Combined Slip Wheel 2DOF
Combined slip 2DOF wheel with disc, drum, or mapped brake
Libraries:
Vehicle Dynamics Blockset /
Wheels and Tires
Description
Combined Slip Wheel 2DOF incorporates two degrees of freedom (DOF's) of wheel motion, and 6 DOF's of tire forcing, in combined longitudinal and lateral slip conditions.
Wheel motion: Rotation about spin axis, and vertical displacement.
Tire forces and moments: Fx, Fy, and Fz; Mx, My, and Mz.
It models the tire using the Magic Formula.^{[1] and [2]} Set the Magic Formula coefficients by either importing your own file (in MF 6.X format), or selecting one of the builtin tire models.
Use this block in simulations like the following.
Vehicle braking and acceleration, including rolling resistance.
Vehicle ride motions, including effects of suspension modes.
Maneuvers with combined lateral and longitudinal slip, such as lateral vehicle motion and yaw stability.
If you install the Extended Tire Features for Vehicle Dynamics Blockset support package, you can click the Plot steady state force, moment response button to generate these plots:
Lateral force [N] vs Slip angle [rad]
Selfaligning moment [Nm] vs Slip angle [rad]
Longitudinal force [N] vs Longitudinal slip []
Longitudinal force [N] vs Lateral force [N]
With the support package, you can also import tire parameter
values defined in the Combined Slip Wheel 2DOF block to a tireModel
object or export tire
parameter values from a tireModel
object to the Combined Slip Wheel 2DOF block. For more
information, see tireModel.get
and
set
.
Use the Tire type parameter to select the source of the tire data.
Goal  Action 

Import your own external file containing Magic Formula coefficients, and use them to drive the empirical equations modeling the tire^{1 and 2}. The file you import can be a .mat, .tir, or .txt type, and must contain parameter names corresponding to those in the tire block. 
Update the block parameters with fitting coefficients from a file:

Select one of the Magic Formula builtin tire models to drive the empirical equations modeling the tire ^{1 and 2}.  Update the applicable block parameters with values from a builtin tire model:

Use the Brake Type parameter to select the brake.
Action  Brake Type Setting 

No braking 

Implement brake that converts the brake cylinder pressure into a braking force 

Implement simplex drum brake that converts the applied force and brake geometry into a net braking torque 

Implement lookup table that is a function of the wheel speed and applied brake pressure 

Rotational Wheel Dynamics
The block calculates the inertial response of the wheel subject to:
Axle losses
Brake and drive torque
Tire rolling resistance
Ground contact through the tireroad interface
To implement the Magic Formula, the block uses these equations from the cited references:
Calculation  Equations 

Longitudinal force  Tire and Vehicle Dynamics^{2} equations 4.E9 through 4.E57 
Lateral force  pure sideslip  Tire and Vehicle Dynamics^{2} equations 4.E19 through 4.E30 
Lateral force  combined slip  Tire and Vehicle Dynamics^{2} equations 4.E58 through 4.E67 
Vertical dynamics  Tire and Vehicle Dynamics^{2} equations 4.E68, 4.E1, 4.E2a, and 4.E2b 
Overturning couple  Tire and Vehicle Dynamics^{2} equation 4.E69 
Rolling resistance 

Aligning moment  Tire and Vehicle Dynamics^{2} equation 4.E31 through 4.E49 
Aligning torque  combined slip  Tire and Vehicle Dynamics^{2} equation 4.E71 through 4.E78 If you clear Include turn slip, the block sets some of these equations to 1. 
The input torque is the summation of the applied axle torque, braking torque, and moment arising from the combined tire torque.
$${T}_{i}={T}_{a}{T}_{b}+{T}_{d}$$
For the moment arising from the combined tire torque, the block implements tractive wheel forces and rolling resistance with firstorder dynamics. The rolling resistance has a time constant parameterized in terms of a relaxation length.
$${T}_{d}(s)=\frac{1}{\frac{{L}_{e}}{\left\omega \right{R}_{e}}s+1}({F}_{x}{R}_{e}+{M}_{y})$$
Braking torque is based on an idealized dry clutch friction model (if brakes are selected). Depending on the lockup condition, the block implements these friction and dynamic models:
If  Lockup Condition  Friction Model  Dynamic Model 

$\begin{array}{l}\omega \ne 0\\ \text{or}\\ {T}_{S}<\left{T}_{i}+{T}_{f}\omega b\right\end{array}$  Unlocked  $$\begin{array}{l}{T}_{f}={T}_{k}\text{,}\\ \text{where}\\ {T}_{k}={F}_{c}{R}_{eff}{\mu}_{k}\mathrm{tanh}\left[4\left({\omega}_{d}\right)\right]\\ {T}_{s}={F}_{c}{R}_{eff}{\mu}_{s}\\ {R}_{eff}=\frac{2({R}_{o}{}^{3}{R}_{i}{}^{3})}{3({R}_{o}{}^{2}{R}_{i}{}^{2})}\end{array}$$  $$\dot{\omega}J=\omega b+{T}_{i}+{T}_{o}$$ 
$\begin{array}{l}\omega =0\\ \text{and}\\ {T}_{S}\ge \left{T}_{i}+{T}_{f}\omega b\right\end{array}$  Locked  $${T}_{f}={T}_{s}$$  $$\omega =0$$ 
The equations use these variables.
ω  Wheel angular velocity 
a  Velocity independent force component 
b  Linear velocity force component 
c  Quadratic velocity force component 
L_{e}  Tire relaxation length 
J  Moment of inertia 
M_{y}  Rolling resistance torque 
T_{a}  Applied axle torque about wheel spin axis 
T_{b}  Braking torque 
T_{d}  Combined tire torque 
T_{f}  Frictional torque 
T_{i}  Net input torque 
T_{k}  Kinetic frictional torque 
T_{o}  Net output torque 
T_{s}  Static frictional torque 
F_{c}  Applied clutch force 
F_{x}  Longitudinal force developed by the tire road interface due to slip 
R_{eff}  Effective clutch radius 
R_{o}  Annular disk outer radius 
R_{i}  Annular disk inner radius 
R_{e}  Effective tire radius while under load and for a given pressure 
V_{x}  Longitudinal axle velocity 
F_{z}  Vehicle normal force 
ɑ  Tire pressure exponent 
β  Normal force exponent 
p_{i}  Tire pressure 
μ_{s}  Coefficient of static friction 
μ_{k}  Coefficient of kinetic friction 
Tire and Wheel Coordinate Systems
To resolve the forces and moments, the block uses the ZUp orientation of the tire and wheel coordinate systems.
Tire coordinate system axes (X_{T}, Y_{T}, Z_{T}) are fixed in a reference frame attached to the tire. The origin is at the tire contact with the ground.
Wheel coordinate system axes (X_{W}, Y_{W}, Z_{W}) are fixed in a reference frame attached to the wheel. The origin is at the wheel center.
ZUp Orientation^{1}
Brakes
If you specify the Brake Type parameter as
Disc
, the block implements a disc brake. This figure
shows the side and front views of a disc brake.
A disc brake converts brake cylinder pressure from the brake cylinder into force. The disc brake applies the force at the brake pad mean radius.
The block uses these equations to calculate brake torque for the disc brake.
$T=\{\begin{array}{c}\frac{\mu P\pi {B}_{a}{}^{2}{R}_{m}{N}_{pads}}{4}\text{when}N\ne 0\\ \frac{{\mu}_{static}P\pi {B}_{a}{}^{2}{R}_{m}{N}_{pads}}{4}\text{when}N=0\end{array}$
$$Rm=\frac{Ro+Ri}{2}$$
The equations use these variables.
Variable  Value 

T  Brake torque 
P  Applied brake pressure 
N  Wheel speed 
N_{pads}  Number of brake pads in disc brake assembly 
μ_{static}  Disc padrotor coefficient of static friction 
μ  Disc padrotor coefficient of kinetic friction 
B_{a}  Brake actuator bore diameter 
R_{m}  Mean radius of brake pad force application on brake rotor 
R_{o}  Outer radius of brake pad 
R_{i}  Inner radius of brake pad 
If you specify the Brake Type parameter as
Drum
, the block implements a static (steadystate)
simplex drum brake. A simplex drum brake consists of a single twosided hydraulic
actuator and two brake shoes. The brake shoes do not share a common hinge pin.
The simplex drum brake model uses the applied force and brake geometry to calculate a net torque for each brake shoe. The drum model assumes that the actuators and shoe geometry are symmetrical for both sides, allowing a single set of geometry and friction parameters to be used for both shoes.
The block implements equations that are derived from these equations in Fundamentals of Machine Elements.
$\begin{array}{l}{T}_{rshoe}=\left(\frac{\pi \mu cr(\mathrm{cos}{\theta}_{2}\mathrm{cos}{\theta}_{1}){B}_{a}{}^{2}}{2\mu (2r\left(\mathrm{cos}{\theta}_{2}\mathrm{cos}{\theta}_{1})+a\left({\mathrm{cos}}^{2}{\theta}_{2}{\mathrm{cos}}^{2}{\theta}_{1}\right)\right)+a\left(2{\theta}_{1}2{\theta}_{2}+\mathrm{sin}2{\theta}_{2}\mathrm{sin}2{\theta}_{1}\right)}\right)P\\ \\ {T}_{lshoe}=\left(\frac{\pi \mu cr(\mathrm{cos}{\theta}_{2}\mathrm{cos}{\theta}_{1}){B}_{a}{}^{2}}{2\mu (2r\left(\mathrm{cos}{\theta}_{2}\mathrm{cos}{\theta}_{1})+a\left({\mathrm{cos}}^{2}{\theta}_{2}{\mathrm{cos}}^{2}{\theta}_{1}\right)\right)+a\left(2{\theta}_{1}2{\theta}_{2}+\mathrm{sin}2{\theta}_{2}\mathrm{sin}2{\theta}_{1}\right)}\right)P\end{array}$
$T=\{\begin{array}{c}{T}_{rshoe}+{T}_{lshoe}\text{when}N\ne 0\\ ({T}_{rshoe}+{T}_{lshoe})\frac{{\mu}_{static}}{\mu}\text{when}N=0\end{array}$
The equations use these variables.
Variable  Value 

T  Brake torque 
P  Applied brake pressure 
N  Wheel speed 
μ_{static}  Disc padrotor coefficient of static friction 
μ  Disc padrotor coefficient of kinetic friction 
T_{rshoe}  Right shoe brake torque 
T_{lshoe}  Left shoe brake torque 
a  Distance from drum center to shoe hinge pin center 
c  Distance from shoe hinge pin center to brake actuator connection on brake shoe 
r  Drum internal radius 
B_{a}  Brake actuator bore diameter 
Θ_{1}  Angle from shoe hinge pin center to start of brake pad material on shoe 
Θ_{2}  Angle from shoe hinge pin center to end of brake pad material on shoe 
If you specify the Brake Type parameter as
Mapped
, the block uses a lookup table to determine the
brake torque.
$T=\{\begin{array}{c}{f}_{brake}(P,N)\text{when}N\ne 0\\ \left(\frac{{\mu}_{static}}{\mu}\right){f}_{brake}(P,N)\text{when}N=0\end{array}$
The equations use these variables.
Variable  Value 

T  Brake torque 
${f}_{brake}^{}(P,N)$  Brake torque lookup table 
P  Applied brake pressure 
N  Wheel speed 
μ_{static}  Friction coefficient of drum padface interface under static conditions 
μ  Friction coefficient of disc padrotor interface 
The lookup table for the brake torque, ${f}_{brake}^{}(P,N)$, is a function of applied brake pressure and wheel speed, where:
T is brake torque, in N·m.
P is applied brake pressure, in bar.
N is wheel speed, in rpm.
Examples
Ports
Input
Output
Parameters
References
[1] Besselink, Igo, Antoine J. M. Schmeitz, and Hans B. Pacejka, "An improved Magic Formula/Swift tyre model that can handle inflation pressure changes," Vehicle System Dynamics  International Journal of Vehicle Mechanics and Mobility 48, sup. 1 (2010): 337–52, https://doi.org/10.1080/00423111003748088.
[2] Pacejka, H. B. Tire and Vehicle Dynamics. 3rd ed. Oxford, United Kingdom: SAE and ButterworthHeinemann, 2012.
[3] Schmid, Steven R., Bernard J. Hamrock, and Bo O. Jacobson. Fundamentals of Machine Elements, SI Version. 3rd ed. Boca Raton: CRC Press, 2014.
Extended Capabilities
Version History
Introduced in R2018aSee Also
Blocks
 Combined Slip Wheel CPI  Combined Slip Wheel STI  Fiala Wheel 2DOF  Longitudinal Wheel  Dugoff Wheel 2DOF
Functions
^{1} Reprinted with permission Copyright © 2008 SAE International. Further distribution of this material is not permitted without prior permission from SAE.