.PlanarMechanics.VehicleComponents.Wheels.SlipBasedWheelJoint

Information

The ideal wheel joint models the behavior of a wheel rolling on a x,y-plane whose contact patch has slip-dependent friction characteristics. This is an approximation for wheels with a rim and a rubber tire.

The force depends with friction characteristics on the slip. The slip is split into two components:

• lateral slip: the lateral velocity divided by the rolling velocity.
• longitudinal slip: the longitudinal slip velocity divided by the rolling velocity.

For low rolling velocity this definitions become ill-conditioned. Hence a dry-friction model is used for low rolling velocities.

The radius of the wheel can be specified by the parameter radius. The driving direction (for phi = 0) can be specified by the parameter r. The normal load is set  N.

The wheel contains a 2D connector frame_a for the steering on the plane. The rolling motion of the wheel can be actuated by the 1D connector flange_a.

In addition there is an input for a dynamic component of the normal load.

For examples of usage see the local Examples package.

Revisions

Developed 2010 at the DLR Institute of System Dynamics and Control