A full Car Model with 7 DOFs basically with 4 vertical movements of each tyre,one about x-axis of the car(Rolling Movement),one about y-axis of the car(Pitching Movement) and one vertical movement of body centroid main is to analyse the roll angle variation but variation is not proper
Mb is body mass, kg; Mt is tire mass, kg; ay is lateral acceleration of body centroid, ms -2; Ir and Ip denote body rotational inertia around X axis and Y axis respectively, kg m2 ; and denote body roll angle (positive when the car body tilts to the right) and body pitch angle (positive when the car body tilts to the front) respectively, rad; qi (i = 1, 2, 3, 4) are road vertical excitations on the wheels, m; Zti (i = 1, 2, 3, 4) are vertical displacements of the wheels, m; Zb is vertical displacement of body centroid, m; Kt is vertical stiffness of the tires, N/m; Fi (i = 1, 2, 3, 4) is suspension force, N; fdi (i = 1, 2, 3, 4) is suspension travel, m; Aei (i = 1, 2, 3, 4) are effective areas of the air springs of front left, front right, rear left, rear right respectively, m2 ; Kbf and Kbr is respectively roll stiffness of front and rear antiroll bars, Nm/rad; c is damping coefficient (equaling cc and cs in compression and stretch travel respectively.N s/m; Bf and Br are respectively front and rear wheel tracks, m; a, b are respectively the distances from body centroid to the front and rear axles, m; Og is the projection of body centroid O to the ground; ho is the height of centroid, m; hor is the height of roll center, m; hop is height of pitching center, m; T is pitching moment while vehicle turning, N m; g is gravitational acceleration, m/s2 ; Pa represents standard atmospheric pressure
