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Copy pathvehicle_parameters_edgar.yaml
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135 lines (119 loc) · 3.3 KB
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# Paramter set for vehicle dynamics modelling
# based on the DOT (department of transportation) vehicle dynamics
# vehicle body dimensions
# vehicle length [m]
l: 4.973
# vehicle width [m]
w: 1.941
# vehicle height [m]
h: 2.320
# steering constraints
steering:
# minimum steering angle [rad] (steering angle of front wheel)
max: 0.610865
# maximum steering angle [rad]
min: -0.610865
# minimum steering velocity [rad/s]
v_max:
# maximum steering velocity [rad/s]
v_min:
# curvature [1/m]
kappa_max: 0.2195
kappa_min: -0.2195
# maximum curvature change
kappa_dot_max:
# maximum curvature rate rate
kappa_dot_dot_max:
# longitudinal constraints
longitudinal:
# maximum absolute acceleration [m/s^2] for v>40 km/h
a_max: 2.5
# minimum absolute acceleration [m/s^2] for v>40 km/h
a_max: -3.5
# maximum longitudinal jerk [m/s^3]
j_max:
# maximum longitudinal jerk change [m/s^4]
j_dot_max:
# maximum velocity [m/s]
v_max:
# minimum velocity [m/s]
v_min:
# switching velocity [m/s]
v_switch:
# masses
# vehicle mass [kg] MASS
m: 2520
# sprung mass [kg] SMASS
m_s:
# unsprung mass front [kg] UMASSF
m_uf:
# unsprung mass rear [kg] UMASSR
m_ur:
# axes distances
# distance from spring mass center of gravity to front axle [m] LENA
a: 1.724
# distance from spring mass center of gravity to rear axle [m] LENB
b: 1.247
# moments of inertia of sprung mass
# moment of inertia for sprung mass in roll [kg m^2] IXS
I_Phi_s:
# moment of inertia for sprung mass in pitch [kg m^2] IYS
I_y_s:
# moment of inertia for sprung mass in yaw [kg m^2] IZZ
I_z: 35000
# moment of inertia cross product [kg m^2] IXZ
I_xz_s:
# suspension parameters
# suspension spring rate (front) [N/m] KSF
K_sf:
# suspension damping rate (front) [N s/m] KSDF
K_sdf:
# suspension spring rate (rear) [N/m] KSR
K_sr:
# suspension damping rate (rear) [N s/m] KSDR
K_sdr:
# geometric parameters
# track width front [m] TRWF
T_f: 1.645
# track width rear [m] TRWB
T_r:
# lateral spring rate at compliant compliant pin joint between M_s and M_u [N/m] KRAS
K_ras:
# auxiliary torsion roll stiffness per axle (normally negative) (front) [N m/rad] KTSF
K_tsf:
# auxiliary torsion roll stiffness per axle (normally negative) (rear) [N m/rad] KTSR
K_tsr:
# damping rate at compliant compliant pin joint between M_s and M_u [N s/m] KRADP
K_rad:
# vertical spring rate of tire [N/m] KZT
K_zt:
# center of gravity height of total mass [m] HCG (mainly required for conversion to other vehicle models)
h_cg:
# height of roll axis above ground (front) [m] HRAF
h_raf:
# height of roll axis above ground (rear) [m] HRAR
h_rar:
# M_s center of gravity above ground [m] HS
h_s:
# moment of inertia for unsprung mass about x-axis (front) [kg m^2] IXUF
I_uf:
# moment of inertia for unsprung mass about x-axis (rear) [kg m^2] IXUR
I_ur:
# wheel inertia, from internet forum for 235/65 R 17 [kg m^2]
I_y_w:
# lateral compliance rate of tire, wheel, and suspension, per tire [m/N] KLT
K_lt:
# effective wheel/tire radius chosen as tire rolling radius RR taken from ADAMS documentation [m]
R_w:
# split of brake and engine torque
T_sb:
T_se:
# suspension parameters
# Front [rad/m] DF
D_f:
# Rear [rad/m] DR
D_r:
# Front [needs conversion if nonzero] EF
E_f:
# Rear[needs conversion if nonzero] ER
E_r: