equation uses these variables.
TBrs | Twist beam roll stiffness |
Srs | Suspension roll stiffness without twist beam, RollStiffNoTwstRear parameter |
WR∇ | Normal wheel rate gradient, calculated from NrmlWhlRates parameter and suspension displacement |
TW | Track width |
Examples
Ports
The block uses the wheel number, t, to index the input and output signals. This table summarizes the wheel, axle, and corresponding wheel number for a vehicle with:
Two axles
Two wheels per axle
Wheel | Axle | Wheel Number |
---|---|---|
Front left | Front | 1 |
Front right | Front | 2 |
Rear left | Rear | 1 |
Rear right | Rear | 2 |
Input
WhlPz — Wheel z
-axis displacement
array
Wheel displacement, zw, along wheel-fixed
z-axis, in m. Array dimensions are 1
by the
total number of wheels on the vehicle.
For example, for a two-axle vehicle with two wheels per axle, the
WhlPz
:
Signal array dimensions are
[1x4]
.Wheel Array Element Axle Wheel Number Front left WhlPz(1,1)
1
1
Front right WhlPz(1,2)
1
2
Rear left WhlPz(1,3)
2
1
Rear right WhlPz(1,4)
2
2
WhlRe — Wheel effective radius
array
Effective wheel radius, Rew, in m. Array
dimensions are 1
by the total number of wheels on the vehicle.
For example, for a two-axle vehicle with two wheels per axle, the
WhlRe
:
Signal array dimensions are
[1x4]
.Wheel Array Element Axle Wheel Number Front left WhlRe(1,1)
1
1
Front right WhlRe(1,2)
1
2
Rear left WhlRe(1,3)
2
1
Rear right WhlRe(1,4)
2
2
WhlVz — Wheel z
-axis velocity
array
Wheel velocity, żw, along wheel-fixed
z-axis, in m. Array dimensions are 1
by the
total number of wheels on the vehicle.
For example, for a two-axle vehicle with two wheels per axle, the
WhlVz
:
Signal array dimensions are
[1x4]
.Wheel Array Element Axle Wheel Number Front left WhlVz(1,1)
1
1
Front right WhlVz(1,2)
1
2
Rear left WhlVz(1,3)
2
1
Rear right WhlVz(1,4)
2
2
WhlFx — Longitudinal wheel force on vehicle
array
Longitudinal wheel force applied to vehicle,
Fwx, along the inertial-fixed
x-axis. Array dimensions are 1
by the total
number of wheels on the vehicle.
For example, for a two-axle vehicle with two wheels per axle, the
WhlFx
:
Signal array dimensions are
[1x4]
.Wheel Array Element Axle Wheel Number Front left WhlFx(1,1)
1
1
Front right WhlFx(1,2)
1
2
Rear left WhlFx(1,3)
2
1
Rear right WhlFx(1,4)
2
2
WhlFy — Lateral wheel force on vehicle
array
Lateral wheel force applied to vehicle,
Fwy, along the inertial-fixed
y-axis. Array dimensions are 1
by the total number
of wheels on the vehicle.
For example, for a two-axle vehicle with two wheels per axle, the
WhlFy
:
Signal array dimensions are
[1x4]
.Wheel Array Element Axle Wheel Number Front left WhlFy(1,1)
1
1
Front right WhlFy(1,2)
1
2
Rear left WhlFy(1.3)
2
1
Rear right WhlFy(1,4)
2
2
WhlM — Suspension moment on wheel
array
Longitudinal, lateral, and vertical suspension
moments at axle a
, wheel t
, applied to the wheel at the
axle wheel carrier reference coordinate, in N·m. Input array dimensions are
3
by the number of wheels on the vehicle.
WhlM(1,...)
— Suspension moment applied to the wheel about the inertial-fixed x-axis (longitudinal)WhlM(2,...)
— Suspension moment applied to the wheel about the inertial-fixed y-axis (lateral)WhlM(3,...)
— Suspension moment applied to the wheel about the inertial-fixed z-axis (vertical)
For example, for a two-axle vehicle with two
wheels per axle, the WhlM
:
Signal dimensions are
[3x4]
.Signal contains suspension moments applied to four wheels according to their axle and wheel locations.
Wheel Array Element Axle Wheel Number Moment Axis Front left WhlM(1,1)
1
1
Inertial-fixed x-axis (longitudinal) Front right WhlM(1,2)
1
2
Rear left WhlM(1,3)
2
1
Rear right WhlM(1,4)
2
2
Front left WhlM(2,1)
1
1
Inertial-fixed y-axis (lateral) Front right WhlM(2,2)
1
2
Rear left WhlM(2,3)
2
1
Rear right WhlM(2,4)
2
2
Front left WhlM(3,1)
1
1
Inertial-fixed z-axis (vertical) Front right WhlM(3,2)
1
2
Rear left WhlM(3,3)
2
1
Rear right WhlM(3,4)
2
2
VehP — Vehicle displacement
array
Vehicle displacement from axle a
, wheel t
along
inertial-fixed coordinate system, in m. Input array dimensions are 3
by the number of wheels on the vehicle.
VehP(1,...)
— Vehicle displacement from wheel, xv, along the inertial-fixed x-axisVehP(2,...)
— Vehicle displacement from wheel, yv, along the inertial-fixed y-axisVehP(3,...)
— Vehicle displacement from wheel, zv, along the inertial-fixed z-axis
For example, for a two-axle vehicle with two wheels per axle, the
VehP
:
Signal dimensions are
[3x4]
.Signal contains four displacements according to their axle and wheel locations.
Wheel Array Element Axle Wheel Number Axis Front left VehP(1,1)
1
1
Inertial-fixed x-axis Front right VehP(1,2)
1
2
Rear left VehP(1,3)
2
1
Rear right VehP(1,4)
2
2
Front left VehP(2,1)
1
1
Inertial-fixed y-axis Front right VehP(2,2)
1
2
Rear left VehP(2,3)
2
1
Rear right VehP(2,4)
2
2
Front left VehP(3,1)
1
1
inertial-fixed z-axis Front right VehP(3,2)
1
2
Rear left VehP(3,3)
2
1
Rear right VehP(3,4)
2
2
VehV — Vehicle velocity
array
Vehicle velocity at axle a
, wheel t
along
inertial-fixed coordinate system, in m. Input array dimensions are 3
by the number of wheels on the vehicle.
VehV(1,...)
— Vehicle velocity at wheel, xv, along the inertial-fixed x-axisVehV(2,...)
— Vehicle velocity at wheel, yv, along the inertial-fixed y-axisVehV(3,...)
— Vehicle velocity at wheel, zv, along the inertial-fixed z-axis
For example, for a two-axle vehicle with two wheels per axle, the
VehV
:
Signal dimensions are
[3x4]
.Signal contains
4
velocities according to their axle and wheel locations.Wheel Array Element Axle Wheel Number Axis Front left VehV(1,1)
1
1
Inertial-fixed x-axis Front right VehV(1,2)
1
2
Rear left VehV(1,3)
2
1
Rear right VehV(1,4)
2
2
Front left VehV(2,1)
1
1
Inertial-fixed y-axis Front right VehV(2,2)
1
2
Rear left VehV(2,3)
2
1
Rear right VehV(2,4)
2
2
Front left VehV(3,1)
1
1
Inertial-fixed z-axis Front right VehV(3,2)
1
2
Rear left VehV(3,3)
2
1
Rear right 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 wheels.
For example, for a two-axle vehicle with two wheels per axle, you can input steering angles for both wheels on the first axle.
To enable 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 wheel locations.Wheel Array Element Axle Wheel Number Front left StrgAng(1,1)
1
1
Front right StrgAng(1,2)
1
2
Dependencies
To enable the 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
Distance between wheels on each axle. Input array dimensions are 1
-by-2
.
Array Element | Description |
---|---|
TrckWdth(1,1) | Distance between wheels on front axle |
TrckWdth(1,2) | Distance between wheels on rear axle |
Output
Info — Bus signal
bus
Bus signal containing block values. The signals are arrays that depend on the wheel location.
For example, these are the indices for a two-axle, two-wheel vehicle. The total number of wheels is four.
1D array signal (1-by-4)
Wheel Array Element Axle Wheel Number Front left (1,1)
1
1
Front right (1,2)
1
2
Rear left (1,3)
2
1
Rear right (1,4)
2
2
3D array signal (3-by-4)
Wheel Array Element Axle Wheel Number Front left (1,1)
1
1
Front right (1,2)
1
2
Rear left (1,3)
2
1
Rear right (1,4)
2
2
Front left (2,1)
1
1
Front right (2,2)
1
2
Rear left (2,3)
2
1
Rear right (2,4)
2
2
Front left (3,1)
1
1
Front right (3,2)
1
2
Rear left (3,3)
2
1
Rear right (3,4)
2
2
Signal | Description | Array Signal | Variable | Units |
---|---|---|---|---|
Camber | Wheel angles according to the axle and wheel location. | 1D |
| rad |
Caster |
| |||
Toe |
| |||
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 wheels per axle vehicle: | N |
VehM | Suspension moments applied to vehicle | 3D | For a two-axle, two wheels per axle vehicle: | N·m |
WhlF | Suspension force applied to wheel | 3D | For a two-axle, two wheels per axle vehicle: | N |
WhlP | Wheel displacement | 3D | For a two-axle, two wheels per axle vehicle: | m |
WhlV | Wheel velocity | 3D | For a two-axle, two wheels per axle vehicle: | m/s |
WhlAng | Wheel camber, caster, toe angles | 3D | For a two-axle, two wheels per axle vehicle: | rad |
VehF — Suspension force on vehicle
array
Longitudinal, lateral, and vertical
suspension force at axle a
,
wheel t
, applied to the vehicle
at the suspension connection point, in N. Array
dimensions are 3
by the number
of wheels on the vehicle.
VehF(1,...)
— Suspension force applied to vehicle along the inertial-fixed x-axis (longitudinal)VehF(2,...)
— Suspension force applied to vehicle along the inertial-fixed y-axis (lateral)VehF(3,...)
— Suspension force applied to vehicle along the inertial-fixed z-axis (vertical)
For example, for a two-axle vehicle with two
wheels per axle, the VehF
:
Signal dimensions are
[3x4]
.Signal contains suspension forces applied to the vehicle according to the axle and wheel locations.
Wheel Array Element Axle Wheel Number Force Axis Front left VehF(1,1)
1
1
Inertial-fixed x-axis (longitudinal) Front right VehF(1,2)
1
2
Rear left VehF(1,3)
2
1
Rear right VehF(1,4)
2
2
Front left VehF(2,1)
1
1
Inertial-fixed y-axis (lateral) Front right VehF(2,2)
1
2
Rear left VehF(2,3)
2
1
Rear right VehF(2,4)
2
2
Front left VehF(3,1)
1
1
Inertial-fixed z-axis (vertical) Front right VehF(3,2)
1
2
Rear left VehF(3,3)
2
1
Rear right VehF(3,4)
2
2
VehM — Suspension moment on vehicle
array
Longitudinal, lateral, and vertical
suspension moment at axle a
,
wheel t
, applied to the vehicle
at the suspension connection point, in N·m. Array
dimensions are 3
by the number
of wheels on the vehicle.
VehM(1,...)
— Suspension moment applied to the vehicle about the inertial-fixed x-axis (longitudinal)VehM(2,...)
— Suspension moment applied to the vehicle about the inertial-fixed y-axis (lateral)VehM(3,...)
— Suspension moment applied to the vehicle about the inertial-fixed z-axis (vertical)
For example, for a two-axle vehicle with two
wheels per axle, the VehM
:
Signal dimensions are
[3x4]
.Signal contains suspension moments applied to vehicle according to the axle and wheel locations.
Array Element Axle Wheel Number Moment Axis VehM(1,1)
1
1
Inertial-fixed x-axis (longitudinal) VehM(1,2)
1
2
VehM(1,3)
2
1
VehM(1,4)
2
2
VehM(2,1)
1
1
Inertial-fixed y-axis (lateral) VehM(2,2)
1
2
VehM(2,3)
2
1
VehM(2,4)
2
2
VehM(3,1)
1
1
Inertial-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
,
wheel t
, applied to the wheel
at the axle wheel carrier reference coordinate, in
N. Array dimensions are 3
by
the number of wheels on the vehicle.
WhlF(1,...)
— Suspension force on wheel along the inertial-fixed x-axis (longitudinal)WhlF(2,...)
— Suspension force on wheel along the inertial-fixed y-axis (lateral)WhlF(3,...)
— Suspension force on wheel along the inertial-fixed z-axis (vertical)
For example, for a two-axle vehicle with two
wheels per axle, the WhlF
:
Signal dimensions are
[3x4]
.Signal contains wheel forces applied to the vehicle according to the axle and wheel locations.
Wheel Array Element Axle Wheel Number Force Axis Front left WhlF(1,1)
1
1
Inertial-fixed x-axis (longitudinal) Front right WhlF(1,2)
1
2
Rear left WhlF(1,3)
2
1
Rear right WhlF(1,4)
2
2
Front left WhlF(2,1)
1
1
Inertial-fixed y-axis (lateral) Front right WhlF(2,2)
1
2
Rear left WhlF(2,3)
2
1
Rear right WhlF(2,4)
2
2
Front left WhlF(3,1)
1
1
Inertial-fixed z-axis (vertical) Front right WhlF(3,2)
1
2
Rear left WhlF(3,3)
2
1
Rear right WhlF(3,4)
2
2
WhlV — Wheel velocity
array
Longitudinal, lateral, and vertical wheel velocity at axle a
, wheel
t
, in m/s. Array dimensions are 3
by the number of
wheels on the vehicle.
WhlV(1,...)
— Wheel velocity along the inertial-fixed x-axis (longitudinal)WhlV(2,...)
— Wheel velocity along the inertial-fixed y-axis (lateral)WhlV(3,...)
— Wheel velocity along the inertial-fixed z-axis (vertical)
For example, for a two-axle vehicle with two wheels per axle, the WhlV
:
Signal dimensions are
[3x4]
.Signal contains wheel forces applied to the vehicle according to the axle and wheel locations.
Wheel Array Element Axle Wheel Number Force Axis Front left WhlV(1,1)
1
1
Inertial-fixed x-axis (longitudinal) Front right WhlV(1,2)
1
2
Rear left WhlV(1,3)
2
1
Rear right WhlV(1,4)
2
2
Front left WhlV(2,1)
1
1
Inertial-fixed y-axis (lateral) Front right WhlV(2,2)
1
2
Rear left WhlV(2,3)
2
1
Rear right WhlV(2,4)
2
2
Front left WhlV(3,1)
1
1
Inertial-fixed z-axis (vertical) Front right WhlV(3,2)
1
2
Rear left WhlV(3,3)
2
1
Rear right WhlV(3,4)
2
2
WhlAng — Wheel camber, caster, toe angles
array
Camber, caster, and toe angles at axle a
, wheel
t
, in rad. Array dimensions are 3
by the
number of wheels on the vehicle.
WhlAng(1,...)
— Camber angleWhlAng(2,...)
— Caster angleWhlAng(3,...)
— Toe angle
For example, for a two-axle vehicle with two wheels per axle, the
WhlAng
:
Signal dimensions are
[3x4]
.Signal contains angles according to the axle and wheel locations.
Wheel Array Element Axle Wheel Number Angle Front left WhlAng(1,1)
1
1
Camber
Front right WhlAng(1,2)
1
2
Rear left WhlAng(1,3)
2
1
Rear right WhlAng(1,4)
2
2
Front left WhlAng(2,1)
1
1
Caster
Front right WhlAng(2,2)
1
2
Rear left WhlAng(2,3)
2
1
Rear right WhlAng(2,4)
2
2
Front left WhlAng(3,1)
1
1
Toe
Front right WhlF(3,2)
1
2
Rear left WhlF(3,3)
2
1
Rear right 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,
Ensteer, dimensionless. Vector is
1
by the number of vehicle axles,
Na. 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 a front axle
anti-sway and disables a rear axle anti-sway. Vector is 1
by the number of vehicle axles,
Na.
If you enable an anti-sway bar on the front axle, the anti-sway bar stiffness 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.
If you enable an anti-sway bar on the rear axle, the block uses this equation to calculate the twist-beam roll stiffness.
The equation uses these variables.
TBrs | Twist beam roll stiffness |
Srs | Suspension roll stiffness without twist beam, RollStiffNoTwstRear parameter |
WR∇ | Normal wheel rate gradient, calculated from NrmlWhlRates parameter and suspension displacement |
TW | Track width |
If you do not enable an anti-sway bar, the stiffness is 0.
Suspension Parameters
Suspension type — Type of suspension
Independent front and rear
| Independent front and twist beam rear
Select type of suspension.
Drivetrain type — Type of drivetrain
FWD
(default) | RWD
| AWD
Select type of drivetrain.
AWD
– All-wheel driveFWD
– Front-wheel driveRWD
– Rear-wheel drive
+ 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 type — Type of shock force
Table-based
(default) | Table-based
individual
Constant
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
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 steer, RollSteer — Table
struct('RL',[-10. -1.;0 0;10. 1.],'RR',[-10.
1.;0 0;10. -1.])
(default)
Rear axle roll steer, specified as a structure, in deg/deg.
Dependencies
To enable this parameter, set Suspension type
to Independent front and twist-beam
rear
.
Data Types: struct
Roll camber, RollCamber — Table
struct('RL',[-10. -1.;0 0;10. 1.],'RR',[-10.
1.;0 0;10. -1.])
(default)
Rear axle roll camber, specified as a structure, in deg/deg.
Dependencies
To enable this parameter, set Suspension type
to Independent front and twist-beam
rear
.
Data Types: struct
Roll caster, RollCaster — Table
struct('RL',[-10. -1.;0 0;10. 1.],'RR',[-10.
1.;0 0;10. -1.])
(default)
Rear axle roll caster, specified as a structure, in deg/deg.
Dependencies
To enable this parameter, set Suspension type
to Independent front and twist-beam
rear
.
Data Types: struct
Front suspension roll stiffness with anti-roll bar, RollStiffArbFrnt — Anti-sway bar enabled
800
(default) | scalar
Front axle suspension roll stiffness with anti-roll bar, specified as a scalar.
If you enable an anti-sway bar on the axle, the anti-sway bar stiffness is the difference between the anti-sway bar torque parameter, Front suspension roll stiffness with anti-roll bar, RollStiffArbFrnt, and the roll stiffness parameter measured with no anti-sway bar present, Front suspension roll stiffness without anti-roll bar, RollStiffNoArbFrnt.
If you do not enable an anti-sway bar, the front axle roll stiffness is 0.
Dependencies
To enable this parameter, set Suspension type to
Independent front and twist-beam rear
.
Data Types: double
Front suspension roll stiffness without anti-roll bar, RollStiffNoArbFrnt — Anti-sway bar not enabled
0
(default) | scalar
Front suspension roll stiffness without an anti-roll bar, specified as a scalar, in Nm/deg.
If you enable an anti-sway bar on the axle, the anti-sway bar stiffness is the difference between the anti-sway bar torque parameter, Front suspension roll stiffness with anti-roll bar, RollStiffArbFrnt, and the roll stiffness parameter measured with no anti-sway bar present, Front suspension roll stiffness without anti-roll bar, RollStiffNoArbFrnt.
If you do not enable an anti-sway bar, the axle roll stiffness is 0.
Dependencies
To enable this parameter, set Suspension type to
Independent front and twist-beam rear
.
Data Types: double
Rear suspension roll stiffness without twist-beam, RollStiffNoTwstRear — Anti-sway bar not enabled
0
(default) | scalar
Rear suspension roll stiffness without an twist beam, specified as a scalar, in Nm/deg. T
If you do not enable an anti-sway bar, the rear axle roll stiffness is 0.
If you enable an anti-sway bar on the rear axle, the block uses this equation to calculate the twist-beam roll stiffness.
The equation uses these variables.
TBrs | Twist beam roll stiffness |
Srs | Suspension roll stiffness without twist beam, RollStiffNoTwstRear parameter |
WR∇ | Normal wheel rate gradient, calculated from NrmlWhlRates parameter and suspension displacement |
TW | Track width |
Dependencies
To enable this parameter, set Suspension type to
Independent front and twist-beam rear
.
Data Types: double
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 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 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 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
Vertical load transfer, VrtLdTrnsfr — 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)
Vertical load transfer, specified as a structure, in N/kN.
Dependencies
To create this parameter, set Suspension type
to Independent front and twist-beam
rear
.
Data Types: struct
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 | Wheel Location |
---|---|---|---|
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 |
---|---|---|
Front left | (1,1) | 1 |
Front right | (1,2) | 1 |
Rear left | (1,3) | 2 |
Rear left | (1,4) | 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 |
---|---|---|
Front left | (1,1) | 1 |
Front right | (1,2) | 1 |
Rear left | (1,3) | 2 |
Rear left | (1,4) | 2 |
Data Types: double
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 |
---|---|---|
Front left | (1,1) | 1 |
Front right | (1,2) | 1 |
Rear left | (1,3) | 2 |
Rear left | (1,4) | 2 |
Data Types: double
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 R2022b
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