Vehicle - MapleSim Help

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Vehicle

Longitudinal vehicle dynamics component

Note: This component is used with the Tire component.

The Vehicle component models the longitudinal dynamics of a vehicle. The model has only one degree of freedom (longitudinal motion). Lateral and vertical motions as well as roll, pitch, and yaw are neglected. The Vehicle component is intended for use with two Tire components. The front and rear axles connections are modeled using a real output port for vertical force and a 1-D mechanical translation flange to transfer longitudinal force and motion between the vehicle and the axle.

Equations

The Vehicle equations are given by

Where s is the longitudinal DOF of the vehicle, l is the vehicle wheel base, and a is the distance from the front axle to the projection point of the vehicle CG onto the line connecting front and rear axles

The equation of longitudinal motion is

Where is the external force on the vehicle and is the traction force and is defined by

Also, is calculated as

The weight distribution for front and rear axles is calculated by the following equations:

where h is distance from the CG to the ground.

Connections

Name	Condition	Description	ID
	-	Front axle longitudinal flange	flange_xf
	-	Rear axle longitudinal flange	flange_xr
	-	Real output port for front axle vertical force	f_zf
	-	Real output port for real axle vertical force	f_zf
	-	Real output port for vehicle forward velocity (km/h)	speed
	use external load = true	Conditional real input port for the externally applied longitudinal force	Fl

Parameters

Symbol	Default	Units	Description	ID
		-	Enables/Disables external load: true - external load (force) port is enabled false - external load (force) port is disabled	useExternalLoad
			Gravitational acceleration	g
			Ground inclination	alpha
			Distance from CG to the ground	h
			Wheel base	l
			Distance from front axle to the normal projection point of CG onto the ground	a
			Vehicle mass	m
			Vehicle effective cross-section	A
			Coefficient of drag	Cd
			Mass density of air	rho
			Wind speed	vw