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Tire (Simple)

No-slip tire model with minimal parameters

Library

Tires & Vehicles

Description

The block represents a simple, no-slip model of a tire parameterized by its radius. The model assumes an infinite torque transfer capability.

Connection A is a mechanical rotational conserving port associated with the axle of the tire. Connection H is a mechanical translational conserving port associated with the hub of the tire.

You can optionally add inertia, stiffness, or damping. These dynamics require additional computation and might make the model less suitable for real-time simulation.

Assumptions and Limitations

  • The tire does not slip.

  • There is an infinite torque transfer capability.

Dialog Box and Parameters

Rolling radius

The rolling radius of the tire. The rolling radius must be greater than zero. Default is 0.3 m.

Compliance

Specifies whether the model includes longitudinal stiffness and damping.

  • No compliance - suitable for HIL simulation — (Default) Does not include longitudinal stiffness and damping.

  • Specify stiffness and damping — Includes longitudinal stiffness and damping. Exposes the Longitudinal stiffness and Longitudinal damping parameters.

Longitudinal stiffness

The longitudinal stiffness of the tire. The parameter must be greater than zero. Default is 1e6 N/m.

The Longitudinal stiffness parameter appears if the Compliance parameter is Specify stiffness and damping.

Longitudinal damping

The longitudinal damping of the tire. The parameter must be greater than zero. Default is 100 N/(m/s).

The Longitudinal damping parameter appears if the Compliance parameter is Specify stiffness and damping.

Inertia

Specifies whether the model includes tire inertia.

  • No inertia — (Default) Does not include tire inertia.

  • Specify inertia and initial velocity — Includes tire inertia and initial velocity. Exposes the Tire inertia and Initial velocity parameters.

Tire inertia

The rotational inertia of the tire. The parameter must be greater than zero. Default is 1 kg*/m^2.

The Tire inertia parameter appears if the Inertia parameter is Specify inertia and initial velocity.

Initial velocity

The initial rotational velocity of the tire. Default is 0 rad/s.

The Initial velocity parameter appears if the Inertia parameter is Specify inertia and initial velocity.

Ports

PortDescription

A

Conserving mechanical rotational port associated with the axle of the tire

H

Conserving mechanical translational port associated with the hub of the tire

Example

The sdl_4wd_dynamicssdl_4wd_dynamics example model shows the use of the Tire (Simple) block.

See Also

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Related Examples

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