Ntemosg Vehicledynamics

14
:
.
2010
Page ii of 9

. &

:
.
2010
14

, 14 .
Matlab,
Simulink.
.

Page iii of 9

,
.
,

.

, .
Page iv of 9
NATIONAL TECHNICAL UNIVERSITY OF ATHENS

SCHOOL OF MECHANICAL ENGINEERING
DEPARTMENT OF MECHANICAL DESIGN AND AUTOMATIC CONTROL
VEHICLE LABORATORY
Diploma Thesis
Georgios Demos
Advisor:
Prof. Konstantinos Spentzas
October 2010
NON LINEAR DYNAMIC ANALYSIS OF 14 DEGREE-OFFREEDOM VEHICLE
Summary
This diploma thesis deals with the development and analysis of two mathematical
models simulating the dynamic behavior of a four wheeled vehicle, which consists of
14 discreet degrees of freedom. The models where developed on the programming
environment of Matlab, using its built in system simulation tool, Simulink. The first
and primary modeling utilizes the equations of motion in their full, non linear form.
The second modeling attempts the linearization of the aforementioned equations and
the development of a simulation procedure, a fundamental feature of which is the
Page v of 9

variation of the linearization points in a completely autonomous manner. Before the
derivation of the equations of motion is presented, a detailed description of the vehicle
and its components is made. In the closing chapters an indicative implementation and
comparison of the two models takes place and is commented on, making use of a
vehicle of typical specifications.
Page vi of 9
1 ........................................................................................................... 1
2 ............................................................................................. 1
2.1
................................................................................. 1
2.2
............................................................... 2
2.3
.................................................................................................. 4
2.3.1
............................. 4
2.3.2
, ................ 17
3 ................................................. 21
3.1
................................................................... 21
3.1.1
.............................................. 21
3.1.2
.................. 23
3.1.3
xyz ........ 23
3.1.4
.................................................................... 23
3.1.5
................................................................................................. 23
3.2
, .......................................................................... 24
3.2.1
.............................................................................................. 24
3.2.2
................................................................................................ 24
3.2.3
..................................................................... 25
3.3
..................................................................... 25
3.3.1
Pacejka.......................................................................... 25
3.3.2
.................................................... 27
3.4
................................................ 28
3.5
................................................... 29
3.6
............................................... 29
3.7
............................................... 29
3.7.1
............................ 29
3.7.2
...... 31
Page vii of 9

3.7.3
Antiroll bars ............................................................. 32
3.8
............................................................... 32
3.9
........................................................................................................ 33
4 ........................................ 34
4.1
................................................................................ 34
4.1.1
..................................... 34
4.1.2
.......................................... 37
4.1.3
Euler .............................................................. 37
4.1.4
, ,
41
4.2
................................................................................... 41
4.2.1
............................................................................................... 41
4.2.2
1 ..................................................... 42
4.2.3
1......................................... 51
4.2.4
2 ..................................................... 52
4.2.5
2......................................... 55
4.2.6
3 ..................................................... 55
4.2.7
3......................................... 58
4.2.8
4 ..................................................... 58
4.2.9
4......................................... 62
4.2.10 1 ...................................... 62
4.2.11 2 ...................................... 62
4.2.12 3 ...................................... 62
4.2.13 4 ...................................... 64
4.2.14 x .................................................. 65
4.2.15 y .................................................. 66
4.2.16 z .................................................. 66
4.2.17 x ......................... 67
4.2.18 y ......................... 69
4.2.19 z ......................... 71
5 .............................................. 71
Page viii of 9

5.1
.................................................................................................. 72
5.2
.......................................................................... 74
5.2.1
1............................................................................................. 74
5.2.2
2............................................................................................. 83
5.2.3
3............................................................................................. 92
5.2.4
4............................................................................................. 99
5.2.5
x ............................................................. 107
5.2.6
y ............................................................. 108
5.2.7
z.............................................................. 109
5.2.8
x ..................................... 110
5.2.9
y ..................................... 114
5.2.10 z..................................... 118

6 Simulink ............................................................ 119
6.1
.................................................................................. 119
6.2
................................................................................... 119
6.3
............................................................................. 139
6.3.1
....................................................................... 139
6.3.2
Blocks ........................................................................ 142
7 Simulink .................................................... 171

7.1
............................................................ 172
7.2
.................................................................................... 173
8 ..................................................................... 201
8.1
.......................................................................... 201
8.2
................................................................................. 231
9 - ............................................................................... 235
10
.............................................................................................. 237
Page ix of 9
1

,
,
.
. .

.

Matlab Simulink. :
.

,
.

.
,
(14) .
, ,

.
2.1
Page 1 of 237

,

(-chassis)
(double A-arms)
(pushrods)
, ,

. ,

,

, .
2.2
Page 2 of 237

,
.
SAE
. ,
:
x
, y
z
.
(origin) .

,
. ,
,

,
.
(SI).
Page 3 of 237
2.3
2.3.1
,

:
( )

-
- -
antiroll -

:
( M p ), ,
,
( A p ) ( m ())
( xcrank ). ,
, M p = C p Ap + C xcrank ,
C p , C .
. ,

Page 4 of 237

, (
Ap ( s)
. ,
xcrank ( s )
Laplace) M p ( s) = [A( s) B( s)]
,
, ,

. ,
,
i. , M p
A p , xcrank ,

.

, (
), ( M b )
( B p ) ( m ), M bi = k bi B p , k bi
i ,
.

Ackermann. , ,
( ,
)
. , ,

. (slip
angle) ,
.
Ackermann :
Page 5 of 237
,
Ackermann .
,

, . ,

Page 6 of 237

,
slip angles
, .
,
,
.
, anti-Ackermann.
, ,
( S w ), . ,
S w , i = k sw S w , k sw .
, 0.52rad ( 30 o )
,
Formula SAE
(2010). k sw
,
.
, .
,

.
.
(Limited Slip Differential),
,

. ,
. ,
,

- . ,
(Constant Velocity-CV),
.
, :
Page 7 of 237
(
),
.
,
.

( ).
,

,
.
,
, Magic Formula
Hans B. Pacejka
Delft .
, slip ratio ( s )
slip angle ( a )
( Fx ) ( Fy )
.
(Self-Aligning Torque)

,
, .
U tyre x
( U

), Vtyre y ,
( ), R ,
:
s=
R + U tyre
U tyre
s = ArcTan
Vtyre
U tyre
Page 8 of 237

slip ratio
() .
(
),

(
-. ).
Pacejka Magic Formula :
Fxi = D xi sin(C xi ArcTan( B xi s1 E xi ( B xi s i ArcTan( B xi si ))))
Fyi = D yi sin(C yi ArcTan( B yi a1 E yi ( B yi ai ArcTan( B yi ai ))))
, i = 1,2,3,4 .
B ij , C ij , D ij , E ij , Pacejka,
:
Fx , y

= f ( s, a ) .
Page 9 of 237
j
: ( j = x, y )
Fmax
j
S m Am : s, a Fmax
Fasj :
s, a
Gdj : s, a = 0
dF
( Gdj = j , r = s, a )
dr r =0
B ij , C ij , D ij , E ij :
B ij =
Gdj
C ij D ij
C ij = 2 (
ArcSin
Fasj
)
j
Fmax
j
D ij = Fmax
B ij S m Tan
D =
i
j
2C ij
B ij S m ArcTan( B ij S m )
( 1)

Fz . Fz ,
,
B ij , C ij , D ij , E ij F j = f ( s, a ) . ,
Fx slip angle a ,
Fy slip ratio s . :
Fxi = D xi sin(C xi ArcTan( B xi s1 E xi ( B xi s i ArcTan( B xi si ))))
Page 10 of 237
B xi = f Bxi ( Fzi , a i )
C xi = f Cxi ( Fzi , a i )
i
D xi = f Dx
( Fzi , a i )
E xi = f Exi ( Fzi , a i )
Fyi = D yi sin(C yi ArcTan( B yi a1 E yi ( B yi ai ArcTan( B yi ai ))))
B yi = f Byi ( Fzi , si )
C yi = f Cyi ( Fzi , si )
i
D yi = f Dy
( Fzi , si )
E yi = f Eyi ( Fzi , si )

B ij , C ij , D ij , E ij ,
(camber angle). ,
camber
( ).
f ( Fz , s, a ).
, B ij , C ij , D ij , E ij :
Page 11 of 237

B ij = ABji ri + Z Bji Fzi
C ij = ACji ri + Z Cji Fzi + iCj
i
i
D ij = ADj
ri + Z Dj
Fzi
E ij = AEji ri + Z Eji Fzi + iEj

r = a, j = x
r = s, j = y
i
i
ABji , ACji , ADj
, AEji , Z Bji , Z Cji , Z Dj
, Z Eji , iCj , iDj .
, Magic Formula
ABji , ACji , ADji , AEji , Z Bji , Z Cji , Z Dji , Z Eji , iCj , iDj .

Formula SAE Milliken
Calspan.
Hoosier 20.5 x 7.0 13in rim
variant .
i
i
ABji , ACji , ADj
, AEji , Z Bji , Z Cji , Z Dj
, Z Eji , iCj , iDj :
Fz , a Fx Fz , s
x
y
Fy , Fmax
, S m .Fasx , Gdx Fmax
, Am .Fasy , Gdy
. B xi , C xi , D xi , E xi B yi , C yi , D yi , E yi
1. B xi , C xi , D xi , E xi , B yi , C yi , D yi , E yi ,

Fz , a
Fz , s
,
i
i
i
i
i
i
i
i
i
i
ABx , ACx , ADx , AEx , Z Bx , Z Cx , Z Dx , Z Ex , Cx , Dx
i
i
i
i
i
i
i
i
ABy
, ACy
, ADy
, AEy
, Z By
, Z Cy
, Z Dy
, Z Ey
, iCy , iDy
(best fit ).
,
.
F ji = f ji (r , Fzi ), r = s, a , .
,
Fz
, ,
z i ( Ri ) ,
Page 12 of 237

, z&i (-).
Fz :
Fzi = k wi ( z i zi + Ri ) bwi ( z&i z&i ) ,
k wi , bwi

, XYZ
.

XYZ (. 2.3.2).
zi , z&i
-
, , ,
( ), F pi = f i (z i , z& i )
( F pi pushrod , zi
pushrod i
(. 3.1.2), z i , z&i

i )
F pi = k ip1 (z i ) 3 + k ip 2 z i + b ip1 ( z& i ) 3 + b ip 2 z& i
k ip1 , k ip 2 , b ip1 , b ip 2
- -
Page 13 of 237

k
= f k ( z k , z& k ), k = f , r ( f , r
, F phs
k
front rear), F phs
pushrod
-, z k

k = f k = r z& k

k = f k = r , .
:
k
F phs
= k hsk z k + bhsk z& k
k hsk , bhsk
antiroll -
. ,
:
k
F prb
= k rbk z k ,
k
F prb
pushrod antiroll
z k
k = f
k = r
k rbk
Page 14 of 237

() . ,
:
Fdrag = Cd AU 2
A=
1
A f
2
C d
A f .
U x ,

C d
pitch,
. , :
Flift = Cl AU 2
Cl
,
z , pitch, . :
Page 15 of 237

C l = BC + Z C ( z + l ) + C l 0
BC , C l 0
l .

xy .
,

. , ,
d drag d lift ,

. d drag , d lift :
d lift = Bd + Z d ( z + l ) + d lift 0 ,
Bd , Z d , d lift 0
,
.
,

. (block)

. .

(, , ) .
,
.
Page 16 of 237

.

( , )
.
().
,

,
.
,

.
2.3.2 ,
-
,
.

. ,

1, 2, 3
4.
,

XY (
) Z . ,
XYZ :
Page 17 of 237

:
1. ( ) 1 z1
2. ( ) 2 z 2
3. ( ) 3 z 3
4. ( ) 4 z 4
5. 1 1
6. 2 2
7. 3 3
8. 4 4
9. x , U
10. y, V
Page 18 of 237

11. z
12. x (roll),
13. y (pitch),
14. z (yaw), z

:

.

, ,
.

, ,
XY (
camber). ,
, pitch roll
,

.
,

xyz, z.
,
x y ( U wi ,Vwi ) ,
,
U wi = U + z Ymi
Vwi = U + z X mi
X mi , Ymi .
Page 19 of 237

, (roll, pitch),
:
1.
sin , sin = 0
cos , cos = 1
2. ,
, x , y , z ,
x = & , y = & , z = Z ,
&
x = Z sin ,
&
y = cos + Z cos sin

&
z = sin + Z cos cos
3. , xy

.
, xcrank ,
,
,
.
2 x = & ,
x = & << xcrank .

.

( ) . ,
,
,
.

.
Page 20 of 237
3
SI.
,
, .
3.1
,
:
3.1.1
xyz
1, 2
X uf1, 2 = 1.9, Yuf1, 2 = 0.6, Z uf1, 2 = 0.2
X ur1, 2 = 1.5, Yur1, 2 = 0.65, Z ur1, 2 = 0.21
X df1, 2 = 1.85, Ydf1, 2 = 0.5, Z df1, 2 = 0.1

X dr1, 2 = 1.45, Ydr1, 2 = 0.55, Z dr1, 2 = 0.095
1, 2
1, 2
X uw
= 1.7, Yuw
= 0 .9
1, 2
1, 2
X dw
= 1.7, Ydw
= 0 .9
X 1p, 2 = 1.7, Yp1, 2 = 0.6, Z 1p, 2 = 0.3

l uf1, 2 = 0.37
l ur1, 2 = 0.33
l df1, 2 = 0.43
l dr1, 2 = 0.43
Page 21 of 237

l 1p, 2 = 0.51
, 1,2
2 .
Y 2,
, X, Y
. uf, ur, df, dr, p
- ,
-, -, - pushrod .
uw, dw, X, Y
, ,
. ,
. , l
.
3, 4
.
X uf3, 4 = 1.1, Yuf3, 4 = 0.55, Z uf3, 4 = 0.2
X ur3, 4 = 1.5, Yur3, 4 = 0.6, Z ur3, 4 = 0.19
X df3, 4 = 1.1, Ydf3, 4 = 0.45, Z df3, 4 = 0.1

X dr3, 4 = 1.5, Ydr3, 4 = 0.5, Z dr3, 4 = 0.1
3, 4
X uw
= 1.3, Yuw3, 4 = 0.95
3, 4
X dw
= 1.3, Ydw3, 4 = 0.95
X 3p, 4 = 1.3, Yp3, 4 = 0.55, Z 3p, 4 = 0.3

l uf3, 4 = 0.46
l ur3, 4 = 0.42
l df3, 4 = 0.54
Page 22 of 237

l dr3, 4 = 0.49
l 3p, 4 = 0.58
3.1.2
,
(uw)
(dw). pushrods
(dw).
1, 2 = 0.2, 1, 2 = 0.2
3, 4 = 0.21, 3, 4 = 0.21
3.1.3
xyz
X crank = 0.6
Z crank = 0.1
3.1.4
R1, 2 = 0.34
R3, 4 = 0.35
3.1.5
,
,
.
Page 23 of 237
X m1 =
Ym1 =
1, 2
1, 2
Yuw
+ Ydw
= 0.9
2
X m2 =
Ym 2
1, 2
1, 2
X uw
+ X dw
= 1.7
2
3, 4
3, 4
X uw
+ X dw
= 1.3
2
Yuw3, 4 + Ydw3, 4
=
= 0.95
2
3.2 ,
,
.
3.2.1
m = 800
xx = 260
yy = 720
zz = 850
xz = 360
xy , yz .
3.2.2
m1, 2 = 6
m 3, 2 = 8
Page 24 of 237

1, 2 = 0.78
3, 2 = 0.88
3.2.3
mcrank = 10
xcrank = 0.02
crank = 0.21

( xx ) crank = xcrank ,
( yy ) crank = ( zz ) crank = crank ,
,
( xy ) crank = ( xz ) crank = ( yz ) crank = 0
3.3
3.3.1 Pacejka

Magic Formula
2.3.1.
1, 2
1, 2
ABx
= 4.756, Z Bx
= 0.00088
1, 2
1, 2
ACx
= -0.00012, Z Cx
= 0.000042, 1Cx, 2 = 1.28
1, 2
1, 2
ADx
= -30, Z Dx
= 1.6
1, 2
1, 2
AEx
= 0.036, Z Ex
= 0.000078, 1Ex, 2 = 0.782
1, 2
1, 2
ABy
= 50.906, Z By
= 0.002
1, 2
1, 2
ACy
= -0.000456, Z Cy
= 0.000013, 1Cy, 2 = 1.39
1, 2
1, 2
ADy
= -56.5, Z Dy
= 0.99
Page 25 of 237

1, 2
AEy
= 5.695, Z 1Ey, 2 = -0.00258, 1Ey, 2 = 6.543
3, 4
3, 4
ABx
= 4.55, Z Bx
= 0.0009
3, 4
3, 4
3, 4
ACx
= -0.00012, Z Cx
= 0.00005, Cx
= 1.35
3, 4
3, 4
ADx
= -30, Z Dx
= 1.8
3, 4
3, 4
AEx
= 0.031, Z Ex
= 0.000079, 3Ex, 4 = 0.812
3, 4
3, 4
ABy
= 60.87, Z By
= 0.0033
3, 4
3, 4
3, 4
ACy
= -0.000433, Z Cy
= 0.000019, Cy
= 1.51
3, 4
3, 4
ADy
= -53.5, Z Dy
= 1.02
3, 4
3, 4
AEy
= 6.034, Z Ey
= -0.0027, 3Ey, 4 = 6.743

(
Mathematica):
Fx1, 2 (a = 0, s = [0.25,0.25], Fz = [10,10000])
Page 26 of 237
Fy1, 2 ( s = 0, a = [0.18,0.18], Fz = [10,10000])
3.3.2
k w1, 2 = 200000
bw1, 2 = 3000
k w3, 4 = 230000
bw3, 4 = 3400
Page 27 of 237
3.4

i.
C p = 3000
C3, 4 = 0.0477
i = 11
A p :
( A p ) max = 0.125
:
( xcrank ) max = 1466(= 14000 RPM )

:
M p = f ( A p , xcrank ), ( A p = [0,0.125], xcrank = [0,1466])
Page 28 of 237

3.5

:
k b1, 2 = 50000
k b3, 4 = 21430
B p :
( B p ) max = 0.1
3.6
i = f ( S w ) :
k sw = 0.17

max( S w ) max = 3.1415(= 180 o )
3.7
3.7.1
Page 29 of 237

pushrod -
1, 2
k 1p,12 = 25000000
k 1p,22 = 60000
b1p,12 = 20000
b1p,22 = 6000
, ,
pushrod , a
:
z 1dw, 20 = 0.12
3, 4
k p31, 4 = 26000000
k p3,24 = 64000
b 3p1, 4 = 21000
b 3p,24 = 6400
, ,
pushrod , a
:
3, 4
z dw
0 = 0.12
Page 30 of 237

pushrod
:
,2
F p1
= f (z1, 2 ), (z1, 2 = [0.3,0.2])
-300 000
-400 000
-500 000
-600 000
- 0.28
- 0.26
- 0.24
- 0.22
-0.20
3.7.2
:
k hs1 = 250000
bhs1 = 5000
Page 31 of 237

k hs 2 = 500000
bhs 2 = 6000
3.7.3 Antiroll bars
k rb1 = 50000
k rb 2 = 40000
3.8

:
C d = 0.45
A f = 1 .6
BC = 10
ZC = 5
l = 0.15
Cl 0 = 4
Bd = 0.5
Z d = 0.1
d lift 0 = 0.1
Page 32 of 237

d drag = 0.1

Cl = f ( z , ) , Aero Map:
C l = f ( z, ), ( z = [0.3,0.15], = [0.03,0.03])
3.9

:
= 1 .2
g = 9.81
Page 33 of 237
4

.

.
4.1

. ,

.
4.1.1
, Fx , Fy
, U ,V
, z
m
Fx = m(U& V )
Fy = m(V& + U )

x .

( ).
Page 34 of 237

.
.
( ),
,
:
Fx = m(U& V )
Fy = m(V& + U )
(2)
Fx = Fx cos + Fy sin
Fy = Fy cos Fx sin
(3)
Page 35 of 237

U = U cos + V sin
(4)
V = V cos U sin
= + & (5)
(3), (4), (5) (2)

Fx cos + Fy sin = m(U& cos + V& sin U& sin + V& cos
V cos V& cos + U sin + U& sin )
(6)
Fy cos Fx sin = m(V& cos U& sin V& sin U& cos +
+ U cos + U& cos + V sin + V& sin )
(6) :
Fx cos + Fy sin = m(U& cos + V& sin V cos + U sin )
Fy cos Fx sin = m(V& cos U& sin + U cos + V sin )
(7)
(7) :
Fy = mV& mU& tan + mU + mV tan + Fx tan
(7) :
Fx cos + (mV& mU& tan + mU + mV tan + Fx tan ) sin =
(8)
= m(U& cos + V& sin V cos + U sin )
(8) cos :
Page 36 of 237

Fx cos 2 + mV& sin cos mU& sin 2 + mU sin cos + mV sin 2 + Fx sin 2 =
= mU& cos 2 + mV& sin cos mV cos 2 + mU sin cos
Fx (cos 2 + sin 2 ) = mU& (cos 2 + sin 2 ) mV (cos 2 + sin 2 )
F = m(U& V )
x

Fy = m(V& + U )
4.1.2

Fx = m(U& V z + W y )
Fy = m(V& + U z W x )
Fz = m(W& U y + V x )

.
W z .

( x).
4.1.3 Euler
( x)
block (
) ( x)
(. 2.3.2). ,
, & = xcrank .
:
Page 37 of 237
,
. x, x
( ).
M x = I x & xcrank
M y = I& y I x xcrank z (9)
M z = I& z + I x xcrank y
(9), M x , M y , M z
, (= yy = zz ), x (= xx ) ()
y , z , y z,
.
. Euler :
M x = I x & xcrank
z (10)
M y = I& y + ( I I x ) xcrank
y
M z = I& z + ( I x I ) xcrank

( ).
Page 38 of 237
Mx = Mx
M y = M y cos M z sin (11)
M z = M z cos + M y sin
xcrank = xcrank
y = y cos z sin (12)
z = z cos + y sin
(11), (12) (10) :

M x = I x & xcrank
M y cos M z sin = I& y cos I& z sin I y& sin I z& cos +
+ ( I I x ) xcrank z cos + ( I I x ) xcrank y sin
(13)
M z cos + M y sin = I& z cos + I& y sin I z& sin + I y& cos +
+ ( I x I ) xcrank y cos ( I x I ) xcrank z sin
, & = xcrank , (13)

M x = I x & xcrank
M y cos M z sin = I& y cos I& z sin I y xcrank sin I z xcrank cos +
+ I xcrank z cos + I xcrank y sin I x xcrank z cos I x xcrank y sin
M z cos + M y sin = I& z cos + I& y sin I z xcrank sin + I y xcrank cos +
+ I x xcrank y cos I x xcrank z sin I xcrank y cos + I xcrank z sin

M x = I x & xcrank
M y cos M z sin = I& y cos I& z sin I x xcrank z cos I x xcrank y sin (14)
M z cos + M y sin = I& z cos + I& y sin + I x xcrank y cos I x xcrank z sin
Page 39 of 237

(14) :
M y = I& y I& z tan I x xcrank z I x xcrank y tan + M z tan (15)
(14), (15)
M z cos + ( I& y I& z tan I x xcrank z I x xcrank y tan + M z tan ) sin =
= I& z cos + I& y sin + I x xcrank y cos I x xcrank z sin
cos :
M z cos 2 + I& y cos sin I& z sin 2 I x xcrank z cos sin I x xcrank y sin 2 + M z sin 2 =
= I& z cos 2 + I& y sin cos + I x xcrank y cos 2 I x xcrank z sin cos
,
M z cos 2 I& z sin 2 I x xcrank y sin 2 + M z sin 2 = I& z cos 2 + I x xcrank y cos 2
M z (cos 2 + sin 2 ) = I& z (cos 2 + sin 2 ) + I x xcrank y (cos 2 + sin 2 )
M z = I& z + I x xcrank y

M y = I& y I x xcrank z
, & = xcrank
& = xcrank x ( x
),
M x = I x & xcrank
M y = I& y I x xcrank z + I x z (16)
M z = I& z + I x xcrank y I x y
Page 40 of 237

(16) , I x xcrank y >> I x y
I x xcrank z >> I x z
4.1.4 , ,

,
pushrod. :
z w1 = z + Ym1 + X m1 + z1
z = z Y + X + z
w2
m1
m1
z w3 = z + Ym1 X m1 + z 3
z = z Y X + z
w4
m1
m1
4.2
4.2.1

. , :

Ap
Page 41 of 237

Bp
Sw

. :
: zi
: z&i
4.2.2 1
.
M b1 = k b1 B p
1 = f1 ( S w ) = k sw S w
Page 42 of 237

U w1 = U + z Ym1
Vw1 = V + z X m1
(17)
,
1 .
.
Page 43 of 237
:
U tyre1 = U w1 cos 1 + Vw1 sin 1
Vtyre1 = Vw1 cos 1 U w1 sin 1
(18)
, (17) (18),
( ,

):
Slip Ratio
s1 =
1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1

U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1
Slip Angle
a1 = ArcTan
V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1

Page 44 of 237

1
1
B 1x = ABx
a1 + Z Bx
[k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )]
1
1
C 1x = ACx
a1 + Z Cx
[k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )] + 1Cx
1
D 1x = ADx
a1 + Z 1Dx [k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )]
1
E 1x = A1Ex a1 + Z Ex
[k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )] + 1Ex
1
1
B 1y = ABy
s1 + Z By
[k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )]
1
1
C 1y = ACy
s1 + Z Cy
[k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )] + 1Cy
1
D 1y = ADy
s1 + Z 1Dy [k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )]
1
E 1y = AEy
s1 + Z 1Ey [k w1 ( z1 z 1 + R1 ) + bw1 ( z&1 z& 1 )] + 1Ey
Fx1 = D 1x sin(C 1x ArcTan( B1x s1 E 1x ( B1x s1 ArcTan( B 1x s1 ))))
Fy1 = D 1y sin(C 1y ArcTan( B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))))

, ,
(
):
Page 45 of 237
:
Fx = m1 (U& w1 Vw1 z )
F = m (V& + U )
y
w1
w1

M b1 , F11 , F21 , F31 , F41 (
-):
Page 46 of 237
F11 =
( Fy1 cos 1 + Fx1 sin 1 )( z 1 z1 1 ) + m1 (V& + X m1& z + Ym1 z2 + U z ) 1 M b1 sin 1
F =
1
2
F31 =
F =
1
4
1 + 1
( F cos 1 + F sin 1 )( z 1 z1 + 1 ) m1 (V& + X m1& z + Ym1 z2 + U z ) 1 M b1 sin 1
1
y
1
x
1 + 1
( Fx1 cos 1 Fy1 sin 1 ) 1 m1 (U& + Ym1& z X m1 z2 V z ) 1 + M b1 cos 1
1 + 1
( F cos 1 F sin 1 ) 1 m1 (U& + Ym1& z X m1 z2 V z ) 1 M b1 cos 1
1
x
1
y
1 + 1

F11 , F21 , F31 , F41 ,
, ,

,
. :
Page 47 of 237

F , Fur1 , Fdf1 , Fdr1 ( . 3.1.1).
1
uf
c =
1
uf
1
=
cur
s =
1
uf
s =
1
ur
c1df =
c =
1
dr
s =
1
df
s =
1
dr
c =
1
p
1
Yuf1 Yuw
luf1
1
Yur1 Yuw
lur1
1
X uf1 X uw
luf1
1
X ur1 X uw
lur1
1
Ydf1 Ydw
ldf1
1
Ydr1 Ydw
ldr1
1
X df1 X dw
ldf1
1
X dr1 X dw
ldr1
1
Y p1 Ydw
l 1p

(
-. 2.3.2).
:
Page 48 of 237
Fuf1 =
F =
1
ur
Fdf1 =
F =
1
dr
1
1
s ur
F11 + cur
F31
1
1 1
cuf1 s ur
+ cur
suf
suf1 F11 cuf1 F31

1
cuf1 s ur
+ cur1 s uf1
s 1dr F21 + c 1dr F41

c1df s 1dr + c 1dr s 1df
s 1df F21 c1df F41
c 1df s 1dr + c1dr s 1df
pushrod
, pushrod F p1 ,
( ):
F p1 = k 1p1 ( z 1dw0 + z Ym1 X m1 z1 1 ) 3 + k 1p 2 ( z 1dw0 + z Ym1 X m1 z1 1 ) +
2
+ k rb1 (2Ym1 z1 + z 2 ) + k hs1 ( z 1dw0 + 2 z 2 X m1 z1 1 + z dw
0 z2 2 ) +
&
&
&
&
&
+ bhs1 (2 z& 2 X m1 z&1 z& 2 ) + b1p1 ( z& Ym1 X m1 z&1 ) 3 + b1p 2 ( z& Ym1 X m1 z&1 )
pushrod
, F p1 ,
pushrod,
:
Page 49 of 237
, Fa1 , Fb1 :
F =
1
F =
1
F p1c1p s 1dr
c1df s 1dr + c 1dr s 1df
F p1c1p s 1df
c 1df s 1dr + c1dr s 1df
Fdf1 , Fdr1

.
Fuf1 , Fur1 , Fdf1 , Fdr1 , Fa1 , Fb1 ,
xy .
z,
Z. ,

Page 50 of 237

-.

z uf1 + z Ym1 X m1 z1 + a1
l uf1
1
z ur
+ z Ym1 X m1 z1 + a1
lur1
z 1df + z Ym1 X m1 z1 1
l df1
z 1dr + z Ym1 X m1 z1 1
l dr1

xy.
1 z.
4.2.3 1
, :
m1 &z&1 = F p1
1
1
( z + Ym1 + X m1 + z1 + 1 z 1p ) + Fuf1 1 ( z uf1 + z Ym1 X m1 z1 + a1 ) +
1
lp
l uf
+ Fur1
1 1
1
( z ur + z Ym1 X m1 z1 + a1 ) + Fdf1 1 ( z 1df + z Ym1 X m1 z1 1 ) +
1
lur
l df
+ Fdr1
1 1
1
( z dr + z Ym1 X m1 z1 1 ) + F1 1 ( z 1df + z Ym1 X m1 z1 1 ) +
1
l dr
l df
+ F1
1 1
( z dr + z Ym1 X m1 z1 1 ) k w1 ( z1 z 1 + R1 ) bw1 ( z&1 z& 1 ) + m1 g
1
l dr
Page 51 of 237

4.2.4 2
M b2 = k b2 B p
2 = f 2 ( S w ) = k sw S w
U w 2 = U z Ym1
Vw 2 = V + z X m1
Slip Ratio
s2 =
2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2

U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2
Slip Angle
a 2 = ArcTan
V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2


2
2
B x2 = ABx
a 2 + Z Bx
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )]
2
2
2
C x2 = ACx
a 2 + Z Cx
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )] + Cx
2
2
D x2 = ADx
a 2 + Z Dx
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )]
2
2
E x2 = AEx
a 2 + Z Ex
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )] + 2Ex
2
2
B y2 = ABy
s 2 + Z By
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )]
2
2
2
C y2 = ACy
s 2 + Z Cy
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )] + Cy
2
2
D y2 = ADy
s 2 + Z Dy
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )]
2
2
E y2 = AEy
s 2 + Z Ey
[k w2 ( z 2 z 2 + R2 ) + bw2 ( z& 2 z& 2 )] + 2Ey
Page 52 of 237

Fx2 = D x2 sin(C x2 ArcTan( B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))))
Fy2 = D y2 sin(C y2 ArcTan( B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))))
F =
2
1
( Fy2 cos 2 + Fx2 sin 2 )( z 2 z 2 2 ) + m2 (V& + X m1& z Ym1 z2 + U z ) 2 M b2 sin 2
2 + 2
F22 =
F =
2
3
F =
2
4
( Fy2 cos 2 + Fx2 sin 2 )( z 2 z 2 + 2 ) m2 (V& + X m1& z Ym1 z2 + U z ) 2 M b2 sin 2
2 + 2
( F cos 2 F sin 2 ) 2 m2 (U& Ym1& z X m1 z2 V z ) 2 + M b2 cos 2
2
x
2
y
2 + 2
( F cos 2 F sin 2 ) 2 m2 (U& Ym1& z X m1 z2 V z ) 2 M b2 cos 2
2
x
2
y
2 + 2
c =
2
uf
c =
2
ur
s =
2
uf
s =
2
ur
Yuf2 Yuw2
luf2
Yur2 Yuw2
lur2
2
X uf2 X uw
luf2
2
X ur2 X uw
lur2
Page 53 of 237

Ydf2 Ydw2
c =
2
df
ldf2
Ydr2 Ydw2
c =
2
dr
ldr2
2
X df2 X dw
sdf2 =
ldf2
2
X dr2 X dw
s =
2
dr
c =
2
p
ldr2
Y p2 Ydw2
l p2
s ur2 F12 cur2 F32

F = 2 2
cuf s ur + cur2 s uf2
2
uf
F =
2
ur
Fdf2 =
Fdr2 =
s uf2 F12 + cuf2 F32

cuf2 s ur2 + cur2 s uf2
s dr2 F22 c dr2 F42
c df2 s dr2 + c dr2 s df2
s df2 F22 + c df2 F42
2
3
2
2
F p2 = k p21 ( z dw
0 + z + Ym1 X m1 z 2 2 ) + k p 2 ( z dw 0 + z + Ym1 X m1 z 2 2 ) +
2
k rb1 (2Ym1 + z1 z 2 ) + k hs1 ( z 1dw0 + 2 z 2 X m1 z1 1 + z dw
0 z2 2 ) +
&
&
&
&
&
+ bhs1 (2 z& 2 X m1 z&1 z& 2 ) + b p21 ( z& + Ym1 X m1 z& 2 ) 3 + b1p 2 ( z& + Ym1 X m1 z& 2 )
F =
2
F =
2
F p2 c 2p s dr2
F p2 c 2p s df2
Page 54 of 237

4.2.5 2
m 2 &z&2 = F p2
1
1
( z Ym1 + X m1 + z 2 + 2 z 2p ) + Fuf2 2 ( z uf2 z Ym1 + X m1 + z 2 a 2 ) +
2
lp
l uf
+ Fur2
1
1
( z ur2 z Ym1 + X m1 + z 2 a 2 ) + Fdf2 2 ( z df2 z Ym1 + X m1 + z 2 + 2 ) +
2
l ur
l df
+ Fdr2
1
1
( z dr2 z Ym1 + X m1 + z 2 + 2 ) + F2 2 ( z df2 z Ym1 + X m1 + z 2 + 2 ) +
2
l dr
l df
+ F2
1
( z dr2 z Ym1 + X m1 + z 2 + 2 ) k w2 ( z 2 z 2 + R2 ) bw2 ( z& 2 z& 2 ) + m 2 g
2
l dr
4.2.6 3
3
M b3 = k b3 B p
U w3 = U z Ym 2
Vw3 = V z X m 2
Slip Ratio
s3 =
3 R3 + U + Ym 2 z
U + Ym 2 z
Slip Angle
a3 = ArcTan
V X m 2 z
U + Ym 2 z
Page 55 of 237

3
3
B x3 = ABx
a 3 + Z Bx
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )]
3
3
3
C x3 = ACx
a3 + Z Cx
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )] + Cx
3
3
D x3 = ADx
a3 + Z Dx
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )]
3
3
E x3 = AEx
a 3 + Z Ex
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z&3 z& 3 )] + 3Ex
3
3
B y3 = ABy
s 3 + Z By
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )]
3
3
C y3 = ACy
s 3 + Z Cy
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z&3 z& 3 )] + 3Cy
3
3
D y3 = ADy
s 3 + Z Dy
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )]
3
3
E y3 = AEy
s 3 + Z Ey
[k w3 ( z 3 z 3 + R3 ) + bw3 ( z& 3 z& 3 )] + 3Ey
Fx3 = D x3 sin{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]}
Fy3 = D y3 sin{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]}
F13 =
Fy3 ( z 3 z 3 3 ) + m3 (V& X m 2& z + Ym 2 z2 + U z ) 3
F =
3
2
3 + 3
F ( z 3 z 3 + 3 ) m3 (V& X m 2& z + Ym 2 z2 + U z ) 3
3
y
3 + 3
Fx3 3 m3 (U& + Ym 2& z + X m 2 z2 V z ) 3 + M b3

3 + 3
3
F m3 (U& + Ym 2& z + X m 2 z2 V z ) 3 M b3
F43 = x 3
3 + 3
F33 =
Page 56 of 237
Yuf3 Yuw3
cuf3 =
luf3
Yur3 Yuw3
c =
3
ur
lur3
3
X uf3 X uw
s =
3
uf
luf3
3
X ur3 X uw
sur3 =
lur3
Ydf3 Ydw3
c =
3
df
ldf3
Ydr3 Ydw3
cdr3 =
ldr3
3
X df3 X dw
s =
3
df
ldf3
3
X dr3 X dw
s =
3
dr
c =
3
p
ldr3
Y p3 Ydw3
l 3p
s ur3 F13 + cur3 F33

F = 3 3
3
uf
F =
3
ur
Fdf3 =
F =
3
dr
s uf3 F13 cuf3 F33

s dr3 F23 + c dr3 F43
s 1df F21 c1df F41
Page 57 of 237

3
3
3
3
F p3 = k 3p1 ( z dw
0 + z Ym 2 + X m 2 z 3 3 ) + k p 2 ( z dw 0 + z Ym 2 + X m 2 z 3 3 ) +
3
4
k rb 2 (2Ym 2 z 3 + z 4 ) + k hs 2 ( z dw
0 + 2 z + 2 X m 2 z 3 3 + z dw 0 z 4 4 ) +
&
&
&
&
&
+ bhs 2 (2 z& + 2 X m 2 z& 3 z& 4 ) + b 3p1 ( z& Ym 2 + X m 2 z&3 ) 3 + b p3 2 ( z& Ym 2 + X m 2 z&3 )
F =
3
F =
3
Fp3 c 3p s dr3
F p3 c 3p s df3
4.2.7 3
m3 &z&3 = F p3
1
1
( z + Ym 2 X m 2 + z 3 + 3 z 3p ) + Fuf3 3 ( z uf3 + z Ym 2 + X m 2 z 3 + a3 ) +
3
lp
luf
+ Fur3
1 3
1
( z ur + z Ym 2 + X m 2 z 3 + a3 ) + Fdf3 3 ( z df3 + z Ym 2 + X m 2 z 3 3 ) +
3
l ur
l df
+ Fdr3
1 3
1
( z dr + z Ym 2 + X m 2 z 3 3 ) + F3 3 ( z df3 + z Ym 2 + X m 2 z 3 3 ) +
3
l dr
l df
+ F3
1 3
( z dr + z Ym 2 + X m 2 z 3 3 ) k w3 ( z 3 z 3 + R3 ) bw3 ( z& 3 z& 3 ) + m3 g
3
l dr
4.2.8 4
M b4 = k b4 B p
U w 4 = U + z Ym 2
Vw 4 = V z X m 2
Slip Ratio
Page 58 of 237
s4 =
4 R4 + U Ym 2 z
U Ym 2 z
Slip Angle
a 4 = ArcTan
V X m 2 z
U Ym 2 z
4
4
B x4 = ABx
a 4 + Z Bx
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )]
4
4
4
C x4 = ACx
a 4 + Z Cx
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )] + Cx
4
4
D x4 = ADx
a 4 + Z Dx
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )]
4
4
E x4 = AEx
a 4 + Z Ex
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )] + 4Ex
4
4
B y4 = ABy
s 4 + Z By
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )]
4
4
4
C y4 = ACy
s 4 + Z Cy
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )] + Cy
4
4
D y4 = ADy
s 4 + Z Dy
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )]
4
4
E y4 = AEy
s 4 + Z Ey
[k w4 ( z 4 z 4 + R4 ) + bw4 ( z& 4 z& 4 )] + 4Ey
Fx4 = D x4 sin{C x4 ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]}
Fy4 = D y4 sin{C y4 ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]}
Page 59 of 237
F14 =
Fy4 ( z 4 z 4 4 ) + m4 (V& X m 2& z Ym 2 z2 + U z ) 4
4 + 4
F =
4
2
F ( z 4 z 4 + 4 ) m4 (V& X m 2& z Ym 2 z2 + U z ) 4
4
y
4 + 4
Fx4 4 m4 (U& Ym 2& z + X m 2 z2 V z ) 4 + M b4

4 + 4
4
Fx 4 m4 (U& Ym 2& z + X m 2 z2 V z ) 4 M b4
4
F4 =
4 + 4
F34 =
c =
4
uf
c =
4
ur
s =
4
uf
s =
4
ur
Yuf4 Yuw4
luf4
Yur4 Yuw4
lur4
4
X uf4 X uw
luf4
4
X ur4 X uw
lur4
Page 60 of 237

Ydf4 Ydw4
c =
4
df
ldf4
Ydr4 Ydw4
c =
4
dr
ldr4
4
X df4 X dw
sdf4 =
ldf4
4
X dr4 X dw
s =
4
dr
c =
4
p
ldr4
Y p4 Ydw4
l p4
s ur4 F14 cur4 F34

F = 4 4
4
uf
F =
4
ur
Fdf4 =
Fdr4 =
s uf4 F14 + cuf4 F34

s dr4 F24 c dr4 F44
s df4 F24 + c df4 F44
4
3
4
4
F p4 = k p41 ( z dw
0 + z + Ym 2 + X m 2 z 4 4 ) + k p 2 ( z dw 0 + z + Ym 2 + X m 2 z 4 4 ) +
3
4
k rb 2 (2Ym 2 + z 3 z 4 ) + k hs 2 ( z dw
0 + 2 z + 2 X m 2 z 3 3 + z dw 0 z 4 4 ) +
&
&
&
&
&
+ bhs 2 (2 z& + 2 X m 2 z& 3 z& 4 ) + b p41 ( z& + Ym 2 + X m 2 z& 4 ) 3 + b p4 2 ( z& + Ym 2 + X m 2 z& 4 )
F =
4
F =
4
F p4 c 4p s dr4
F p4 c 4p s df4
Page 61 of 237

4.2.9 4
m4 &z&4 = F p4
1
1
( z Ym 2 X m 2 + z 4 + 4 z 4p ) + Fuf4 4 ( z uf4 z Ym 2 X m 2 + z 4 4 ) +
4
lp
l uf
+ Fur4
1
1
( z ur4 z Ym 2 X m 2 + z 4 4 ) + Fdf4 4 ( z df4 z Ym 2 X m 2 + z 4 + 4 ) +
4
lur
l df
+ Fdr4
1
1
( z dr4 z Ym 2 X m 2 + z 4 + 4 ) + F4 4 ( z df4 z Ym 2 X m 2 + z 4 + 4 ) +
4
l dr
l df
+ F4
1
( z dr4 z Ym 2 X m 2 + z 4 + 4 ) k w4 ( z 4 z 4 + R4 ) bw4 ( z& 4 z& 4 ) + m4 g
4
l dr
4.2.10 1
1
:
1& 1 = M b1 + Fx1 ( z 1 z1 )
4.2.11 2
2& 2 = M b2 + Fx2 ( z 2 z 2 )
4.2.12 3
,
. ,
.

:

:
Page 62 of 237

M x = I xcrank xcrank
M p M out = I xcrank xcrank
(19)
M out
, i, :
M diff = iM out (20)
M diff
, diff ,
3, 4. :
1
2
diff = ( 3 + 4 ) (21)
, xcrank :
i
2
xcrank = i diff = ( 3 + 4 )
& xcrank
i
= (& 3 + & 4 )
2
(22)

(
) .
M p , M out .
(20) (19) :
Page 63 of 237

M diff = i ( M p I xcrank xcrank ) (23)
(23) (22) :
i
M diff = i ( M p I xcrank ( (& 3 + & 4 )))
2
2
i
M diff = iM p + I xcrank (& 3 + & 4 )
2
, M =
M =
M diff
2
i
i2
M p + I xcrank (& 3 + & 4 )
2
4
:
3& 3 = M b3 + Fx3 ( z 3 z 3 ) M
i
i2
3& 3 = M b3 + Fx3 ( z 3 z 3 ) ( M p + I xcrank (& 3 + & 4 ))
2
4
2
i 2
i
i
( 3 + xcrank )& 3 = M b3 + Fx3 ( z 3 z 3 ) M p3 xcrank & 4
4
2
4
4.2.13 4
, 4
i2
i 4 i 2 xcrank
4
4
( 4 + xcrank )& 4 = M b + Fx ( z 4 z 4 ) M p
& 3
4
2
4
Page 64 of 237

4.2.14 x

.

.
1
A f
2
Fdrag = C d AU 2
A=
C l = BC + Z C ( z + l ) + C l 0
d = B + Z ( z + l ) + d
lift
lift 0
Flift = C l AU 2
, x,
F3i , F4i
. , x
. x
(. 4.1.2):
Fxcrank = mcrank (U& crank Vcrank z + Wcrank y )
Fycrank = mcrank (V&crank + U crank z Wcrank x ) (24)
F
= m(W&
U +V )
zcrank
crank
crank
crank
.
,
( X crank , Z crank , ):
U crank = U + Z crank y
Vcrank = V X crank z Z crank x (25)
Wcrank = W + X crank y
Page 65 of 237

:
&
x =
&
y =
(25) (24)
.
. :
Fx = F31 F32 F33 F34 F41 F42 F43 F44 Fdrag
&&
&
&
&
mcrank (U& + Z crank V z + X crank z2 + Z crank z + z& + X crank 2 )
&
Fx = m(U& + z& V z )
4.2.15 y
, :
Fy = F11 F12 F13 F14 F21 F22 F23 F24
&&
&
&&
&
mcrank (V& X crank & z Z crank z& X crank + U z + Z crank z )
&
Fy = m(V& + U z z&)
4.2.16 z
, .
-, , z,

Page 66 of 237

( ). ,

,
.
:
Fz = k w1 ( z1 z 1 + R1 ) bw1 ( z&1 z& 1 ) + m1 g m1 &z&1

k w2 ( z 2 z 2 + R2 ) bw2 ( z& 2 z& 2 ) + m2 g m2 &z&2
k w3 ( z 3 z 3 + R3 ) bw3 ( z& 3 z& 3 ) + m3 g m3 &z&3
k w4 ( z 4 z 4 + R4 ) bw4 ( z& 4 z& 4 ) + m4 g m4 &z&4
&&
&
&
&
&
&
mcrank (&z& + X crank U + Z crank 2 + V X crank z Z crank 2 ) +
+ Flift + mg
&
&
Fz = m(&z& + V U )
4.2.17 x
x
. ,
. ,
( xcrank & xcrank =
i xcrank
(& 3 + & 4 ) ). , , x,
2
,
,
CM . :
Page 67 of 237

1
M x = ( Fuf1 )cuf1 Z uf1 + ( Fur1 )cur
Z ur1 ( Fdf1 )c 1df Z df1 ( Fdr1 )c1dr Z dr1 ( F1 )c 1df Z df1 ( F1 )c 1dr Z dr1
+ F p1c 1p Z 1p + Fuf1
1 1
1 1
( z uf + z Ym1 X m1 z1 + a1 )Yuf1 + Fur1 1 ( z ur
+ z Ym1 X m1 z1 + a1 )Yur1
1
l uf
l ur
+ Fdf1
1 1
1
( z df + z Ym1 X m1 z1 1 )Ydf1 + Fdr1 1 ( z 1dr + z Ym1 X m1 z1 1 )Ydr1
1
l df
l dr
+ F1
1
( z 1df + z Ym1 X m1 z1 1 )Ydf1 + F1 1 ( z 1dr + z Ym1 X m1 z1 1 )Ydr1
l
l dr
+ F p1
1
( z 1p z + Ym1 + X m1 + z1 + 1 )Y p1 +
1
lp
1
df
+ ( Fuf2 )cuf2 Z uf2 + ( Fur2 )cur2 Z ur2 ( Fdf2 )c df2 Z df2 ( Fdr2 )c dr2 Z dr2 ( F2 )c df2 Z df2 ( F2 )c dr2 Z dr2
F p2 c 2p Z p2 + Fuf2
1 2
1
( z uf + z + Ym1 X m1 z 2 + a 2 )Yuf2 + Fur2 2 ( z ur2 + z + Ym1 X m1 z 2 + a 2 )Yur2
2
luf
lur
+ Fdf2
1
( z df2 + z + Ym1 X m1 z 2 2 )Ydf2 + Fdr2 2 ( z dr2 + z + Ym1 X m1 z 2 2 )Ydr2
l
l dr
+ F2
1 2
1
( z df + z + Ym1 X m1 z 2 2 )Ydf2 + F2 2 ( z dr2 + z + Ym1 X m1 z 2 2 )Ydr2
2
l df
l dr
F p2
1
( z 2p z Ym1 + X m1 + z 2 + 2 )Y p2 +
2
lp
2
df
+ F p3 c 3p Z 3p + Fuf3
1 3
1
( z uf + z Ym 2 + X m 2 z 3 + a 3 )Yuf3 + Fur3 3 ( z ur3 + z Ym 2 + X m 2 z 3 + a 3 )Yur3
3
l uf
l ur
+ Fdf3
1 3
1
( z df + z Ym 2 + X m 2 z 3 3 )Ydf3 + Fdr3 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 )Ydr3
3
l df
l dr
+ F3
1
( z df3 + z Ym 2 + X m 2 z 3 3 )Ydf3 + F3 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 )Ydr3
l
l dr
+ F p3
1
( z 3p z + Ym 2 X m 2 + z 3 + 3 )Y p3 +
3
lp
3
df
F p4 c 4p Z p4 + Fuf4
1 4
1
( z uf + z + Ym 2 + X m 2 z 4 + a 4 )Yuf4 + Fur4 4 ( z ur4 + z + Ym 2 + X m 2 z 4 + a 4 )Yur4
l uf4
l ur
+ Fdf4
1 4
1
( z df + z + Ym 2 + X m 2 z 4 4 )Ydf4 + Fdr4 4 ( z dr4 + z + Ym 2 + X m 2 z 4 4 )Ydr4
4
l df
l dr
+ F4
1 4
1
( z df + z + Ym 2 + X m 2 z 4 4 )Ydf4 + F4 4 ( z dr4 + z + Ym 2 + X m 2 z 4 4 )Ydr4
4
l df
l dr
1
( z 4p z Ym 2 X m 2 + z 4 + 4 )Y p4 + ( xcrank & xcrank )
l p4
&&
&
&&
&
mcrank (V& X crank & z Z crank z& X crank + U z + Z crank z ) Z crank
F p4
Page 68 of 237

&&
&
&&
M x = xx xz & z + ( zz yy ) z xz
4.2.18 y
, , :
o
o
o ,
M y = M ycrank = ( I crank & y I xcrank xcrank z ) (. 4.1.3)
o
o x
o z
:
1
M y = Fuf1 suf1 Z uf1 Fur1 s ur
Z ur1 Fdf1 s df1 Z df1 + Fdr1 s 1dr Z dr1 F1 s 1df Z df1 + F1 s 1dr Z dr1 +
+ Fuf1
1 1
1 1
( z uf + z Ym1 X m1 z1 + a1 ) X uf1 + Fur1 1 ( z ur
+ z Ym1 X m1 z1 + a1 ) X ur1
1
l uf
l ur
+ Fdf1
1
( z 1df + z Ym1 X m1 z1 1 ) X df1 + Fdr1 1 ( z 1dr + z Ym1 X m1 z1 1 ) X dr1
l
l dr
+ F1
1
( z 1df + z Ym1 X m1 z1 1 ) X df1 + F1 1 ( z 1dr + z Ym1 X m1 z1 1 ) X dr1
l
l dr
+ F p1
1
( z 1p z + Ym1 + X m1 + z1 + 1 ) X 1p
1
lp
1
df
1
df
Page 69 of 237

Fuf2 suf2 Z uf2 + Fur2 s ur2 Z ur2 + Fdf2 s df2 Z df2 Fdr2 s dr2 Z dr2 + F2 s df2 Z df2 F2 s dr2 Z dr2
Fuf2
1 2
1
( z uf + z + Ym1 X m1 z 2 + a 2 ) X uf2 Fur2 2 ( z ur2 + z + Ym1 X m1 z 2 + a 2 ) X ur2
2
l uf
lur
Fdf2
1
( z df2 + z + Ym1 X m1 z 2 2 ) X df2 Fdr2 2 ( z dr2 + z + Ym1 X m1 z 2 2 ) X dr2
l
l dr
F2
1
( z df2 + z + Ym1 X m1 z 2 2 ) X df2 F2 2 ( z dr2 + z + Ym1 X m1 z 2 2 ) X dr2
l
l dr
+ F p2
1
( z 2p z Ym1 + X m1 + z1 + 2 ) X p2 +
l p2
2
df
2
df
+ Fuf3 suf3 Z uf3 Fur3 sur3 Z ur3 Fdf3 s df3 Z df3 + Fdr3 s dr3 Z dr3 F3 s df3 Z df3 + F3 s dr3 Z dr3 +
Fuf3
1 3
1
( z uf + z Ym 2 + X m 2 z 3 + a3 ) X uf3 Fur3 3 ( z ur3 + z Ym 2 + X m 2 z 3 + a3 ) X ur3
2
luf
lur
Fdf3
1 3
1
( z df + z Ym 2 + X m 2 z 3 3 ) X df3 Fdr3 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 ) X dr3
3
l df
l dr
F3
1
( z df3 + z Ym 2 + X m 2 z 3 3 ) X df3 F3 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 ) X dr3
l
l dr
F p3
1
( z 3p z + Ym 2 X m 2 + z 3 + 3 ) X 3p
3
lp
3
df
Fuf4 suf4 Z uf4 + Fur4 sur4 Z ur4 + Fdf4 s df4 Z df4 Fdr4 s dr4 Z dr4 + F4 s df4 Z df4 F4 s dr4 Z dr4 +
+ Fuf4
1 4
1
( z uf + z + Ym 2 + X m 2 z 4 + a 4 ) X uf4 + Fur4 4 ( z ur4 + z + Ym 2 + X m 2 z 4 + a 4 ) X ur4
4
luf
lur
+ Fdf4
1 4
1
( z df + z + Ym 2 + X m 2 z 4 4 ) X df4 + Fdr4 4 ( z dr4 + z + Ym 2 + X m 2 z 4 4 ) X dr4
4
l df
l dr
+ F4
1
( z df4 + z + Ym 2 + X m 2 z 4 4 ) X df4 + F4 4 ( z dr4 + z + Ym 2 + X m 2 z 4 4 ) X dr4
l
l dr
F p4
1
( z 4p z Ym 2 X m 2 + z 4 + 4 ) X p4 + Fdrag d drag + Flift d lift +
4
lp
4
df
i2
&&
&
&
&
xcrank (& 3 + & 4 ) + iM p3, 4 mcrank (U& + Z crank V z + X crank z2 + Z crank z + z& + X crank 2 ) Z crank
2
&&
&
&
&
&
&
mcrank (&z& + X crank U + Z crank 2 + V X crank z Z crank 2 ) X crank
&&
crank + xcrank xcrank z
+
Page 70 of 237

&&
&
&
M y = yy + ( xx zz ) z + xz ( 2 z2 )
4.2.19 z
:
1
M z = Fuf1 cuf1 X uf1 Fur1 cur
X ur1 Fdf1 c1df X df1 Fdr1 c 1dr X dr1 F1c1df X df1 F1c 1dr X dr1 + F p1c 1p X 1p
1
Fuf1 s uf1 Yuf1 + Fur1 sur
Yur1 Fdf1 s 1df Ydf1 + Fdr1 s 1dr Ydr1 F1 s 1df Ydf1 + F1 s 1dr Ydr1
Fuf2 cuf2 X uf2 Fur2 cur2 X ur2 Fdf2 c df2 X df2 Fdr2 c dr2 X dr2 F2 c df2 X df2 F2 c dr2 X dr2 F p2 c 2p X p2
Fuf2 s uf2 Yuf2 + Fur2 sur2 Yur2 Fdf2 s df2 Ydf2 + Fdr2 s dr2 Ydr2 F2 s df2 Ydf2 + F2 s dr2 Ydr2 +
+ Fuf3 cuf3 X uf3 + Fur3 cur3 X ur3 + Fdf3 c df3 X df3 + Fdr3 c dr3 X dr3 + F3 c df3 X df3 + F3 c dr3 X dr3 F p3 c 3p X 3p
Fuf3 s uf3 Yuf3 + Fur3 sur3 Yur3 Fdf3 s df3 Ydf3 + Fdr3 s dr3 Ydr3 F3 s df3 Ydf3 + F3 s dr3 Ydr3 +
+ Fuf4 cuf4 X uf4 + Fur4 cur4 X ur4 + Fdf4 c df4 X df4 + Fdr4 c dr4 X dr4 + F4 c df4 X df4 + F4 c dr4 X dr4 + F p4 c 4p X p4
Fuf4 s uf4 Yuf4 + Fur4 sur4 Yur4 Fdf4 s df4 Ydf4 + Fdr4 s dr4 Ydr4 F4 s df4 Ydf4 + F4 s dr4 Ydr4
&
&&
&
&&
&
crank & z xcrank xcrank + mcrank (V& X crank & z Z crank z& X crank + U z + Z crank z ) X crank
&&
&&
&
M z = zz & z xz + ( yy xx ) + xz z
5

.
Page 71 of 237

5.1
,
,
.
,
, , :
,
.

Modular , .

k i = f (k j , k& j , k&&j ) , ki ,
modular .
, (
),

, ...
:
,
f = f ( a , b, c )
g = g ( f , a, d )
h = h( f , g , b)
:
f a 0 , b0 , c0 :
f
f
f
f = (a a 0 ) + (b b0 ) + (c c 0 ) + f 0
a a0
b b0
c c0
Page 72 of 237
f 0 = f (a0 , b0 , c0 )
g f 0 , a 0 , d 0 :
g
g
g
g = ( f f 0 ) + (a a0 ) + (d d 0 ) + g 0
a a0
d d0
f f 0
g 0 = g ( f 0 , a0 , d 0 )
h f 0 , g 0 , b0 :
h
h
h
h = ( f f 0 ) + ( g g 0 ) + (b b0 ) + h0
b b0
f f 0
g g 0
h0 = h( f 0 , g 0 , b0 )
simulink ,
.
.
,
df f b
=
da b a
Page 73 of 237

.
( ),
.
5.2
5.2.1 1
Slip Ratio
s1
R1
=1
s1
cos1
= +
U
+
(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )cos1

(U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 ) 2
s1
sin1
= +
V
+
(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )sin1

s1
Ym1 cos 1 + X m1 sin 1
= +
z
+
(Ym1 cos 1 + X m1 sin 1 )(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )

Page 74 of 237

V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1
s1
= +
1
+
(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 )(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )
Slip Angle
(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 ) cos 1
sin 1
+
a1 U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1
=
U
(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 ) 2
1+
a1
=
V
a1
=
z
(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 ) sin 1

cos 1
+
1+
X m1 cos 1 Ym1 sin 1

(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 )(Ym1 cos 1 + X m1 sin 1 )
+
1+
a1
= 1 ()
1
F
=
B
1
x
1
x
C 1x D1x ( s1 E 1x ( s1
s1
)) cos{C 1x ArcTan[ B1x s1 E 1x ( B1x s1 ArcTan( B 1x s1 ))]}
1 + ( B 1x s1 ) 2
1 + ( B1x s1 E 1x ( B1x s1 ArcTan( B 1x s1 ))) 2
Page 75 of 237

Fx1
= D 1x ( ArcTan[ B 1x s1 E 1x ( B 1x s1 ArcTan( B 1x s1 ))]) cos{C 1x ArcTan[ B 1x s1 E x1 ( B x1 s1 ArcTan( B 1x s1 ))]}
C 1x
Fx1
= sin{C x1 ArcTan[ B x1 s1 E x1 ( B x1 s1 ArcTan( B1x s1 ))]}
D x1
Fx1 C 1x D1x ( B 1x s1 + ArcTan[ B 1x s1 ]) cos{C 1x ArcTan[ B 1x s1 E 1x ( B 1x s1 ArcTan( B1x s1 ))]}

=
E 1x
1 + ( B1x s1 E 1x ( B1x s1 ArcTan( B 1x s1 ))) 2
Fx1
=
s1
1
y
B 1y
Fy1
C 1y
Fy1
D
1
y
Fy1
E 1y
C x1 D1x ( B x1 E x1 ( B1x
C 1y D 1y (a1 E 1y ( a1
=
B 1x
)) cos{C 1x ArcTan[ B x1 s1 E x1 ( B x1 s1 ArcTan( B 1x s1 ))]}
1
2
1 + ( B x s1 )
1 + ( B x1 s1 E x1 ( B x1 s1 ArcTan( B 1x s1 ))) 2
a1
)) cos{C 1y ArcTan[ B 1y a1 E 1y ( B 1y a1 ArcTan( B 1y a1 ))]}
1 + ( B 1y a1 ) 2
1 + ( B 1y a1 E 1y ( B 1y a1 ArcTan( B 1y a1 ))) 2
= D 1y ( ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]) cos{C 1y ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]}
= sin{C 1y ArcTan[ B 1y a1 E 1y ( B 1y a1 ArcTan( B1y a1 ))]}
C 1y D 1y ( B1y a1 + ArcTan[ B 1y a1 ]) cos{C 1y ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]}

1 + ( B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))) 2
Page 76 of 237
1
y
a1
C 1y D 1y ( B 1y E 1y ( B 1y
=
B 1y
1 + ( B a1 )
1
y
)) cos{C 1y ArcTan[ B 1y a1 E 1y ( B 1y a1 ArcTan( B 1y a1 ))]}
1 + ( B 1y a1 E 1y ( B 1y a1 ArcTan( B 1y a1 ))) 2
F11 ( z 1 z1 1 ) sin 1
=
1 + 1
Fx1
F11 ( z 1 z1 1 ) cos 1
=
1 + 1
Fy1
1
1
F11 Fy cos 1 + Fx sin 1
=
z 1
1 + 1
Fy1 cos 1 + Fx1 sin 1

F11
=
z1
1 + 1
F11
m
= 1 1
V& 1 + 1
F11 m1 1 z
=
U 1 + 1
F11 m1 X m1 1
=
& z
1 + 1
Page 77 of 237

F11 m1 1 (U + 2Ym1 z )
=
z
1 + 1
F11
sin 1
=
1
1 + 1
M b
1
1
1
F11 ( z 1 z1 1 )( Fx cos 1 Fy sin 1 ) M b cos 1
=
1
1 + 1
( z z + 1 ) sin 1
F21
= 1 1
1
1 + 1
Fx
( z z + 1 ) cos 1
F21
= 1 1
1
1 + 1
Fy

F21
=
z 1
1 + 1
1
1
=
z1
1 + 1
F21
m
= 1 1
V& 1 + 1
F21 m1 1 z
=
U 1 + 1
F21 m1 X m1 1
=
& z
1 + 1
Page 78 of 237

F21 m1 1 (U + 2Ym1 z )
=
z
1 + 1
F21
sin 1
=
1
M b 1 + 1
( z 1 z1 + 1 )( Fx1 cos 1 Fy1 sin 1 ) M b1 cos 1

F21
=
1
1 + 1
F31
cos 1
= 1
1
1 + 1
Fx
F31 1 sin 1
=
Fy1 1 + 1
F31
m
= 1 1
U& 1 + 1
F31
m
= 1 1 z
V
1 + 1
F31 m1Ym1 1
=
& z 1 + 1
F31
m (V + 2 X m1 z )
= 1 1
z
1 + 1
F31
cos 1
=
1
1 + 1
M b
Page 79 of 237

1
1
1
F31 1 ( Fy cos 1 + Fx sin 1 ) + M b sin 1
=
1
1 + 1
F41
cos 1
= 1
1
1 + 1
Fx
F41 1 sin 1
=
Fy1 1 + 1
F41
m
= 1 1
&
U 1 + 1
F41
m
= 1 1 z
V
1 + 1
F41 m1Ym1 1
=
& z 1 + 1
F41
m (V + 2 X m1 z )
= 1 1
z
1 + 1
F41
cos 1
=
1
M b 1 + 1
1
1
1
F41 1 ( Fy cos 1 + Fx sin 1 ) M b sin 1
=
1
1 + 1
Page 80 of 237

F p1
z
F p1
z1
= 3k 1p1 ( z 1dw0 + z Ym1 X m1 z1 1 ) 2 + k 1p 2
= 3k 1p1 ( z 1dw0 + z Ym1 X m1 z1 1 ) 2 k 1p 2
F p1
= 3k 1p1Ym1 ( z 1dw0 + z Ym1 X m1 z1 1 ) 2 k 1p 2Ym1
F p1
= 3k 1p1 X m1 ( z 1dw0 + z Ym1 X m1 z1 1 ) 2 k 1p 2 X m1
F p1
z&
F p1
z&1
&
&
= 3b1p1 ( z& Ym1 X m1 z&1 ) 2 + b1p 2
&
&
= 3b1p1 ( z& Ym1 X m1 z&1 ) 2 b1p 2
F p1
&
&
= 3b1p1Ym1 ( z& Ym1 X m1 z&1 ) 2 b1p 2Ym1
&
F p1
&
&
= 3b1p1 X m1 ( z& Ym1 X m1 z&1 ) 2 b1p 2 X m1
&
z
( Fz1 = m1 &z&1 )
Page 81 of 237

Fz1 1
= ( z + Ym1 + X m1 + z1 + 1 z 1p )
F p1 l 1p
Fz1
1
= 1 ( z 1uf + z Ym1 X m1 z1 + a1 )
1
Fuf l uf
Fz1
1 1
= 1 ( z ur
+ z Ym1 X m1 z1 + a1 )
1
Fur l ur
Fz1
1
= 1 ( z 1df + z Ym1 X m1 z1 1 )
1
Fdf l df
Fz1
1
= 1 ( z 1dr + z Ym1 X m1 z1 1 )
1
Fdr l dr
Fz1
1
= 1 ( z 1df + z Ym1 X m1 z1 1 )
1
F l df
Fz1
1
= 1 ( z 1dr + z Ym1 X m1 z1 1 )
1
F l dr
Fz1
1
1
1
1
1
1
1
= F p1 1 + Fuf1 1 + Fur1 1 + Fdf1 1 + Fdr1 1 + F1 1 + F1 1
z
lp
l uf
l ur
l df
l dr
l df
l dr
Fz1
1
1
1
1
1
1
1
= Fp1 1 Fuf1 1 Fur1 1 Fdf1 1 Fdr1 1 F1 1 F1 1
z1
lp
l uf
lur
l df
l dr
l df
l dr
Fz1
1
1
1
1
1
1
1
= F p1 1 Ym1 Fuf1 1 Ym1 Fur1 1 Ym1 Fdf1 1 Ym1 Fdr1 1 Ym1 F1 1 Ym1 F1 1 Ym1
lp
luf
lur
l df
l dr
l df
l dr
Page 82 of 237

Fz1
1
1
1
1
1
1
1
= F p1 1 X m1 Fuf1 1 X m1 Fur1 1 X m1 Fdf1 1 X m1 Fdr1 1 X m1 F1 1 X m1 F1 1 X m1
lp
l uf
l ur
l df
l dr
l df
l dr

M 1
= z 1 z1
Fx1
M 1
= Fx1
z 1
M 1
= Fx1
z1
5.2.2 2
Slip Ratio
s 2
R2
= 2
s 2
cos 2
= +
U
+
( 2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2 )cos 2

(U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2 ) 2
s 2
sin 2
= +
V
+
( 2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2 )sin 2

Page 83 of 237

s 2
Ym1 cos 2 + X m1 sin 2
= +
z
+
(-Ym1 cos 2 + X m1 sin 2 )( 2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2 )

V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2

s 2
= +
2
+
(V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2 )( 2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2 )
Slip Angle
(V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2 ) cos 2
sin 2
+
a 2 U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2
=
U
(V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2 ) 2
1+
a 2
=
V
a 2
=
z
(V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2 ) sin 2

cos 2
+
1+
X m1 cos 2 + Ym1 sin 2

(V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2 )(Ym1 cos 2 + X m1 sin 2 )
+
1+
a 2
=1
2
Page 84 of 237
F
=
B
2
x
2
x
C x2 D x2 ( s 2 E x2 ( s 2
s2
)) cos{C x2 ArcTan[ B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))]}
1 + ( B x2 s 2 ) 2
1 + ( B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))) 2
Fx2
= D x2 ( ArcTan[ B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))]) cos{C x2 ArcTan[ B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))]}
C x2
Fx2
= sin{C x2 ArcTan[ B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))]}
2
D x
Fx2 C x2 D x2 ( B x2 s 2 + ArcTan[ B x2 s 2 ]) cos{C x2 ArcTan[ B x2 s 2 E x2 ( B x2 s 2 ArcTan( B x2 s 2 ))]}

=
E x2
Fx2
=
s 2
2
y
B y2
Fy2
C y2
Fy2
D
2
y
Fy2
E y2
Fy2
a 2
C x2 D x2 ( B x2 E x2 ( B x2
C y2 D y2 ( a 2 E y2 ( a 2
=
B x2
2
2
1 + ( Bx s2 )
a2
)) cos{C y2 ArcTan[ B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))]}
1 + ( B y2 a 2 ) 2
1 + ( B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))) 2
= D y2 ( ArcTan[ B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))]) cos{C y2 ArcTan[ B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))]}
= sin{C y2 ArcTan[ B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))]}
C y2 D y2 ( B y2 a 2 + ArcTan[ B y2 a 2 ]) cos{C y2 ArcTan[ B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))]}

C D (B E (B
2
y
2
y
2
y
2
y
2
y
B y2
1 + ( B y2 a 2 ) 2
Page 85 of 237

F12 ( z 2 z 2 2 ) sin 2
=
2 + 2
Fx2
F12 ( z 2 z 2 2 ) cos 2
=
2 + 2
Fy2
2
2
=
z 2
2 + 2

F12
=
z 2
2 + 2
F12
m2 2
=
&
2 + 2
V
F12 m2 2 z
=
U
2 + 2
F12 m2 X m1 2
=
& z
2 + 2
F12 m2 2 (U 2Ym1 z )
=
z
2 + 2
F12
sin 2
=
2
2 + 2
M b
Page 86 of 237

2
2
2
F12 ( z 2 z 2 2 )( Fx cos 2 Fy sin 2 ) M b cos 2
=
2
2 + 2
F22
( z z 2 + 2 ) sin 2
= 2
2
2 + 2
Fx
( z z 2 + 2 ) cos 2
F22
= 2
2
2 + 2
Fy

F22
=
z 2
2 + 2
2
2
=
z 2
2 + 2
F22
m 2 2
=
&
2 + 2
V
F22 m2 2 z
=
U
2 + 2
F22 m2 X m1 2
=
& z
2 + 2
F22 m2 2 (U 2Ym1 z )
=
z
2 + 2
F22
sin 2
=
2
M b 2 + 2
Page 87 of 237

( z 2 z 2 + 2 )( Fx2 cos 2 Fy2 sin 2 ) M b2 cos 2
F22
=
2
2 + 2
F32
cos 2
= 2
2
2 + 2
Fx
F32 2 sin 2
=
Fy2 2 + 2
F32
m2 2
=
&
U 2 + 2
F32
m
= 2 2 z
V
2 + 2
F32
mY
= 2 m1 2
& z
2 + 2
F32
m (V + 2 X m1 z )
= 2 2
z
2 + 2
F32
cos 2
=
2
2 + 2
M b
2
2
2
F32 2 ( Fy cos 2 + Fx sin 2 ) + M b sin 2
=
2
2 + 2
F42
cos 2
= 2
2
2 + 2
Fx
Page 88 of 237
F42 2 sin 2
=
Fy2 2 + 2
F42
m 2 2
=
U& 2 + 2
m
F42
= 2 2 z
V
2 + 2
mY
F42
= 2 m1 2
& z
2 + 2
F42
m (V + 2 X m1 z )
= 2 2
z
2 + 2
F42
cos 2
=
2
M b 2 + 2
2
2
2
F42 2 ( Fy cos 2 + Fx sin 2 ) M b sin 2
=
2
2 + 2
F p2
z
F p2
z 2
2
2
2
= 3k p21 ( z dw
0 + z + Ym1 X m1 z 2 2 ) + k p 2
2
2
2
= 3k p21 ( z dw
0 + z + Ym1 X m1 z 2 2 ) k p 2
Page 89 of 237

F p2
2
2
2
= 3k p21Ym1 ( z dw
0 + z + Ym1 X m1 z 2 2 ) + k p 2 Ym1
F p2
2
2
2
= 3k p21 X m1 ( z dw
0 + z + Ym1 X m1 z 2 2 ) k p 2 X m1
F p2
z&
F p2
z& 2
&
&
= 3b p21 ( z& + Ym1 X m1 z& 2 ) 2 + b p2 2
&
&
= 3b p21 ( z& + Ym1 X m1 z& 2 ) 2 b p2 2
F p2
&
&
= 3b p21Ym1 ( z& + Ym1 X m1 z& 2 ) 2 + b p2 2Ym1
&
F p2
&
&
= 3b p21 X m1 ( z& + Ym1 X m1 z& 2 ) 2 b p2 2 X m1
&
z
Fz2
1
= 2 ( z Ym1 + X m1 + z 2 + 2 z 2p )
2
F p l p
Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 a 2 )
2
Fuf l uf
Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 a 2 )
2
Fur l ur
Page 90 of 237

Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 + 2 )
2
Fdf l df
Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 + 2 )
2
Fdr l dr
Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 + 2 )
2
F
l df
Fz2
1
= 2 ( z uf2 z Ym1 + X m1 + z 2 + 2 )
2
F
l dr
Fz2
1
1
1
1
1
1
1
= F p2 2 Fuf2 2 Fur2 2 Fdf2 2 Fdr2 2 F2 2 F2 2
z
lp
l uf
l ur
l df
l dr
l df
l dr
Fz2
1
1
1
1
1
1
1
z 2
lp
luf
lur
l df
l dr
l df
l dr
Fz2
1
1
1
1
1
1
1
= F p2 2 Ym1 Fuf2 2 Ym1 Fur2 2 Ym1 Fdf2 2 Ym1 Fdr2 2 Ym1 F2 2 Ym1 F2 2 Ym1
lp
l uf
l ur
l df
l dr
l df
l dr
Fz2
1
1
1
1
1
1
1
= F p2 2 X m1 + Fuf2 2 X m1 + Fur2 2 X m1 + Fdf2 2 X m1 + Fdr2 2 X m1 + F2 2 X m1 + F2 2 X m1
lp
l uf
l ur
l df
l dr
l df
l dr

M 2
= z 2 z 2
Fx2
Page 91 of 237

M 2
= Fx2
z 2
M 2
= Fx2
z 2
5.2.3 3
Slip Ratio
s3
R3
= 3
U + Ym 2 z
R + U + Ym 2 z
s3
1
= + 3 3
U
U + Ym 2 z
(U + Ym 2 z ) 2
s 3
Ym 2
( R + U + Ym 2 z )Ym 2
= + 3 3
z
U + Ym 2 z
(U + Ym 2 z ) 2
Slip Angle
a3
V X m 2 z
=
U (U + Ym 2 z ) 2 + (V X m 2 z ) 2
a3
=
V
1
(V X m 2 z ) 2
U + Ym 2 z +
U + Ym 2 z
Page 92 of 237
X m2
(V X m 2 z )Ym 2
+
a3 U + Ym 2 z
(U + Ym 2 z ) 2
=
z
(V X m 2 z ) 2
1+
(U + Ym 2 z ) 2
F
=
B
3
x
3
x
C x3 D x3 ( s 3 E x3 ( s 3
s3
3
2
1 + ( B x s3 )
1 + ( B x3 s3 E x3 ( B x3 s 3 ArcTan( B x3 s 3 ))) 2
Fx3
= D x3 ( ArcTan[ B x3 s3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]) cos{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]}
3
C x
Fx3
= sin{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]}
3
D x
Fx3 C x3 D x3 ( B x3 s 3 + ArcTan[ B x3 s 3 ]) cos{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s3 ArcTan( B x3 s 3 ))]}

=
E x3
B x3
C D (B E (B
)) cos{C x3 ArcTan[ B x3 s3 E x3 ( B x3 s 3 ArcTan( B x3 s 3 ))]}
3
3
2
Fx
1 + ( Bx s3 )
=
s 3
1 + ( B x3 s 3 E x3 ( B x3 s3 ArcTan( B x3 s3 ))) 2
3
x
3
y
B y3
3
x
3
x
3
x
3
x
C y3 D y3 (a 3 E y3 ( a 3
=
a3
3
2
1 + (B y a3 )
Page 93 of 237

Fy3
C
3
y
Fy3
D y3
Fy3
E y3
3
y
a3
= D y3 ( ArcTan[ B y3 a 3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]) cos{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]}
= sin{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a 3 ))]}
C y3 D y3 ( B y3 a3 + ArcTan[ B y3 a 3 ]) cos{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]}

1 + ( B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a 3 ))) 2
C y3 D y3 ( B y3 E y3 ( B y3
=
B y3
1 + ( B a3 )
3
y
)) cos{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]}
1 + ( B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))) 2

F13 z 3 z 3 3
=
3 + 3
Fy3
Fy
F13
=
z 3 3 + 3
Fy
F13
=
z 3
3 + 3
F13
m3 3
=
V& 3 + 3
F13 m3 3 z
=
U
3 + 3
F13
m X
= 3 m2 3
& z
3 + 3
Page 94 of 237
F13 m3 3 (U + 2Ym 2 z )
=
z
3 + 3
z z3 + 3
F23
= 3
3
3 + 3
Fy
Fy
F23
=
z 3
3 + 3
Fy
F23
=
z 3 3 + 3
F23
m3 3
=
&
3 + 3
V
F23 m3 3 z
=
U
3 + 3
F23
m X
= 3 m2 3
& z
3 + 3
F23 m3 3 (U + 2Ym 2 z )
=
z
3 + 3
F33
3
=
3
3 + 3
Fx
Page 95 of 237

F33
m3 3
=
U& 3 + 3
F33
m
= 3 3 z
V
3 + 3
F33 m3Ym 2 3
=
& z
3 + 3
F33 m3 3 (V + 2 X m 2 z )
=
z
3 + 3
F33
1
=
3
3 + 3
M b
F43
3
=
3
3 + 3
Fx
F43
m3 3
=
U& 3 + 3
F43
m
= 3 3 z
V
3 + 3
F43 m3Ym 2 3
=
& z
3 + 3
F43 m3 3 (V + 2 X m 2 z )
=
z
3 + 3
Page 96 of 237

F43
1
=
3
M b 3 + 3
F p3
z
F p3
z 3
3
2
3
= 3k p31 ( z dw
0 + z Ym 2 + X m 2 z 3 3 ) + k p 2
3
2
3
= 3k 3p1 ( z dw
0 + z Ym 2 + X m 2 z 3 3 ) k p 2
F p3
3
2
3
= 3k 3p1Ym 2 ( z dw
0 + z Ym 2 + X m 2 z 3 3 ) k p 2 Ym 2
F p3
3
2
3
= 3k p31 X m 2 ( z dw
0 + z Ym 2 + X m 2 z 3 3 ) + k p 2 X m 2
F p3
z&
F p3
z& 3
&
&
= 3b p31 ( z& Ym 2 + X m 2 z& 3 ) 2 + b 3p 2
&
&
= 3b 3p1 ( z& Ym 2 + X m 2 z& 3 ) 2 b 3p 2
F p3
&
&
= 3b 3p1Ym 2 ( z& Ym 2 + X m 2 z& 3 ) 2 b p3 2Ym 2
&
F p3
&
&
= 3b p31 X m 2 ( z& Ym 2 + X m 2 z&3 ) 2 + b p3 2 X m 2
&
Page 97 of 237
Fz3 1
= 3 ( z + Ym 2 X m 2 + z 3 + 3 z 3p )
3
F p l p
Fz3
1
= 3 ( z uf3 + z Ym 2 + X m 2 z 3 + a3 )
3
Fuf luf
Fz3
1
= 3 ( z ur3 + z Ym 2 + X m 2 z 3 + a 3 )
3
Fur l ur
Fz3
1
= 3 ( z df3 + z Ym 2 + X m 2 z 3 3 )
3
Fdf l df
Fz3
1
= 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 )
3
Fdr l dr
Fz3
1
= 3 ( z df3 + z Ym 2 + X m 2 z 3 3 )
3
F l df
Fz3
1
= 3 ( z dr3 + z Ym 2 + X m 2 z 3 3 )
3
F l dr
Fz3
1
1
1
1
1
1
1
= Fp3 3 + Fuf3 3 + Fur3 3 + Fdf3 3 + Fdr3 3 + F3 3 + F3 3
z
lp
l uf
l ur
l df
l dr
l df
l dr
Fz3
1
1
1
1
1
1
1
z 3
lp
luf
l ur
l df
l dr
l df
l dr
Fz3
1
1
1
1
1
1
1
= F p3 3 Ym 2 Fuf3 3 Ym 2 Fur3 3 Ym 2 Fdf3 3 Ym 2 Fdr3 3 Ym 2 F3 3 Ym 2 F3 3 Ym 2
lp
l uf
l ur
l df
l dr
l df
l dr
Page 98 of 237
Fz3
1
1
1
1
1
1
1
= F p3 3 X m 2 + Fuf3 3 X m 2 + Fur3 3 X m 2 + Fdf3 3 X m 2 + Fdr3 3 X m 2 + F3 3 X m 2 + F3 3 X m 2
lp
l uf
l ur
l df
l dr
l df
l dr

M 3
= z 3 z 3
Fx3
M 3
= Fx3
z 3
M 3
= Fx3
z 3
5.2.4 4
Slip Ratio
s 4
R4
= 4
U Ym 2 z
R + U Ym 2 z
s 4
1
= + 4 4
U
U Ym 2 z
(U Ym 2 z ) 2
Ym 2
( R + U Ym 2 z )Ym 2
s 4
=
+ 4 4
z U Ym 2 z
(U Ym 2 z ) 2
Slip Angle
Page 99 of 237

V X m 2 z
a 4
=
U (U Ym 2 z ) 2 + (V X m 2 z ) 2
a 4
=
V
1
(V X m 2 z ) 2
U Ym 2 z +
U Ym 2 z
X m2
(V X m 2 z )Ym 2
(U Ym 2 z ) 2
a 4 U Ym 2 z
=
z
(V X m 2 z ) 2
1+
(U Ym 2 z ) 2
F
=
B
4
x
4
x
C x4 D x4 ( s 4 E x4 ( s 4
s4
4
2
1 + ( Bx s4 )
Fx4
= D x4 ( ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]) cos{C x4 ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]}
4
C x
Fx4
= sin{C x4 ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]}
D x4
Fx4 C x4 D x4 ( B x4 s 4 + ArcTan[ B x4 s 4 ]) cos{C x4 ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]}

=
E x4
B x4
C D (B E (B
4
4
2
Fx
1 + ( Bx s4 )
=
s 4
4
x
4
x
4
x
4
x
4
x
Page 100 of 237
4
y
B y4
Fy4
C
4
y
Fy4
D y4
Fy4
E y4
C y4 D y4 ( a 4 E y4 ( a 4
=
a4
4
2
1 + (B y a4 )
= D y4 ( ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]) cos{C y4 ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]}
= sin{C y4 ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]}
4
y
a 4
C y4 D y4 ( B y4 a 4 + ArcTan[ B y4 a 4 ]) cos{C y4 ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]}

C D (B E (B
4
y
4
y
4
y
4
y
4
y
B y4
1 + (B a4 )
4
y

F14 z 4 z 4 4
=
4 + 4
Fy4
Fy
F14
=
z 4 4 + 4
Fy
F14
=
z 4
4 + 4
Page 101 of 237

F14
m4 4
=
V& 4 + 4
F14 m4 4 z
=
U
4 + 4
F14
m X
= 4 m2 4
& z
4 + 4
F14 m4 4 (U 2Ym 2 z )
=
z
4 + 4
z z3 + 3
F24
= 3
3
3 + 3
Fy
Fy
F24
=
z 4
4 + 4
Fy
F24
=
z 4 4 + 4
F24
m4 4
=
V& 4 + 4
F24 m4 4 z
=
U
4 + 4
F24
m X
= 4 m2 4
& z
4 + 4
Page 102 of 237

F24 m4 4 (U 2Ym 2 z )
=
z
4 + 4
F34
4
=
4
4 + 4
Fx
F34
m4 4
=
U& 4 + 4
F34
m
= 4 4 z
V
4 + 4
mY
F34
= 4 m2 4
& z
4 + 4
F34 m4 4 (V + 2 X m 2 z )
=
z
4 + 4
F34
1
=
4
4 + 4
M b
F44
4
=
4
4 + 4
Fx
F44
m4 4
=
U& 4 + 4
Page 103 of 237

F44
m
= 4 4 z
V
4 + 4
F44
mY
= 4 m2 4
& z
4 + 4
F44 m4 4 (V + 2 X m 2 z )
=
z
4 + 4
F44
1
=
4
M b 4 + 4
F p4
z
F p4
z 4
4
2
4
= 3k p41 ( z dw
0 + z + Ym 2 + X m 2 z 4 4 ) + k p 2
4
2
4
= 3k p41 ( z dw
0 + z + Ym 2 + X m 2 z 4 4 ) k p 2
F p4
4
2
4
= 3k p41Ym 2 ( z dw
0 + z + Ym 2 + X m 2 z 4 4 ) + k p 2 Ym 2
F p4
4
2
4
= 3k p41 X m 2 ( z dw
0 + z + Ym 2 + X m 2 z 4 4 ) + k p 2 X m 2
F p4
z&
&
&
= 3b p41 ( z& + Ym 2 + X m 2 z& 4 ) 2 + b p4 2
Page 104 of 237

F p4
z& 4
&
&
= 3b p41 ( z& + Ym 2 + X m 2 z& 4 ) 2 b p4 2
F p4
&
&
= 3b p41Ym 2 ( z& + Ym 2 + X m 2 z& 4 ) 2 + b p4 2Ym 2
&
F p4
&
&
= 3b p41 X m 2 ( z& + Ym 2 + X m 2 z& 4 ) 2 + b p4 2 X m 2
&
z
Fz4
1
= 4 ( z Ym 2 X m 2 + z 4 + 4 z 4p )
4
F p l p
Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 a 4 )
4
Fuf l uf
Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 a 4 )
4
Fur l ur
Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 + 4 )
4
Fdf l df
Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 + 4 )
4
Fdr l dr
Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 + 4 )
4
F
l df
Page 105 of 237

Fz4
1
= 4 ( z uf4 z Ym 2 X m 2 + z 4 + 4 )
4
F
l dr
Fz4
1
1
1
1
1
1
1
z
lp
l uf
l ur
l df
l dr
l df
l dr
Fz4
1
1
1
1
1
1
1
z 4
lp
luf
lur
l df
l dr
l df
l dr
Fz4
1
1
1
1
1
1
1
= F p4 4 Ym 2 Fuf4 4 Ym 2 Fur4 4 Ym 2 Fdf4 4 Ym 2 Fdr4 4 Ym 2 F4 4 Ym 2 F4 4 Ym 2
lp
l uf
l ur
l df
l dr
l df
l dr
Fz4
1
1
1
1
1
1
1
= F p4 4 X m 2 Fuf4 4 X m 2 Fur4 4 X m 2 Fdf4 4 X m 2 Fdr4 4 X m 2 F4 4 X m 2 F4 4 X m 2
lp
l uf
l ur
l df
l dr
l df
l dr

i2
( M 4 = ( 4 + xcrank )& 4 )
4
M 4
= z 4 z 4
Fx4
M 4
= Fx4
z 4
M 4
= Fx4
z 4
Page 106 of 237

5.2.5 x
Fdrag
U
Flift
U
Flift
C l
= 2C d AU
= 2C l AU
= AU 2
(Fx )
= mcrank
U&
(Fx )
= mcrank Z crank
&&
(Fx )
= mcrank z
V
(Fx )
&
= mcrank (V 2 X crank z Z crank )
z
(Fx )
= mcrank Z crank z
&
(Fx )
&
= mcrank
z&
(Fx )
&
= mcrank ( z& + 2 X crank )
&
(mU& )
=1
(Fx )
(mU& )
&
= m
z&
(mU& )
= mz&
&
(mU& )
= m z
V
(mU& )
= mV
z
Page 107 of 237

5.2.6 y
(F y )
= mcrank
V&
(F y )
& z
= mcrank X crank
(F y )
= mcrank Z crank
&&
(F y )
&
= mcrank
z&
(F y )
&
= mcrank ( z& + X crank )
&
(F y )
&
= mcrank ( X crank + Z crank z )
&
(F y )
U
(F y )
z
= mcrank z
&
= mcrank (U + Z crank )
(mV& )
=1
(Fy )
(mV& )
= m z
U
(mV& )
= mU
z
(mV& )
&
= m
z&
(mV& )
= mz&
&
Page 108 of 237

5.2.7 z
(Fz )
= mcrank
&z&
(Fz )
= mcrank X crank
&&
(Fz )
&
= mcrank
U
(Fz )
&
= mcrank (U 2Z crank )
&
(Fz )
&
= mcrank
V
(Fz )
&
= mcrank (2Z crank + X crank z V )
&
(Fz )
&
= mcrank X crank
z
(m&z&)
=1
(Fz )
(m&z&)
&
= m
V
(m&z&)
= mV
&
(m&z&)
&
= m
U
(m&z&)
= mU
&
Page 109 of 237

5.2.8 x
(M x ) 1 1
= 1 ( zuf + z Ym1 X m1 z1 + a1 )Yuf1
Fuf1
luf
(M x ) 1 1
= 1 ( zur + z Ym1 X m1 z1 + a1 )Yur1
1
Fur
lur
(M x ) 1 1
= 1 ( z df + z Ym1 X m1 z1 1 )Ydf1
Fdf1
ldf
(M x ) 1 1
= 1 ( z dr + z Ym1 X m1 z1 1 )Ydr1
1
Fdr
ldr
(M x ) 1 1
= 1 ( z df + z Ym1 X m1 z1 1 )Ydf1
F1
ldf
(M x ) 1 1
= 1 ( z dr + z Ym1 X m1 z1 1 )Ydr1
1
F
ldr
(M x ) 1
= 1 ( z 1p z + Ym1 + X m1 + z1 + 1 )Yp1
1
Fp
lp
(M x ) 1 2
= 2 ( zuf + z + Ym1 X m1 z 2 + a2 )Yuf2
2
Fuf
luf
(M x ) 1 2
= 2 ( zur + z + Ym1 X m1 z 2 + a2 )Yur2
2
Fur
lur
(M x ) 1 2
= 2 ( z df + z + Ym1 X m1 z 2 2 )Ydf2
2
Fdf
ldf
(M x ) 1 2
= 2 ( z dr + z + Ym1 X m1 z 2 2 )Ydr2
Fdr2
ldr
(M x ) 1 2
= 2 ( z df + z + Ym1 X m1 z 2 2 )Ydf2
2
F
ldf
(M x ) 1 2
= 2 ( z dr + z + Ym1 X m1 z 2 2 )Ydr2
F2
ldr
(M x )
1
= 2 ( z 2p z Ym1 + X m1 + z 2 + 2 )Y p2
2
Fp
lp
(M x ) 1 3
= 3 ( zuf + z Ym 2 + X m 2 z3 + a3 )Yuf3
3
Fuf
luf
Page 110 of 237

(M x ) 1 3
= 3 ( zur + z Ym 2 + X m 2 z3 + a3 )Yur3
3
Fur
lur
(M x ) 1 3
= 3 ( z df + z Ym 2 + X m 2 z3 3 )Ydf3
3
Fdf
ldf
(M x ) 1 3
= 3 ( z dr + z Ym 2 + X m 2 z3 3 )Ydr3
3
Fdr
ldr
(M x ) 1 3
= 3 ( z dr + z Ym 2 + X m 2 z 3 3 )Ydr3
3
Fdr
l dr
(M x ) 1 3
= 3 ( z df + z Ym 2 + X m 2 z 3 3 )Ydf3
3
F
l df
(M x ) 1 3
= 3 ( z dr + z Ym 2 + X m 2 z 3 3 )Ydr3
F3
l dr
(M x ) 1
= 3 ( z 3p z + Ym 2 X m 2 + z 3 + 3 )Y p3
3
F p
lp
(M x ) 1 4
= 4 ( z uf + z + Ym 2 + X m 2 z 4 + a 4 )Yuf4
4
Fuf
luf
(M x ) 1 4
= 4 ( z ur + z + Ym 2 + X m 2 z 4 + a 4 )Yur4
Fur4
lur
(M x ) 1 4
= 4 ( z df + z + Ym 2 + X m 2 z 4 4 )Ydf4
Fdf4
l df
(M x ) 1 4
= 4 ( z dr + z + Ym 2 + X m 2 z 4 4 )Ydr4
4
Fdr
l dr
(M x ) 1 4
= 4 ( z df + z + Ym 2 + X m 2 z 4 4 )Ydf4
4
F
l df
(M x ) 1 4
= 4 ( z dr + z + Ym 2 + X m 2 z 4 4 )Ydr4
4
F
l dr
(M x )
1
= 4 ( z 4p z Ym 2 X m 2 + z 4 + 4 )Y p4
4
F p
lp
Page 111 of 237

(M x )
1
1
1
1
1
1
1
= Fuf1 1 Yuf1 + Fur1 1 Yur1 + Fdf1 1 Ydf1 + Fdr1 1 Ydr1 + F1 1 Ydf1 + F1 1 Ydr1 Fp1 1 Y p1 +
z
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf2
1 2
1
1
1
1
1
1
Yuf + Fur2 2 Yur2 + Fdf2 2 Ydf2 + Fdr2 2 Ydr2 + F2 2 Ydf2 + F2 2 Ydr2 + Fp2 2 Y p2 +
2
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf3
1 3
1
1
1
1
1
1
Yuf + Fur3 3 Yur3 + Fdf3 3 Ydf3 + Fdr3 3 Ydr3 + F3 3 Ydf3 + F3 3 Ydr3 Fp3 3 Y p3 +
3
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
Yuf + Fur4 4 Yur4 + Fdf4 4 Ydf4 + Fdr4 4 Ydr4 + F4 4 Ydf4 + F4 4 Ydr4 + Fp4 4 Y p4
4
luf
lur
ldf
ldr
ldf
ldr
lp
( M x )
1
1
1
1
1
1
1
= Fuf1 1 Yuf1 Ym1 Fur1 1 Yur1 Ym1 Fdf1 1 Ydf1 Ym1 Fdr1 1 Ydr1 Ym1 F1 1 Ydf1 Ym1 F1 1 Ydr1 Ym1 + Fp1 1 Yp1Ym1 +
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf2
1 2
1
1
1
1
1
1
Yuf Ym1 + Fur2 2 Yur2Ym1 + Fdf2 2 Ydf2 Ym1 + Fdr2 2 Ydr2 Ym1 + F2 2 Ydf2 Ym1 + F2 2 Ydr2 Ym1 + Fp2 2 Yp2Ym1
luf2
lur
ldf
ldr
ldf
ldr
lp
Fuf3
1 3
1
1
1
1
1
1
Yuf Ym 2 Fur3 3 Yur3 Ym 2 Fdf3 3 Ydf3 Ym 2 Fdr3 3 Ydr3 Ym 2 F3 3 Ydf3 Ym 2 F3 3 Ydr3 Ym 2 + Fp3 3 Y p3Ym 2 +
3
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
Yuf Ym 2 + Fur4 4 Yur4Ym 2 + Fdf4 4 Ydf4 Ym 2 + Fdr4 4 Ydr4 Ym 2 + F4 4 Ydf4 Ym 2 + F4 4 Ydr4 Ym 2 + Fp4 4 Yp4Ym 2
luf4
lur
ldf
ldr
ldf
ldr
lp
(M x )
1
1
1
1
1
1
1
= Fuf1 1 Yuf1 X m1 Fur1 1 Yur1 X m1 Fdf1 1 Ydf1 X m1 Fdr1 1 Ydr1 X m1 F1 1 Ydf1 X m1 F1 1 Ydr1 X m1 + Fp1 1 Y p1 X m1 +
luf
lur
ldf
ldr
ldf
ldr
lp
Fuf2
1 2
1
1
1
1
1
1
Yuf X m1 Fur2 2 Yur2 X m1 Fdf2 2 Ydf2 X m1 Fdr2 2 Ydr2 X m1 F2 2 Ydf2 X m1 F2 2 Ydr2 X m1 Fp2 2 Y p2 X m1
luf2
lur
ldf
ldr
ldf
ldr
lp
+ Fuf3
1 3
1
1
1
1
1
1
Yuf X m 2 + Fur3 3 Yur3 X m 2 + Fdf3 3 Ydf3 X m 2 + Fdr3 3 Ydr3 X m 2 + F3 3 Ydf3 X m 2 + F3 3 Ydr3 X m 2 Fp3 3 Yp3 X m 2 +
luf3
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
Yuf X m 2 + Fur4 4 Yur4 X m 2 + Fdf4 4 Ydf4 X m 2 + Fdr4 4 Ydr4 X m 2 + F4 4 Ydf4 X m 2 + F4 4 Ydr4 X m 2 + Fp4 4 Yp4 X m 2
luf4
lur
ldf
ldr
ldf
ldr
lp
(M x )
1
1
1
1
1
1
1
= Fuf1 1 Yuf1 Fur1 1 Yur1 Fdf1 1 Ydf1 Fdr1 1 Ydr1 F1 1 Ydf1 F1 1 Ydr1 + Fp1 1 Yp1
z1
luf
lur
ldf
ldr
ldf
ldr
lp
(M x )
1
1
1
1
1
1
1
= Fuf2 2 Yuf2 Fur2 2 Yur2 Fdf2 2 Ydf2 Fdr2 2 Ydr2 F2 2 Ydf2 F2 2 Ydr2 Fp2 2 Yp2
z 2
luf
lur
ldf
ldr
ldf
ldr
lp
(M x )
1
1
1
1
1
1
1
= Fuf3 3 Yuf3 Fur3 3 Yur3 Fdf3 3 Ydf3 Fdr3 3 Ydr3 F3 3 Ydf3 F3 3 Ydr3 + Fp3 3 Y p3
z3
luf
lur
ldf
ldr
ldf
ldr
lp
(M x )
1
1
1
1
1
1
1
= Fuf4 4 Yuf4 Fur4 4 Yur4 Fdf4 4 Ydf4 Fdr4 4 Ydr4 F4 4 Ydf4 F4 4 Ydr4 Fp4 4 Yp4
z 4
luf
lur
ldf
ldr
ldf
ldr
lp
Page 112 of 237

(M x )
= mcrank Z crank
V&
(M x )
= mcrank X crank Z crank
& z
(M x )
&&
(M x )
z&
(M x )
&
(M x )
&
= mcrank Z crank Z crank

&
= mcrank Z crank
&
= mcrank Z crank ( z& + X crank )
&
= mcrank Z crank ( X crank + Z crank z )
(M x )
= mcrank Z crank z
U
(M x )
&
= mcrank Z crank (U + Z crank )
z
&&
( xx )
=1
(M x )
&&
( xx )
= xz
& z
&&
( xx )
&
= xz ( zz yy ) z
&
&&
( xx )
&
= ( zz yy )
z
&&
( xx )
&
= xz
&
Page 113 of 237

5.2.9 y
(M y )
F
1
uf
(M y )
F
1
ur
(M y )
F
1
df
(M y )
F
1
dr
(M y )
F
(M y )
F
(M y )
F
1
p
(M y )
F
2
uf
(M y )
F
2
ur
(M y )
F
2
df
(M y )
F
2
dr
(M y )
F
(M y )
F
(M y )
F
2
p
(M y )
F
3
uf
1 1
( zuf + z Ym1 X m1 z1 + a1 ) X uf1
1
luf
1 1
( zur + z Ym1 X m1 z1 + a1 ) X ur1
1
lur
1 1
( z df + z Ym1 X m1 z1 1 ) X df1
ldf1
1 1
( z dr + z Ym1 X m1 z1 1 ) X dr1
1
ldr
1 1
( z df + z Ym1 X m1 z1 1 ) X df1
1
ldf
1 1
( z dr + z Ym1 X m1 z1 1 ) X dr1
1
ldr
1
( z1p z + Ym1 + X m1 + z1 + 1 ) X 1p
1
lp
1 2
( zuf + z + Ym1 X m1 z 2 + a2 ) X uf2
2
luf
1 2
( zur + z + Ym1 X m1 z 2 + a2 ) X ur2
2
lur
1 2
( z df + z + Ym1 X m1 z 2 2 ) X df2
ldf2
1 2
( z dr + z + Ym1 X m1 z 2 2 ) X dr2
2
ldr
1 2
( z df + z + Ym1 X m1 z 2 2 ) X df2
2
ldf
1 2
( z dr + z + Ym1 X m1 z 2 2 ) X dr2
2
ldr
1
( z 2p z Ym1 + X m1 + z 2 + 2 ) X p2
l p2
1 3
( zuf + z Ym 2 + X m 2 z3 + a3 ) X uf3
3
luf
Page 114 of 237

(M y )
F
3
ur
(M y )
F
3
df
(M y )
F
3
dr
(M y )
F
(M y )
F
(M y )
F
3
p
(M y )
F
4
uf
(M y )
F
4
ur
(M y )
F
4
df
(M y )
F
4
dr
(M y )
F
(M y )
F
(M y )
F
4
p
1 3
( zur + z Ym 2 + X m 2 z3 + a3 ) X ur3
3
lur
1 3
( z df + z Ym 2 + X m 2 z3 3 ) X df3
ldf3
1 3
( z dr + z Ym 2 + X m 2 z3 3 ) X dr3
3
ldr
1 3
( z df + z Ym 2 + X m 2 z3 3 ) X df3
3
ldf
1 3
( z dr + z Ym 2 + X m 2 z3 3 ) X dr3
3
ldr
1
( z 3p z + Ym 2 X m 2 + z3 + 3 ) X 3p
3
lp
1 4
( zuf + z + Ym 2 + X m 2 z 4 + a4 ) X uf4
4
luf
1 4
( zur + z + Ym 2 + X m 2 z 4 + a4 ) X ur4
lur4
1 4
( z df + z + Ym 2 + X m 2 z 4 4 ) X df4
ldf4
1 4
( z dr + z + Ym 2 + X m 2 z 4 4 ) X dr4
4
ldr
1 4
( z df + z + Ym 2 + X m 2 z 4 4 ) X df4
4
ldf
1 4
( z dr + z + Ym 2 + X m 2 z 4 4 ) X dr4
4
ldr
1
( z 4p z Ym 2 X m 2 + z 4 + 4 ) X p4
l p4
Page 115 of 237

( M y )
z
= Fuf1
1 1
1
1
1
1
1
1
X uf + Fur1 1 X ur1 + Fdf1 1 X df1 + Fdr1 1 X dr1 + F1 1 X df1 + F1 1 X dr1 Fp1 1 X 1p
1
luf
lur
ldf
ldr
ldf
ldr
lp
Fuf2
1 2
1
1
1
1
1
1
X uf Fur2 2 X ur2 Fdf2 2 X df2 Fdr2 2 X dr2 F2 2 X df2 F2 2 X dr2 Fp2 2 X p2 +
2
luf
lur
ldf
ldr
ldf
ldr
lp
Fuf3
1 3
1
1
1
1
1
1
X uf Fur3 3 X ur3 Fdf3 3 X df3 Fdr3 3 X dr3 F3 3 X df3 F3 3 X dr3 + Fp3 3 X p3 +
3
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
X uf + Fur4 4 X ur4 + Fdf4 4 X df4 + Fdr4 4 X dr4 + F4 4 X df4 + F4 4 X dr4 + Fp4 4 X p4
4
luf
lur
ldf
ldr
ldf
ldr
lp
(M y )
1
1
1
1
1
1
1
= Fuf1 1 X uf1 Ym1 Fur1 1 X ur1 Ym1 Fdf1 1 X df1 Ym1 Fdr1 1 X dr1 Ym1 F1 1 X df1 Ym1 F1 1 X dr1 Ym1 + Fp1 1 X 1pYm1 +
l
l
l
l
l
l
l
uf
ur
df
dr
df
dr
p
Fuf2
1 2
1
1
1
1
1
1
X uf Ym1 Fur2 2 X ur2 Ym1 Fdf2 2 X df2 Ym1 Fdr2 2 X dr2 Ym1 F2 2 X df2 Ym1 F2 2 X dr2 Ym1 Fp2 2 X p2Ym1 +
luf2
lur
ldf
ldr
ldf
ldr
lp
+ Fuf3
1 3
1
1
1
1
1
1
X uf Ym 2 + Fur3 3 X ur3 Ym 2 + Fdf3 3 X df3 Ym 2 + Fdr3 3 X dr3 Ym 2 + F3 3 X df3 Ym 2 + F3 3 X dr3 Ym 2 Fp3 3 X 3pYm 2 +
3
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
X uf Ym 2 + Fur4 4 X ur4 Ym 2 + Fdf4 4 X df4 Ym 2 + Fdr4 4 X dr4 Ym 2 + F4 4 X df4 Ym 2 + F4 4 X dr4 Ym 2 + Fp4 4 X p4Ym 2
4
luf
lur
ldf
ldr
ldf
ldr
lp
( M y )
1
1
1
1
1
1
1
= Fuf1 1 X uf1 X m1 Fur1 1 X ur1 X m1 Fdf1 1 X df1 X m1 Fdr1 1 X dr1 X m1 F1 1 X df1 X m1 F1 1 X dr1 X m1 + Fp1 1 X 1p X m1 +
luf
lur
ldf
ldr
ldf
ldr
lp
+ Fuf2
1 2
1
1
1
1
1
1
X uf X m1 + Fur2 2 X ur2 X m1 + Fdf2 2 X df2 X m1 + Fdr2 2 X dr2 X m1 + F2 2 X df2 X m1 + F2 2 X dr2 X m1 + Fp2 2 X p2 X m1
luf2
lur
ldf
ldr
ldf
ldr
lp
Fuf3
1 3
1
1
1
1
1
1
X uf X m 2 Fur3 3 X ur3 X m 2 Fdf3 3 X df3 X m 2 Fdr3 3 X dr3 X m 2 F3 3 X df3 X m 2 F3 3 X dr3 X m 2 + Fp3 3 X 3p X m 2 +
luf3
lur
ldf
ldr
ldf
ldr
lp
+ Fuf4
1 4
1
1
1
1
1
1
X uf X m 2 + Fur4 4 X ur4 X m 2 + Fdf4 4 X df4 X m 2 + Fdr4 4 X dr4 X m 2 + F4 4 X df4 X m 2 + F4 4 X dr4 X m 2 + Fp4 4 X p4 X m 2
luf4
lur
ldf
ldr
ldf
ldr
lp
( M y )
z1
( M y )
z 2
( M y )
z3
( M y )
z 4
= Fuf1
1 1
1
1
1
1
1
1
X uf Fur1 1 X ur1 Fdf1 1 X df1 Fdr1 1 X dr1 F1 1 X df1 F1 1 X dr1 + Fp1 1 X 1p
1
luf
lur
ldf
ldr
ldf
ldr
lp
= Fuf2
1 2
1
1
1
1
1
1
X uf + Fur2 2 X ur2 + Fdf2 2 X df2 + Fdr2 2 X dr2 + F2 2 X df2 + F2 2 X dr2 + Fp2 2 X p2
2
luf
lur
ldf
ldr
ldf
ldr
lp
= Fuf3
1 3
1
1
1
1
1
1
X uf + Fur3 3 X ur3 + Fdf3 3 X df3 + Fdr3 3 X dr3 + F3 3 X df3 + F3 3 X dr3 Fp3 3 X 3p
3
luf
lur
ldf
ldr
ldf
ldr
lp
= Fuf4
1 4
1
1
1
1
1
1
X uf Fur4 4 X ur4 Fdf4 4 X df4 Fdr4 4 X dr4 F4 4 X df4 F4 4 X dr4 Fp4 4 X p4
4
luf
lur
ldf
ldr
ldf
ldr
lp
Page 116 of 237

(M y )
= mcrank Z crank
U&
(M y )
2
2
= mcrank Z crank
mcrank X crank
&&
(M y )
&
= mcrank Z crank z mcrank X crank
V
(M y )
&
&
2
= mcrank Z crank (V 2 X crank z Z crank ) + mcrank X crank
xcrank xcrank
z
(M y )
&
= mcrank Z crank z + mcrank X crank (2Z crank + X crank z V )
&
(M y )
&
2
= mcrank Z crank
z&
(M y )
&
&
= mcrank Z crank ( z& + 2 X crank ) + mcrank X crank (U 2Z crank )
&
(M y )
= mcrank X crank
&z&
(M y )
&
= mcrank X crank
U
(M y )
= d lift
Flift
(M y )
d lift
(M y )
xcrank
= Flift
= xcrank z
&&
&
&
M y = yy + ( xx zz ) z + xz ( 2 z2 )
&&
( yy )
(M y )
=1
&&
( xx )
&
= ( xx zz ) z 2 xz
&
&&
( xx )
&
= ( xx zz ) + 2 xz z
z
Page 117 of 237

5.2.10 z
(M z )
= mcrank X crank
V&
(M z )
2
= mcrank X crank
&
z
(M z )
= mcrank Z crank X crank
&&
(M z )
&
= mcrank X crank
z&
(M z )
&
= mcrank X crank ( z& + X crank )
&
(M z )
&
= mcrank X crank ( X crank + Z crank z ) xcrank xcrank
&
(M z )
= mcrank X crank z
U
(M z )
&
= mcrank X crank (U + Z crank )
z
(M z )
&
xcrank
xcrank
( zz & z )
=1
(M z )
( zz & z )
= xz
&&
( zz & z )
&
= ( yy xx )
&
( zz & z )
&
= ( yy xx ) xz z
&
( zz & z )
&
= xz
z
Page 118 of 237
6 Simulink
6.1

Simulink,
Matlab.
Simulink :

(Embedded Function MFunction)
solver modular
.
Embedded Function user-defined block.
blocks .
(explicitly),
solver userdefined functions (. ).
6.2
Simulink,
.
,
. ,

U = 33.333m / s = 120km / h .
(
).
Page 119 of 237

.
,
(. ).
:
, ( )
, .

,
.
:
U initial = 33.333
Vinitial = 0
zinitial = 0
, :
z1initial = z 2initial
z 3initial = z 4initial
=0
initial
, x
().
y. , 1 ( 2)
,
. pushrod.
,
:
1
F p1 = k 1p1 ( z 1dw0 + z X m1 z1 1 ) 3 + k 1p 2 ( z 1dw0 + z X m1 z1 1 ) +
+ k hs1 ( z
F1 =
F1 =
1
dw 0
2
+ 2 z 2 X m1 2 z1 1 + z dw
0 2 )
Fp1c1p s1dr
c1df s1dr + c1dr s1df
Fp1c1p s1df
(1)
c1df s1dr + c1dr s1df
Page 120 of 237
(1)
F p1
1
1
( z + X m1 + z1 + 1 z 1p ) + F1 1 ( z 1df + z X m1 z1 1 ) +
1
lp
l df
1
+ F 1 ( z 1dr + z X m1 z1 1 ) k w1 ( z1 + R1 ) + m1 g = 0
l dr
1
M p3 = C p3 A p + C3 i 3 (8)
s3 =
3 R3 + U
U
(9)
3
B x3 = Z Bx
k w3 ( z 3 + R3 )
3
C x3 = Z Cx
k w3 ( z 3 + R3 ) + 3Cx
3
D x3 = Z Dx
k w3 ( z 3 + R3 )
(2)
3
E x3 = Z Ex
k w3 ( z 3 + R3 ) + 3Ex
Fx3 = D x3 sin{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]} (2)
F33 =
Fx3 3
3 + 3
Fx3 3
F =
3 + 3
(2)
3
4
Page 121 of 237
(1)

cur3 F33
cuf3 s ur3 + cur3 suf3
Fuf3 =
cuf3 F33
F =
3
ur
c3 F 3
Fdf3 = 3 3 dr 4 3 3
c df s dr + c dr s df
(2)
c1df F41
F =
3
dr
3
3
3
3
F p3 = k p31 ( z dw
0 + z + X m 2 z 3 3 ) + k p 2 ( z dw 0 + z + X m 2 z 3 3 ) +
3
4
+ k hs 2 ( z dw
0 + 2 z + 2 X m 2 2 z 3 3 + z dw 0 4 )
F3 =
F3 =
F p3
(2)
Fp3 c 3p s dr3
F p3 c 3p s df3
(2)
1
1
( z X m 2 + z 3 + 3 z 3p ) + Fuf3 3 ( z uf3 + z + X m 2 z 3 + a 3 ) +
3
lp
l uf
+ Fur3
1 3
1
( z ur + z + X m 2 z 3 + a3 ) + Fdf3 3 ( z df3 + z + X m 2 z 3 3 ) +
3
l ur
l df
+ Fdr3
+ F3
3
dr
( z dr3 + z + X m 2 z 3 3 ) + F3
1
l
3
df
( z df3 + z + X m 2 z 3 3 ) +
1 3
( z dr + z + X m 2 z 3 3 ) k w3 ( z 3 + R3 ) + m3 g = 0
l dr3
Fx3 ( z 3 )
i 3
M p = 0 (3)
2
Page 122 of 237
(2)

1
A f
2
Fdrag = C d AU 2
A=
Flift = C l AU 2
(4)
C l = BC + Z C ( z + l ) + C l 0
d = B + Z ( z + l ) + d
lift
lift 0
x
Fx3
1
Fdrag = 0 (5)
2
k w1 ( z1 + R1 ) + m1 g k w3 ( z 3 + R3 ) + m3 g +
+
(6)
1
1
Flift + mg = 0
2
2
y
F1 s 1df Z df1 + F1 s 1dr Z dr1 + F1
+ F1
1
l
1
df
( z 1df + z X m1 z1 1 ) X df1 +
1 1
1
( z dr + z X m1 z1 1 ) X dr1 + F p1 1 ( z 1p z + X m1 + z1 + 1 ) X 1p +
1
l dr
lp
+ Fuf3 suf3 Z uf3 Fur3 s ur3 Z ur3 Fdf3 s df3 Z df3 + Fdr3 s dr3 Z dr3 F3 s df3 Z df3 + F3 s dr3 Z dr3 +
Fuf3
1 3
1
( z uf + z + X m 2 z 3 + a3 ) X uf3 Fur3 3 ( z ur3 + z + X m 2 z 3 + a3 ) X ur3 (7)
3
luf
l ur
Fdf3
1
( z df3 + z + X m 2 z 3 3 ) X df3 Fdr3 3 ( z dr3 + z + X m 2 z 3 3 ) X df3
l
l dr
F3
1
( z df3 + z + X m 2 z 3 3 ) X df3 F3 3 ( z dr3 + z + X m 2 z 3 3 ) X dr3
l
l dr
F p3
1
1
1
( z 3p z X m 2 + z 3 + 3 ) X 3p + Fdrag d drag + Flift d lift Fx3 z 3 = 0
3
2
2
lp
3
df
3
df
Page 123 of 237

, :
1. U (4) Fdrag
2. (5) Fx3
3.
1 ,1 ,1
2 ,2 ,2 ,2 ,2
, z1 , z 3 , z , .
6,4
7,4,3,1 ,1 ,2 ,2 ,2 ,2 ,2
,
modular .
4. (2) x Pacejka
5. (2) s3 (= s 4 )
6. (9) 3 (= 4 )
7. (8) A p ,

33.333 m/s
3.
fsolve Matlab.
(
modular ) m file Matlab function,
solver. m file :
function F = Initial_Conditions_Function(x)
Uarx=120; %km/h
U=Uarx*(1000/3600);
%m/s
g=9.81;
m=800;
m1=6;
m3=8;
R1=0.34;
R3=0.35;
Cd=0.45;
Af=1.6;
rho=1.2;
Bcl=10;
Zcl=5;
l=0.15;
Page 124 of 237

Cl0=4;
Bdl=0.5;
Zdl=-0.1;
dlift0=0.1;
ddrag=0.1;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
kp11=25000000;
kp12=60000;
zdw01=0.12;
khs1=250000;
kp31=26000000;
kp32=64000;
zdw03=0.12;
khs3=500000;
kw1=200000;
kw3=230000;
Xdf1=1.85;
Ydf1=0.5;
Zdf1=0.1;
Xdr1=1.45;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Zp1=-0.3;
Xuf3=1.1;
Yuf3=0.55;
Zuf3=-0.2;
Xur3=1.5;
Yur3=0.6;
Zur3=-0.19;
Xdf3=1.1;
Ydf3=0.45;
Zdf3=0.1;
Xdr3=1.5;
Ydr3=0.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Yp3=0.55;
Zp3=-0.3;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Page 125 of 237
Xm1=(Xuw1+Xdw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Cdf1=(1/ldf1)*(abs(Ydf1-Ydw1));
Cdr1=(1/ldr1)*(abs(Ydr1-Ydw1));
Sdf1=(1/ldf1)*(abs(Xdf1-Xdw1));
Sdr1=(1/ldr1)*(abs(Xdr1-Xdw1));
Cp1=(1/lp1)*(abs(Yp1-Ydw1));
Cuf3=(1/luf3)*(abs(Yuf3-Yuw3));
Cur3=(1/lur3)*(abs(Yur3-Yuw3));
Suf3=(1/luf3)*(abs(Xuf3-Xuw3));
Sur3=(1/lur3)*(abs(Xur3-Xuw3));
Fd=(1/2)*rho*Cd*Af*(U^2);
Fx3=(1/2)*Fd;
F33=(-(beta3/(alpha3+beta3)))*Fx3;
F34=(-(alpha3/(alpha3+beta3)))*Fx3;
Fuf3=(Cur3/((Cuf3*Sur3)+(Cur3*Suf3)))*F33;
Fur3=((-Cuf3)/((Cuf3*Sur3)+(Cur3*Suf3)))*F33;
Fdf3=(Cdr3/((Cdf3*Sdr3)+(Cdr3*Sdf3)))*F34;
Fdr3=((-Cdf3)/((Cdf3*Sdr3)+(Cdr3*Sdf3)))*F34;
Fp1=(kp11*((zdw01+x(3)-(Xm1*(x(4)))-x(1)-beta1)^3))+(kp12*(zdw01+x(3)(Xm1*(x(4)))-x(1)-beta1))+(khs1*((2*zdw01)+(2*(x(3)))-(2*Xm1*(x(4)))(2*(x(1)))-(2*beta1)));
Fp3=(kp31*((zdw03+x(3)-(Xm2*(x(4)))-x(2)-beta3)^3))+(kp32*(zdw03+x(3)(Xm2*(x(4)))-x(2)-beta3))+(khs3*((2*zdw03)+(2*(x(3)))-(2*Xm2*(x(4)))(2*(x(2)))-(2*beta3)));
Fa1=((Cp1*Sdr1)/((Cdf1*Sdr1)+(Cdr1*Sdf1)))*Fp1;
Fb1=((Cp1*Sdf1)/((Cdf1*Sdr1)+(Cdr1*Sdf1)))*Fp1;
Sp1=(-x(3)+(Xm1*(x(4)))+x(1)+beta1-Zp1)/lp1;
Sdf1=(Zdf1+x(3)-(Xm1*(x(4)))-x(1)-beta1)/ldf1;
Sdr1=(Zdr1+x(3)-(Xm1*(x(4)))-x(1)-beta1)/ldr1;
Sp3=(-x(3)-(Xm1*(x(4)))+x(2)+beta3-Zp3)/lp3;
Suf3=(Zuf3+x(3)+(Xm1*(x(4)))-x(2)+alpha3)/ldf3;
Sur3=(Zur3+x(3)+(Xm1*(x(4)))-x(2)+alpha3)/ldr3;
Sdf3=(Zdf3+x(3)+(Xm1*(x(4)))-x(2)-beta3)/ldf3;
Sdr3=(Zdr3+x(3)+(Xm1*(x(4)))-x(2)-beta3)/ldr3;
Cl=-(Bcl*(x(4)))+(Zcl*((x(3))+l))+Cl0;
dlift=(Bdl*(x(4)))+(Zdl*((x(3))+l))+dlift0;
Fl=(1/2)*rho*Cl*Af*(U^2);
S=-(Fa1*Sdf1*Zdf1)+(Fb1*Sdr1*Zdr1)+(Fuf3*Suf3*Zuf3)-(Fur3*Sur3*Zur3)(Fdf3*Sdf3*Zdf3)+(Fdr3*Sdr3*Zdr3)(Fa3*Sdf3*Zdf3)+(Fb3*Sdr3*Zdr3)+((Fd*ddrag)/2)+((Fl*dlift)/2);
Page 126 of 237

F = [(Fp1*Sp1)+(Fa1*Sdf1)+(Fb1*Sdr1)-(kw1*(x(1)+R1))+(m1*g);
(Fp3*Sp3)+(Fuf3*Suf3)+(Fur3*Sur3)+(Fdf3*Sdf3)+(Fdr3*Sdr3)+(Fa3*Sdf3)+(Fb3
*Sdr3)-(kw3*(x(2)+R3))+(m3*g);
-(kw1*(x(1)+R1))+(m1*g)-(kw3*(x(2)+R3))+(m3*g)+(0.5*Fl)+(0.5*m*g);
(Fp1*Sp1*Xp1)+(Fa1*Sdf1*Xdf1)+(Fb1*Sdr1*Xdr1)-(Fp3*Sp3*Xp3)(Fuf3*Suf3*Xuf3)-(Fur3*Sur3*Xur3)-(Fdf3*Sdf3*Xdf3)(Fdr3*Sdr3*Xdr3)+(Fa3*Sdf3*Xdf3)-(Fb3*Sdr3*Xdr3)-(Fx3*(x(2)))+S];
, 5 (2),
. 2
m file, function (2) . m file :
function G = Initial_Slip_Ratio_Function(s)
Fx3=Fx_Fnc(120);
z3=-0.3349;
Zb=0.0009;
Zc=0.00005;
Sigmac=1.35;
Zd=1.8;
Ze=0.000079;
Sigmae=0.812;
R3=0.35;
kw3=230000;
Bx3=Zb*kw3*(z3+R3);
Cx3=(Zc*kw3*(z3+R3))+Sigmac;
Dx3=Zd*kw3*(z3+R3);
Ex3=(Ze*kw3*(z3+R3))+Sigmae;
G=Dx3*(sin(Cx3*atan((Bx3*s)-(Ex3*((Bx3*s)-(atan(Bx3*s)))))))-Fx3;
, function
z 3 (= z 3initial ) Fx3
. solver (optimizer)
functions Newton (m file):
Uarx=120;
%km/h
Fx3=Fx_Fnc(Uarx);
U=Uarx*(1000/3600);
%m/s
%Z1, Z3, Z,
% solver
Page 127 of 237
z10=-0.2;
z30=-0.2;
z0=-0.1;
beta0=0; %
%Solver
gwniabeta0=beta0*(pi/180);
x0 = [z10;z30;z0;gwniabeta0];
options=optimset('Display','iter');
[x] = fsolve(@Initial_Conditions_Function,x0,options);
z1=x(1);
z3=x(2);
z=x(3);
beta=x(4);
%rad (SI)
betag=beta*(180/pi); %
%1, 3, S3, Ap
% solver
s0 =0;
%Solver
options=optimset('Display','iter');
[s] = fsolve(@Initial_Slip_Ratio_Function,s0,options);
s3=s;
kb1=50000;
kb3=21430;
ksw=0.17;
g=9.81;
m=800;
Ixx=260;
Iyy=720;
Izz=850;
Ixz=360;
m1=6;
m3=8;
I1=0.78;
I3=0.88;
mcrank=10;
Ixcrank=0.02;
Icrank=0.21;
Cd=0.45;
Af=1.6;
rho=1.2;
Bcl=10;
Page 128 of 237

Zcl=5;
l=0.15;
Cl0=4;
Bdl=0.5;
Zdl=-0.1;
dlift0=0.1;
ddrag=0.1;
alpha1=0.2;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
kp11=25000000;
kp12=60000;
zdw01=0.12;
bp11=20000;
bp12=6000;
krb1=50000;
bhs1=5000;
khs1=250000;
kp31=26000000;
kp32=64000;
zdw03=0.12;
bp31=21000;
bp32=6400;
krb3=40000;
bhs3=6000;
khs3=500000;
kw1=200000;
bw1=3000;
kw3=230000;
bw3=3400;
Xuf1=1.9;
Yuf1=0.6;
Zuf1=-0.2;
Xur1=1.5;
Yur1=0.65;
Zur1=-0.21;
Xdf1=1.85;
Ydf1=0.5;
Zdf1=0.1;
Xdr1=1.45;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Zp1=-0.3;
Xuf3=1.1;
Yuf3=0.55;
Zuf3=-0.2;
Xur3=1.5;
Yur3=0.6;
Zur3=-0.19;
Xdf3=1.1;
Ydf3=0.45;
Zdf3=0.1;
Page 129 of 237

Xdr3=1.5;
Ydr3=0.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Yp3=0.55;
Zp3=-0.3;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Xcrank=0.6;
Zcrank=0.1;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
Abx1=4.76;
Zbx1=0.00088;
Acx1=-0.00012;
Zcx1=0.000042;
Sigmacx1=1.28;
Adx1=-30;
Zdx1=1.6;
Aex1=0.036;
Zex1=0.000078;
Sigmaex1=0.782;
Aby1=50.91;
Zby1=0.002;
Acy1=-0.000456;
Zcy1=0.000013;
Sigmacy1=1.39;
Ady1=-56.5;
Zdy1=0.99;
Aey1=5.69;
Zey1=-0.0026;
Sigmaey1=6.543;
Abx3=4.55;
Zbx3=0.0009;
Acx3=-0.00012;
Zcx3=0.00005;
Sigmacx3=1.35;
Adx3=-30;
Zdx3=1.8;
Aex3=0.031;
Zex3=0.000079;
Sigmaex3=0.812;
Aby3=60.87;
Zby3=0.0033;
Acy3=-0.000433;
Page 130 of 237

Zcy3=0.000019;
Sigmacy3=1.51;
Ady3=-53.5;
Zdy3=1.02;
Aey3=6.034;
Zey3=-0.0027;
Sigmaey3=6.74;
Cp=3000;
Cw=0.0477;
i=11;
R1=0.34;
R3=0.35;
wmega3=-(((s3+1)*U)/R3);
wmega1=-(U/R1);
Mp=-((2/i)*Fx3*z3);
Ap=((Mp-(Cw*i*wmega3))/Cp);
wmegaxcrank=i*wmega3;
rpm=-((wmegaxcrank/(2*pi))*60);
Fp1=(kp11*((zdw01+z-(Xm1*beta)-z1-beta1)^3))+(kp12*(zdw01+z-(Xm1*beta)z1-beta1))+(khs1*((2*zdw01)+(2*z)-(2*Xm1*beta)-z1-z1-(2*beta1)));
Fa1=(Cp1*Sdr1*Fp1)/((Cdf1*Sdr1)+(Cdr1*Sdf1));
Fb1=(Cp1*Sdf1*Fp1)/((Cdf1*Sdr1)+(Cdr1*Sdf1));
Bx3=Zbx3*kw3*(z3+R3);
Cx3=(Zcx3*kw3*(z3+R3))+Sigmacx3;
Dx3=Zdx3*kw3*(z3+R3);
Ex3=(Zex3*kw3*(z3+R3))+Sigmaex3;
Fx3=Dx3*(sin(Cx3*atan((Bx3*s3)-(Ex3*((Bx3*s3)-(atan(Bx3*s3)))))));
F33=-((((Fx3)*(beta3)))/(alpha3+beta3));
Page 131 of 237

F34=-((((Fx3)*(alpha3)))/(alpha3+beta3));
Fp3=(kp31*((zdw03+z+(Xm2*beta)-z3-beta3)^3))+(kp32*(zdw03+z+(Xm2*beta)z3-beta3))+(khs3*((2*zdw03)+(2*z)+(2*Xm2*beta)-z3-z3-(2*beta3)));
Fuf3=((Cur3*F33))/((Cuf3*Sur3)+(Cur3*Suf3));
Fur3=(-(Cuf3*F33))/((Cuf3*Sur3)+(Cur3*Suf3));
Fdf3=((Cdr3*F34))/((Cdf3*Sdr3)+(Cdr3*Sdf3));
Fdr3=(-(Cdf3*F34))/((Cdf3*Sdr3)+(Cdr3*Sdf3));
A=(1/2)*rho*Af;
Cl=-(Bcl*beta)+(Zcl*(z+l))+Cl0;
Fl=Cl*A*(U^2);
dlift=(Bdl*beta)+(Zdl*(z+l))+dlift0;
disp(' x (km/h) (U)=');
disp(Uarx);
disp(' y (km/h) (U)=');
disp(0);
disp(' z (km/h) (U)=');
disp(0);
disp(' 1,2 (z1,2)=');
disp(z1);
disp(' 3,4 (z3,4)=');
disp(z3);
disp(' z 1,2=');
disp(0);
disp(' z 3,4=');
disp(0);
disp(' (z)=');
disp(z);
disp(' roll () ()=');
disp(0);
disp(' pitch () ()=');
disp(betag);
disp(' x=');
disp(0);
disp(' y=');
disp(0);
disp(' z (z)=');
disp(0);
disp(' 1,2 (1,2)=');
disp(wmega1);
Page 132 of 237

disp(' 3,4 (3,4)=');
disp(wmega3);
disp(' (Ap)=');
disp(Ap);
disp(' (Bp)=');
disp(0);
disp(' (Sw)=');
disp(0);
disp(' slip ratio 3,4 (s3,4)=');
disp(s3);
disp(' Fx 3,4 (Fx3,4)=');
disp(Fx3);
disp(' (RPM) (xcrank)=');
disp(rpm);
disp(' pitch (rad) ()=');
disp(betag);
disp(' x (m/s) (U)=');
disp(U);
disp('Fp1');
disp(Fp1);
disp('Fp3');
disp(Fp3);
disp('Fa1');
disp(Fa1);
disp('Fb1');
disp(Fb1);
disp('Fuf3');
disp(Fuf3);
disp('Fur3');
disp(Fur3);
disp('Fdf3');
disp(Fdf3);
disp('Fdr3');
disp(Fdr3);
disp('Fa3');
disp(Fa3);
disp('Fb3');
Page 133 of 237

disp(Fb3);
disp('Fx3');
disp(Fx3);
disp('Fl');
disp(Fl);
disp('dlift');
disp(dlift);
disp('Cl');
disp(Cl);
,
3. ,
.
F p1 , Fp3 , Cl , d lift ,
F p1 , Fp3 , Cl , d lift ...
:
function []=Initial_Conditions_Alternative_Finder
g=9.81;
m=1000;
m1=6;
m3=8;
R1=0.34;
R3=0.35;
Cd=0.45;
Af=1.6;
rho=1.2;
Bcl=30;
Zcl=15;
l=0.15;
Cl0=3.2;
Bdl=0.5;
Zdl=-0.1;
dlift0=0.2;
ddrag=0.2;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
kp11=25000000;
kp12=60000;
zdw01=0.16;
khs1=25000;
kp31=26000000;
kp32=64000;
zdw03=0.16;
khs3=27000;
Page 134 of 237

kw1=200000;
kw3=230000;
Xdf1=1.85;
Ydf1=0.5;
Zdf1=0.1;
Xdr1=1.45;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Zp1=-0.3;
Xuf3=1.1;
Yuf3=0.55;
Zuf3=-0.2;
Xur3=1.5;
Yur3=0.6;
Zur3=-0.19;
Xdf3=1.1;
Ydf3=0.45;
Zdf3=0.1;
Xdr3=1.5;
Ydr3=0.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Yp3=0.55;
Zp3=-0.3;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
A_mat=zeros(4,4);
B_mat=zeros(4,1);
Z_mat=zeros(4,1);
Xm1=(Xuw1+Xdw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Page 135 of 237

U=33.333;
Fd=(1/2)*rho*Cd*Af*(U^2);
Fx3=(1/2)*Fd;
F33=(-(beta3/(alpha3+beta3)))*Fx3;
F34=(-(alpha3/(alpha3+beta3)))*Fx3;
Fuf3=(Cur3/((Cuf3*Sur3)+(Cur3*Suf3)))*F33;
Fur3=((-Cuf3)/((Cuf3*Sur3)+(Cur3*Suf3)))*F33;
Fdf3=(Cdr3/((Cdf3*Sdr3)+(Cdr3*Sdf3)))*F34;
Fdr3=((-Cdf3)/((Cdf3*Sdr3)+(Cdr3*Sdf3)))*F34;
Fp1=3800;
Fp3=5000;
Cl=4.85;
dlift=0.19;
%Ypothesh
%Ypothesh
%Ypothesh
%Ypothesh
z1=0;
z3=0;
z=0;
betagwnia=0;
z1ref=100;
z3ref=100;
zref=100;
betagwniaref=100;
while abs(z1-z1ref)>0.0001 || abs(z3-z3ref)>0.0001 || abs(z-zref)>0.0001
|| abs(betagwnia-betagwniaref)>0.00001
z1ref=z1;
z3ref=z3;
zref=z;
betagwniaref=betagwnia;
A_mat(1,1)=(Fp1/lp1)-(Fa1/ldf1)-(Fb1/ldr1)-kw1;
A_mat(1,2)=0;
A_mat(1,3)=-(Fp1/lp1)+(Fa1/ldf1)+(Fb1/ldr1);
A_mat(1,4)=((Fp1/lp1)-(Fa1/ldf1)-(Fb1/ldr1))*Xm1;
A_mat(2,1)=0;
A_mat(2,2)=(Fp3/lp3)-(Fa3/ldf3)-(Fb3/ldr3)-(Fuf3/luf3)-(Fur3/lur3)(Fdf3/ldf3)-(Fdr3/ldr3)-kw3;
Page 136 of 237

A_mat(2,3)=(Fp3/lp3)+(Fa3/ldf3)+(Fb3/ldr3)+(Fuf3/luf3)+(Fur3/lur3)+(Fdf3/ldf3)+(Fdr3
/ldr3);
A_mat(2,4)=((Fp3/lp3)+(Fa3/ldf3)+(Fb3/ldr3)+(Fuf3/luf3)+(Fur3/lur3)+(Fdf3/ldf3)+(Fdr3
/ldr3))*Xm2;
A_mat(3,1)=-kw1;
A_mat(3,2)=-kw3;
A_mat(3,3)=0;
A_mat(3,4)=0;
A_mat(4,1)=((Fp1/lp1)*Xp1)-((Fa1/ldf1)*Xdf1)-((Fb1/ldr1)*Xdr1);
A_mat(4,2)=((Fp3/lp3)*Xp3)-((Fa3/ldf3)*Xdf3)-((Fb3/ldr3)*Xdr3)((Fuf3/luf3)*Xuf3)-((Fur3/lur3)*Xur3)-((Fdf3/ldf3)*Xdf3)((Fdr3/ldr3)*Xdr3)-Fx3;
S1=-((Fp1/lp1)*Xp1)+((Fa1/ldf1)*Xdf1)+((Fb1/ldr1)*Xdr1);
A_mat(4,3)=((Fa3/ldf3)*Xdf3)+((Fb3/ldr3)*Xdr3)+((Fuf3/luf3)*Xuf3)+((Fur3/
lur3)*Xur3)+((Fdf3/ldf3)*Xdf3)+((Fdr3/ldr3)*Xdr3)-((Fp3/lp3)*Xp3)+S1;
S2=((Fp1/lp1)*Xp1*Xm1)-((Fa1/ldf1)*Xdf1*Xm1)((Fb1/ldr1)*Xdr1*Xm1)+((Fa3/ldf3)*Xdf3*Xm2)+((Fb3/ldr3)*Xdr3*Xm2)+((Fuf3/
luf3)*Xuf3*Xm2)+((Fur3/lur3)*Xur3*Xm2);
A_mat(4,4)=((Fdf3/ldf3)*Xdf3*Xm2)+((Fdr3/ldr3)*Xdr3*Xm2)((Fp3/lp3)*Xp3*Xm2)+S2;
B_mat(1,1)=-((Fp1/lp1)*(beta1-Zp1))-((Fa1/ldf1)*(Zdf1-beta1))((Fb1/ldr1)*(Zdr1-beta1))+(kw1*R1)-(m1*g);
S3=-((Fa3/ldf3)*(Zdf3-beta3))-((Fb3/ldr3)*(Zdr3-beta3))+(kw3*R3)(m3*g);
B_mat(2,1)=-((Fp3/lp3)*(beta3-Zp3))-((Fuf3/luf3)*(Zuf3+alpha3))((Fur3/lur3)*(Zur3+alpha3))-((Fdf3/ldf3)*(Zdf3-beta3))((Fdr3/ldr3)*(Zdr3-beta3))+S3;
B_mat(3,1)=(kw1*R1)-(m1*g)+(kw3*R3)-(m3*g)-(Fl/2)-((m*g)/2);
S4=(Fa1*Sdf1*Zdf1)-(Fb1*Sdr1*Zdr1)-((Fa1/ldf1)*(Zdf1-beta1)*Xdf1)((Fb1/ldr1)*(Zdr1-beta1)*Xdr1)-((Fp1/lp1)*(-Zp1+beta1)*Xp1)(Fuf3*Suf3*Zuf3)+(Fur3*Sur3*Zur3);
S5=(Fdf3*Sdf3*Zdf3)-(Fdr3*Sdr3*Zdr3)+(Fa3*Sdf3*Zdf3)(Fb3*Sdr3*Zdr3)+((Fuf3/luf3)*(Zuf3+alpha3)*Xuf3)+((Fur3/lur3)*(Zur3+alpha
3)*Xur3)+((Fdf3/ldf3)*(Zdf3-beta3)*Xdf3);
B_mat(4,1)=((Fdr3/ldr3)*(Zdr3-beta3)*Xdr3)+((Fa3/ldf3)*(Zdf3beta3)*Xdf3)+((Fb3/ldr3)*(Zdr3-beta3)*Xdr3)+((Fp3/lp3)*(-Zp3+beta3)*Xp3)((Fd*ddrag)/2)-((Fl*dlift)/2)+S4+S5;
InvA_mat=inv(A_mat);
Z_mat=(InvA_mat)*(B_mat);
z1=Z_mat(1,1);
z3=Z_mat(2,1);
z=Z_mat(3,1);
betagwnia=Z_mat(4,1);
Fp1=(kp11*((zdw01+z-(Xm1*betagwnia)-z1-beta1)^3))+(kp12*(zdw01+z(Xm1*betagwnia)-z1-beta1))+(khs1*((2*zdw01)+(2*z)-(2*Xm1*betagwnia)(2*z1)-(2*beta1)));
Fp3=(kp31*((zdw03+z-(Xm2*betagwnia)-z3-beta3)^3))+(kp32*(zdw03+z(Xm2*betagwnia)-z3-beta3))+(khs3*((2*zdw03)+(2*z)-(2*Xm2*betagwnia)(2*z3)-(2*beta3)));
Page 137 of 237

Cl=-(Bcl*betagwnia)+(Zcl*(z+l))+Cl0;
dlift=(Bdl*betagwnia)+(Zdl*(z+l))+dlift0;
end
disp(Z_mat)
end

,
optimum, .
.

:
z1initial = 0.3276
z 3initial = 0.3349
z initial = 0.2342
initial = 0.0047
1initial = 98.0392
2initial = 96.0064
A pinitial = 0.0217
,
.
Page 138 of 237
6.3
6.3.1
-
Simulink, .
, block ,
:
Page 139 of 237

block
( ), block ( ),
( 14 dof) .
block
(. ).
block
:
Page 140 of 237

control
.

block :
Page 141 of 237

18 block (Embedded Functions)
, ,
,
modular . -
block
Embedded Function .
6.3.2 Blocks
Blocks

.
, A p , B p , S w step functions.
, .
control loop cruise
control, (heading) .
.
block
:
Page 142 of 237

Embedded Function ,
U ,V , S w input, z .

(. 4.2.2). :
function [Uwheel1,Uwheel2,Uwheel3,Uwheel4] = Uwheel(U,V,Omegaz,Sw)
ksw=0.17;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Yuw3=0.95;
Ydw3=0.95;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Ym2=(Yuw3+Ydw3)/2;
gamma1=ksw*Sw;
gamma2=ksw*Sw;
Uwheel1=(U*cos(gamma1))+(Ym1*Omegaz*cos(gamma1))+(V*sin(gamma1))+(Xm1*Ome
gaz*sin(gamma1));
Uwheel2=(U*cos(gamma2))(Ym1*Omegaz*cos(gamma2))+(V*sin(gamma2))+(Xm1*Omegaz*sin(gamma2));
Uwheel3=U+(Ym2*Omegaz);
Uwheel4=U-(Ym2*Omegaz);
end

.
block
,
zi = z i (t ) .
z&i = z&i (t ) block inputs.
z = sin(x) , x
block ,
z (t ) = sin( x(t )) . Embedded Function,
,

:
Page 143 of 237

function [zd1,zd2,zd3,zd4] =
zd(xwheel1,xwheel2,xwheel3,xwheel4,surfacewavelength,zd1ampl,zd2ampl,zd3a
mpl,zd4ampl,zd10,zd20,zd30,zd40)
wl=surfacewavelength;
w=(2*pi)/wl;
phase01=asin(zd10);
phase02=asin(zd20);
phase03=asin(zd30);
phase04=asin(zd40);
zd1=(zd1ampl)*sin((w*xwheel1)+phase01);
end

A p , B p , S w , .
controller . controller ,

A p , B p (-). (error)
(
error) controller. , error ,
, A p ,
error (PI controller)
, B p error.
, :
Page 144 of 237
function [Ap,Bp] = U_control(U,U_target,IntSignal)
kapi=0.01;
kapp=0.01;
kbp=0.01;
%Kerdos I gaziou
%Kerdos P gaziou
%Kerdos frenou
if U<U_target
Ap=(kapp*(U_target-U))+(kapi*IntSignal);
Bp=0;
elseif U>U_target
Bp=kbp*(U-U_target);
Ap=0;
else
Ap=0;
Bp=0;
end
end

(heading control). controller
S w
error heading angle .
Page 145 of 237

heading angle z

X (
). blocks
:
Blocks
Embedded Functions
block .
.
,
.
block
1.
. ,
block F p1
. :
Page 146 of 237
block :
function [Fp1,Fuf1,Fur1,Fdf1,Fdr1,Fa1,Fb1,F11,F12,F13,F14,Mb1,Fx1] =
ForcesWheel1(Sw,Bp,U,Udot,V,Vdot,z,zdot,theta,thetadot,beta,betadot,Omega
z,Omegazdot,z1,z1dot,z2,z2dot,Omega1,zd1,zd1dot)
%Dedomena
kb1=50000;
ksw=0.17;
m1=6;
R1=0.34;
alpha1=0.2;
beta1=0.2;
kp11=25000000;
kp12=60000;
zdw01=0.12;
bp11=20000;
Page 147 of 237

bp12=6000;
krb1=50000;
bhs1=5000;
khs1=250000;
kw1=200000;
bw1=3000;
Xuf1=1.9;
Yuf1=0.6;
Xur1=1.5;
Yur1=0.65;
Xdf1=1.85;
Ydf1=0.5;
Xdr1=1.45;
Ydr1=0.55;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Yp1=0.6;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Abx1=4.76;
Zbx1=0.00088;
Acx1=-0.00012;
Zcx1=0.000042;
Sigmacx1=1.28;
Adx1=-30;
Zdx1=1.6;
Aex1=0.036;
Zex1=0.000078;
Sigmaex1=0.782;
Aby1=50.91;
Zby1=0.002;
Acy1=-0.000456;
Zcy1=0.000013;
Sigmacy1=1.39;
Ady1=-56.5;
Zdy1=0.99;
Aey1=5.69;
Zey1=-0.0026;
Sigmaey1=6.543;
Page 148 of 237

if Omega1<0
Mb1=kb1*Bp;
elseif Omega1>0
Mb1=-(kb1*Bp);
else
Mb1=0;
end
gamma1=ksw*Sw;
%Slip Ratio
s1=(((Omega1*R1)+(U*cos(gamma1))+(Ym1*Omegaz*cos(gamma1))+(V*sin(gamma1))+(X
m1*Omegaz*sin(gamma1)))/((U*cos(gamma1))+(Ym1*Omegaz*cos(gamma1))+(V*sin(
gamma1))+(Xm1*Omegaz*sin(gamma1))));
%Slip Angle
a1=-atan(((V*cos(gamma1))+(Xm1*Omegaz*cos(gamma1))-(U*sin(gamma1))(Ym1*Omegaz*sin(gamma1)))/((U*cos(gamma1))+(Ym1*Omegaz*cos(gamma1))+(V*si
n(gamma1))+(Xm1*Omegaz*sin(gamma1))));
%Fx,Fy
Bx1=(Abx1*(abs(a1)))+(Zbx1*((kw1*(z1-zd1+R1))+(bw1*(z1dot-zd1dot))));
Cx1=(Acx1*(abs(a1)))+(Zcx1*((kw1*(z1-zd1+R1))+(bw1*(z1dotzd1dot))))+Sigmacx1;
Dx1=(Adx1*(abs(a1)))+(Zdx1*((kw1*(z1-zd1+R1))+(bw1*(z1dot-zd1dot))));
Ex1=(Aex1*(abs(a1)))+(Zex1*((kw1*(z1-zd1+R1))+(bw1*(z1dotzd1dot))))+Sigmaex1;
By1=(Aby1*(abs(s1)))+(Zby1*((kw1*(z1-zd1+R1))+(bw1*(z1dot-zd1dot))));
Cy1=(Acy1*(abs(s1)))+(Zcy1*((kw1*(z1-zd1+R1))+(bw1*(z1dotzd1dot))))+Sigmacy1;
Dy1=(Ady1*(abs(s1)))+(Zdy1*((kw1*(z1-zd1+R1))+(bw1*(z1dot-zd1dot))));
Ey1=(Aey1*(abs(s1)))+(Zey1*((kw1*(z1-zd1+R1))+(bw1*(z1dotzd1dot))))+Sigmaey1;
if (zd1-z1)<R1
Fy1=Dy1*(sin(Cy1*atan((By1*a1)-(Ey1*((By1*a1)-(atan(By1*a1)))))));
else
Fx1=0;
Fy1=0;
end
%F1,F2,F3,F4
F11=((((Fy1*cos(gamma1))+(Fx1*sin(gamma1)))*(zd1-z1beta1))+(m1*beta1*(Vdot+(Xm1*Omegazdot)+(Ym1*(Omegaz^2))+(U*Omegaz)))(Mb1*sin(gamma1)))/(alpha1+beta1);
F12=-(((((Fy1*cos(gamma1))+(Fx1*sin(gamma1)))*(zd1-z1+alpha1))(m1*alpha1*(Vdot+(Xm1*Omegazdot)+(Ym1*(Omegaz^2))+(U*Omegaz)))(Mb1*sin(gamma1)))/(alpha1+beta1));
F13=-(((((Fx1*cos(gamma1))-(Fy1*sin(gamma1)))*(beta1))(m1*beta1*(Udot+(Ym1*Omegazdot)-(Xm1*(Omegaz^2))(V*Omegaz)))+(Mb1*cos(gamma1)))/(alpha1+beta1));
Page 149 of 237

F14=-(((((Fx1*cos(gamma1))-(Fy1*sin(gamma1)))*(alpha1))(m1*alpha1*(Udot+(Ym1*Omegazdot)-(Xm1*(Omegaz^2))-(V*Omegaz)))(Mb1*cos(gamma1)))/(alpha1+beta1));
Fdamp1=(bhs1*((2*zdot)-(2*Xm1*betadot)-z1dot-z2dot))+(bp11*((zdot(Ym1*thetadot)-(Xm1*betadot)-z1dot)^3))+(bp12*(zdot-(Ym1*thetadot)(Xm1*betadot)-z1dot));
Fp1=(kp11*((zdw01+z-(Ym1*theta)-(Xm1*beta)-z1-beta1)^3))+(kp12*(zdw01+z(Ym1*theta)-(Xm1*beta)-z1-beta1))+(krb1*(-(2*Ym1*theta)z1+z2))+(khs1*((2*zdw01)+(2*z)-(2*Xm1*beta)-z1-z2-(2*beta1)))+Fdamp1;
%Fuf,Fur,Fdf,Fdr,Fa,Fb
Fuf1=((Sur1*F11)+(Cur1*F13))/((Cuf1*Sur1)+(Cur1*Suf1));
Fur1=((Suf1*F11)-(Cuf1*F13))/((Cuf1*Sur1)+(Cur1*Suf1));
Fdf1=((Sdr1*F12)+(Cdr1*F14))/((Cdf1*Sdr1)+(Cdr1*Sdf1));
Fdr1=((Sdf1*F12)-(Cdf1*F14))/((Cdf1*Sdr1)+(Cdr1*Sdf1));
end
block 2
.
( ),
3:
function [Fp3,Fuf3,Fur3,Fdf3,Fdr3,Fa3,Fb3,F31,F32,F33,F34,Mb3,Fx3,Mp] =
ForcesWheel3(Ap,Bp,U,Udot,V,Vdot,z,zdot,theta,thetadot,beta,betadot,Omega
z,Omegazdot,z3,z3dot,z4,z4dot,Omega3,Omega4,zd3,zd3dot)
%Dedomena
Cp=3000;
Cw=0.0477;
i=11;
kb3=21430;
m3=8;
R3=0.35;
alpha3=0.21;
beta3=0.21;
kp31=26000000;
kp32=64000;
zdw03=0.12;
bp31=21000;
bp32=6400;
krb3=40000;
bhs3=6000;
khs3=500000;
kw3=230000;
bw3=3400;
Xuf3=1.1;
Page 150 of 237

Yuf3=0.55;
Xur3=1.5;
Yur3=0.6;
Xdf3=1.1;
Ydf3=0.45;
Xdr3=1.5;
Ydr3=0.5;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Yp3=0.55;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
Abx3=4.55;
Zbx3=0.0009;
Acx3=-0.00012;
Zcx3=0.00005;
Sigmacx3=1.35;
Adx3=-30;
Zdx3=1.8;
Aex3=0.031;
Zex3=0.000079;
Sigmaex3=0.812;
Aby3=60.87;
Zby3=0.0033;
Acy3=-0.000433;
Zcy3=0.000019;
Sigmacy3=1.51;
Ady3=-53.5;
Zdy3=1.02;
Aey3=6.034;
Zey3=-0.0027;
Sigmaey3=6.74;
if Omega3<0
Mb3=kb3*Bp;
elseif Omega3>0
Mb3=-(kb3*Bp);
else
Mb3=0;
Page 151 of 237

end
Mp=(Cp*Ap)+(Cw*(i/2)*(Omega3+Omega4));
%Slip Ratio
s3=-(((Omega3*R3)+U+(Ym2*Omegaz))/(U+(Ym2*Omegaz)));
%Slip Angle
a3=-atan((V-(Xm2*Omegaz))/(U+(Ym2*Omegaz)));
%Fx,Fy
if (zd3-z3)<R3
Fy3=Dy3*(sin(Cy3*atan((By3*a3)-(Ey3*((By3*a3)-(atan(By3*a3)))))));
else
Fx3=0;
Fy3=0;
end
%F1,F2,F3,F4
F31=(((Fy3)*(zd3-z3-beta3))+(m3*beta3*(Vdot(Xm2*Omegazdot)+(Ym2*(Omegaz^2))+(U*Omegaz))))/(alpha3+beta3);
F32=-((((Fy3)*(zd3-z3+alpha3))-(m3*alpha3*(Vdot(Xm2*Omegazdot)+(Ym2*(Omegaz^2))+(U*Omegaz))))/(alpha3+beta3));
F33=-((((Fx3)*(beta3))-(m3*beta3*(Udot+(Ym2*Omegazdot)+(Xm2*(Omegaz^2))(V*Omegaz)))+Mb3)/(alpha3+beta3));
F34=-((((Fx3)*(alpha3))(m3*alpha3*(Udot+(Ym2*Omegazdot)+(Xm2*(Omegaz^2))-(V*Omegaz)))Mb3)/(alpha3+beta3));
Fdamp3=(bhs3*((2*zdot)+(2*Xm2*betadot)-z3dot-z4dot))+(bp31*((zdot(Ym2*thetadot)+(Xm2*betadot)-z3dot)^3))+(bp32*(zdot(Ym2*thetadot)+(Xm2*betadot)-z3dot));
Fp3=(kp31*((zdw03+z-(Ym2*theta)+(Xm2*beta)-z3-beta3)^3))+(kp32*(zdw03+z(Ym2*theta)+(Xm2*beta)-z3-beta3))+(krb3*(-(2*Ym2*theta)z3+z4))+(khs3*((2*zdw03)+(2*z)+(2*Xm2*beta)-z3-z4-(2*beta3)))+Fdamp3;
Page 152 of 237

end
blocks
,
. 1 block :
Page 153 of 237
Embedded Function :
function z1doubledot =
dof_z1(Fp1,Fuf1,Fur1,Fdf1,Fdr1,Fa1,Fb1,z,theta,beta,z1,z1dot,zd1,zd1dot)
g=9.81;
m1=6;
R1=0.34;
alpha1=0.2;
beta1=0.2;
kw1=200000;
bw1=3000;
Zuf1=-0.2;
Zur1=-0.21;
Zdf1=0.1;
Zdr1=0.095;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Zp1=-0.3;
luf1=0.37;
lur1=0.33;
Page 154 of 237

ldf1=0.43;
ldr1=0.43;
lp1=0.51;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
A1=(Fp1/lp1)*(-z+(Ym1*theta)+(Xm1*beta)+z1+beta1-Zp1);
A2=(Fuf1/luf1)*(z-(Ym1*theta)-(Xm1*beta)-z1+alpha1+Zuf1);
A3=(Fur1/lur1)*(z-(Ym1*theta)-(Xm1*beta)-z1+alpha1+Zur1);
A4=(Fdf1/ldf1)*(z-(Ym1*theta)-(Xm1*beta)-z1-beta1+Zdf1);
A5=(Fdr1/ldr1)*(z-(Ym1*theta)-(Xm1*beta)-z1-beta1+Zdr1);
A6=(Fa1/ldf1)*(z-(Ym1*theta)-(Xm1*beta)-z1-beta1+Zdf1);
A7=(Fb1/ldr1)*(z-(Ym1*theta)-(Xm1*beta)-z1-beta1+Zdr1);
if (zd1-z1)<R1
A8=-(kw1*(z1-zd1+R1))-(bw1*(z1dot-zd1dot));
else
A8=0;
end
z1doubledot=(A1+A2+A3+A4+A5+A6+A7+A8+(m1*g))/m1;
end
function Omega1dot = dof_Omega1(Mb1,Fx1,z1,zd1)

I1=0.78;
Omega1dot=(Mb1+(Fx1*(zd1-z1)))/I1;
end

. (.
36) .
, block

. 3:
function Omega3dot = dof_Omega3(Mb3,Fx3,z3,zd3,Mp,Omega4dot)
I3=0.88;
Ixcrank=0.02;
Page 155 of 237

i=11;
Omega3dot=(Mb3+(Fx3*(zd3-z3))-((i/2)*Mp)(((i/2)^2)*Ixcrank*Omega4dot))/(I3+(((i/2)^2)*Ixcrank));
end
, blocks
6
. block U :
block :
function Udot =
dof_U(U,Udotin,V,zdot,thetadot,betadot,betadoubledot,Omegaz,F13,F14,F23,F
24,F33,F34,F43,F44)
m=800;
mcrank=10;
Cd=0.45;
Af=1.6;
rho=1.2;
Xcrank=0.6;
Zcrank=0.1;
Page 156 of 237
A=(1/2)*rho*Af;
Fd=Cd*A*(U^2);
SFx=-F13-F14-F23-F24-F33-F34-F43-F44-Fd(mcrank*(Udotin+(Zcrank*betadoubledot)(V*Omegaz)+(Xcrank*(Omegaz^2))+(Zcrank*thetadot*Omegaz)+(zdot*betadot)+(X
crank*(betadot^2))));
Udot=(SFx-(m*((zdot*betadot)-(V*Omegaz))))/m;
end
V :
:
function Vdot =
dof_V(U,Vdotin,zdot,thetadot,thetadoubledot,betadot,Omegaz,Omegazdot,F11,
F12,F21,F22,F31,F32,F41,F42)
Page 157 of 237

m=800;
mcrank=10;
Xcrank=0.6;
Zcrank=0.1;
SFy=-F11-F12-F21-F22-F31-F32-F41-F42-(mcrank*(Vdotin-(Xcrank*Omegazdot)(Zcrank*thetadoubledot)-(zdot*thetadot)(Xcrank*thetadot*betadot)+(U*Omegaz)+(Zcrank*betadot*Omegaz)));
Vdot=(SFy-(m*((U*Omegaz)-(zdot*thetadot))))/m;
end
Page 158 of 237

function zdoubledot =
dof_z(U,V,z,zdoubledotin,thetadot,beta,betadot,betadoubledot,Omegaz,z1,z1
dot,z1doubledot,z2,z2dot,z2doubledot,z3,z3dot,z3doubledot,z4,z4dot,z4doub
ledot,zd1,zd1dot,zd2,zd2dot,zd3,zd3dot,zd4,zd4dot)
g=9.81;
m=800;
m1=6;
m3=8;
mcrank=10;
R1=0.34;
R3=0.35;
Af=1.6;
rho=1.2;
Bcl=10;
Zcl=5;
l=0.15;
Cl0=4;
kw1=200000;
bw1=3000;
kw3=230000;
bw3=3400;
Xcrank=0.6;
Zcrank=0.1;
A=(1/2)*rho*Af;
Fl=Cl*A*(U^2);
if (zd1-z1)<R1
A1=-(kw1*(z1-zd1+R1))-(bw1*(z1dot-zd1dot))+(m1*g)-(m1*z1doubledot);
else
A1=(m1*g)-(m1*z1doubledot);
end
if (zd2-z2)<R1
else
end
if (zd3-z3)<R3
else
end
if (zd4-z4)<R3
A4=-(kw3*(z4-zd4+R3))-(bw3*(z4dot-zd4dot))+(m3*g)(m3*z4doubledot)+Fl+(m*g);
else
A4=(m3*g)-(m3*z4doubledot)+Fl+(m*g);
end
Page 159 of 237

A5=-(mcrank*(zdoubledotin+(Xcrank*betadoubledot)(U*betadot)+(Zcrank*(betadot^2))+(V*thetadot)-(Xcrank*thetadot*Omegaz)(Zcrank*(thetadot^2))));
SFz=A1+A2+A3+A4+A5;
zdoubledot=(SFz-(m*((V*thetadot)-(U*betadot))))/m;
end
:
function thetadoubledot =
dof_theta(U,Vdot,z,zdot,theta,thetadot,thetadoubledotin,beta,betadot,Omeg
az,Omegazdot,z1,z2,z3,z4,Omega3dot,Omega4dot,Fuf1,Fur1,Fdf1,Fdr1,Fa1,Fb1,
Fp1,Fuf2,Fur2,Fdf2,Fdr2,Fa2,Fb2,Fp2,Fuf3,Fur3,Fdf3,Fdr3,Fa3,Fb3,Fp3,Fuf4,
Fur4,Fdf4,Fdr4,Fa4,Fb4,Fp4)
i=11;
Page 160 of 237

Ixx=260;
Iyy=720;
Izz=850;
Ixz=360;
mcrank=10;
Ixcrank=0.02;
alpha1=0.2;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
Yuf1=0.6;
Zuf1=-0.2;
Yur1=0.65;
Zur1=-0.21;
Ydf1=0.5;
Zdf1=0.1;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Yp1=0.6;
Zp1=-0.3;
Yuf3=0.55;
Zuf3=-0.2;
Yur3=0.6;
Zur3=-0.19;
Ydf3=0.45;
Zdf3=0.1;
Ydr3=0.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Yp3=0.55;
Zp3=-0.3;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Xcrank=0.6;
Zcrank=0.1;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
Page 161 of 237

A1=-(Fuf1*Cuf1*(abs(Zuf1)))(Fur1*Cur1*(abs(Zur1)))+(Fdf1*Cdf1*(abs(Zdf1)))+(Fdr1*Cdr1*(abs(Zdr1)))+(
Fa1*Cdf1*(abs(Zdf1)))+(Fb1*Cdr1*(abs(Zdr1)))+(Fp1*Cp1*(abs(Zp1)));
A2=((Fuf1/luf1)*Yuf1*(Zuf1+z-(Ym1*theta)-(Xm1*beta)z1+alpha1))+((Fur1/lur1)*Yur1*(Zur1+z-(Ym1*theta)-(Xm1*beta)-z1+alpha1));
A3=((Fdf1/ldf1)*Ydf1*(Zdf1+z-(Ym1*theta)-(Xm1*beta)-z1beta1))+((Fdr1/ldr1)*Ydr1*(Zdr1+z-(Ym1*theta)-(Xm1*beta)-z1-beta1));
A4=((Fa1/ldf1)*Ydf1*(Zdf1+z-(Ym1*theta)-(Xm1*beta)-z1beta1))+((Fb1/ldr1)*Ydr1*(Zdr1+z-(Ym1*theta)-(Xm1*beta)-z1-beta1));
A5=((Fp1/lp1)*Yp1*(-Zp1-z+(Ym1*theta)+(Xm1*beta)+z1+beta1));
Fa2*Cdf1*(abs(Zdf1)))+(Fb2*Cdr1*(abs(Zdr1)))-(Fp2*Cp1*(abs(Zp1)));
A7=((Fuf2/luf1)*Yuf1*(Zuf1+z+(Ym1*theta)-(Xm1*beta)z2+alpha1))+((Fur2/lur1)*Yur1*(Zur1+z+(Ym1*theta)-(Xm1*beta)-z2+alpha1));
A8=((Fdf2/ldf1)*Ydf1*(Zdf1+z+(Ym1*theta)-(Xm1*beta)-z2beta1))+((Fdr2/ldr1)*Ydr1*(Zdr1+z+(Ym1*theta)-(Xm1*beta)-z2-beta1));
A9=((Fa2/ldf1)*Ydf1*(Zdf1+z+(Ym1*theta)-(Xm1*beta)-z2beta1))+((Fb2/ldr1)*Ydr1*(Zdr1+z+(Ym1*theta)-(Xm1*beta)-z2-beta1));
A10=-((Fp2/lp1)*Yp1*(-Zp1-z-(Ym1*theta)+(Xm1*beta)+z2+beta1));
Fa3*Cdf3*(abs(Zdf3)))+(Fb3*Cdr3*(abs(Zdr3)))+(Fp3*Cp3*(abs(Zp3)));
A12=((Fuf3/luf3)*Yuf3*(Zuf3+z-(Ym2*theta)+(Xm2*beta)z3+alpha3))+((Fur3/lur3)*Yur3*(Zur3+z-(Ym2*theta)+(Xm2*beta)-z3+alpha3));
A13=((Fdf3/ldf3)*Ydf3*(Zdf3+z-(Ym2*theta)+(Xm2*beta)-z3beta3))+((Fdr3/ldr3)*Ydr3*(Zdr3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3));
A14=((Fa3/ldf3)*Ydf3*(Zdf3+z-(Ym2*theta)+(Xm2*beta)-z3beta3))+((Fb3/ldr3)*Ydr3*(Zdr3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3));
A15=((Fp3/lp3)*Yp3*(-Zp3-z+(Ym2*theta)-(Xm2*beta)+z3+beta3));
Fa4*Cdf3*(abs(Zdf3)))+(Fb4*Cdr3*(abs(Zdr3)))-(Fp4*Cp3*(abs(Zp3)));
A17=((Fuf4/luf3)*Yuf3*(Zuf3+z+(Ym2*theta)+(Xm2*beta)z4+alpha3))+((Fur4/lur3)*Yur3*(Zur3+z+(Ym2*theta)+(Xm2*beta)-z4+alpha3));
A18=((Fdf4/ldf3)*Ydf3*(Zdf3+z+(Ym2*theta)+(Xm2*beta)-z4beta3))+((Fdr4/ldr3)*Ydr3*(Zdr3+z+(Ym2*theta)+(Xm2*beta)-z4-beta3));
A19=((Fa4/ldf3)*Ydf3*(Zdf3+z+(Ym2*theta)+(Xm2*beta)-z4beta3))+((Fb4/ldr3)*Ydr3*(Zdr3+z+(Ym2*theta)+(Xm2*beta)-z4-beta3));
A20=-((Fp4/lp3)*Yp3*(-Zp3-z-(Ym2*theta)-(Xm2*beta)+z4+beta3));
A21=-(Ixcrank*(i/2)*(Omega3dot+Omega4dot))-(mcrank*Zcrank*(Vdot(Xcrank*Omegazdot)-(Zcrank*thetadoubledotin)-(zdot*thetadot)(Xcrank*thetadot*betadot)+(U*Omegaz)+(Zcrank*betadot*Omegaz)));
SMx=A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14+A15+A16+A17+A18+A19+A2
0+A21;
Page 162 of 237

thetadoubledot=(SMx+(Ixz*Omegazdot)-((IzzIyy)*betadot*Omegaz)+(Ixz*thetadot*betadot))/Ixx;
end
:
function betadoubledot =
dof_beta(U,Udot,V,z,zdot,zdoubledot,theta,thetadot,beta,betadot,betadoubl
edotin,Omegaz,z1,z2,z3,z4,Omega3,Omega3dot,Omega4,Omega4dot,Fuf1,Fur1,Fdf
1,Fdr1,Fa1,Fb1,Fp1,Fuf2,Fur2,Fdf2,Fdr2,Fa2,Fb2,Fp2,Fuf3,Fur3,Fdf3,Fdr3,Fa
3,Fb3,Fp3,Fuf4,Fur4,Fdf4,Fdr4,Fa4,Fb4,Fp4,Mp)
i=11;
Ixx=260;
Iyy=720;
Izz=850;
Page 163 of 237

Ixz=360;
mcrank=10;
Ixcrank=0.02;
Icrank=0.21;
Cd=0.45;
Af=1.6;
rho=1.2;
Bcl=10;
Zcl=5;
l=0.15;
Cl0=4;
Bdl=0.5;
Zdl=-0.1;
dlift0=0.1;
ddrag=0.1;
alpha1=0.2;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
Xuf1=1.9;
Zuf1=-0.2;
Xur1=1.5;
Zur1=-0.21;
Xdf1=1.85;
Ydf1=0.5;
Zdf1=0.1;
Xdr1=1.45;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Zp1=-0.3;
Xuf3=1.1;
Zuf3=-0.2;
Xur3=1.5;
Zur3=-0.19;
Xdf3=1.1;
Zdf3=0.1;
Xdr3=1.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Zp3=-0.3;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
Page 164 of 237

lp3=0.58;
Xcrank=0.6;
Zcrank=0.1;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
A=(1/2)*rho*Af;
Fd=Cd*A*(U^2);
Fl=Cl*A*(U^2);
A1=(Fuf1*Suf1*(abs(Zuf1)))-(Fur1*Sur1*(abs(Zur1)))(Fdf1*Sdf1*(abs(Zdf1)))+(Fdr1*Sdr1*(abs(Zdr1)))(Fa1*Sdf1*(abs(Zdf1)))+(Fb1*Sdr1*(abs(Zdr1)));
A2=((Fuf1/luf1)*Xuf1*(Zuf1+z-(Ym1*theta)-(Xm1*beta)z1+alpha1))+((Fur1/lur1)*Xur1*(Zur1+z-(Ym1*theta)-(Xm1*beta)-z1+alpha1));
A3=((Fdf1/ldf1)*Xdf1*(Zdf1+z-(Ym1*theta)-(Xm1*beta)-z1beta1))+((Fdr1/ldr1)*Xdr1*(Zdr1+z-(Ym1*theta)-(Xm1*beta)-z1-beta1));
A4=((Fa1/ldf1)*Xdf1*(Zdf1+z-(Ym1*theta)-(Xm1*beta)-z1beta1))+((Fb1/ldr1)*Xdr1*(Zdr1+z-(Ym1*theta)-(Xm1*beta)-z1-beta1));
A5=((Fp1/lp1)*Xp1*(-Zp1-z+(Ym1*theta)+(Xm1*beta)+z1+beta1));
A6=(Fuf2*Suf1*(abs(Zuf1)))+(Fur2*Sur1*(abs(Zur1)))+(Fdf2*Sdf1*(abs(Zdf1)))(Fdr2*Sdr1*(abs(Zdr1)))+(Fa2*Sdf1*(abs(Zdf1)))-(Fb2*Sdr1*(abs(Zdr1)));
A7=-((Fuf2/luf1)*Xuf1*(Zuf1+z+(Ym1*theta)-(Xm1*beta)-z2+alpha1))((Fur2/lur1)*Xur1*(Zur1+z+(Ym1*theta)-(Xm1*beta)-z2+alpha1));
A8=-((Fdf2/ldf1)*Xdf1*(Zdf1+z+(Ym1*theta)-(Xm1*beta)-z2-beta1))((Fdr2/ldr1)*Xdr1*(Zdr1+z+(Ym1*theta)-(Xm1*beta)-z2-beta1));
A9=((Fa2/ldf1)*Ydf1*(Zdf1+z+(Ym1*theta)-(Xm1*beta)-z2beta1))+((Fb2/ldr1)*Ydr1*(Zdr1+z+(Ym1*theta)-(Xm1*beta)-z2-beta1));
A10=((Fp2/lp1)*Yp1*(-Zp1-z-(Ym1*theta)+(Xm1*beta)+z2+beta1));
A12=-((Fuf3/luf3)*Xuf3*(Zuf3+z-(Ym2*theta)+(Xm2*beta)-z3+alpha3))((Fur3/lur3)*Xur3*(Zur3+z-(Ym2*theta)+(Xm2*beta)-z3+alpha3));
A13=-((Fdf3/ldf3)*Xdf3*(Zdf3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3))((Fdr3/ldr3)*Xdr3*(Zdr3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3));
A14=-((Fa3/ldf3)*Xdf3*(Zdf3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3))((Fb3/ldr3)*Xdr3*(Zdr3+z-(Ym2*theta)+(Xm2*beta)-z3-beta3));
A15=-((Fp3/lp3)*Xp3*(-Zp3-z+(Ym2*theta)-(Xm2*beta)+z3+beta3));
Page 165 of 237

A17=((Fuf4/luf3)*Xuf3*(Zuf3+z+(Ym2*theta)+(Xm2*beta)z4+alpha3))+((Fur4/lur3)*Xur3*(Zur3+z+(Ym2*theta)+(Xm2*beta)-z4+alpha3));
A18=((Fdf4/ldf3)*Xdf3*(Zdf3+z+(Ym2*theta)+(Xm2*beta)-z4beta3))+((Fdr4/ldr3)*Xdr3*(Zdr3+z+(Ym2*theta)+(Xm2*beta)-z4-beta3));
A19=((Fa4/ldf3)*Xdf3*(Zdf3+z+(Ym2*theta)+(Xm2*beta)-z4beta3))+((Fb4/ldr3)*Xdr3*(Zdr3+z+(Ym2*theta)+(Xm2*beta)-z4-beta3));
A20=-((Fp4/lp3)*Xp3*(-Zp3-z-(Ym2*theta)(Xm2*beta)+z4+beta3))+(Fd*ddrag)+(Fl*dlift)+((i/2)*(Omega3dot+Omega4dot))
+(i*Mp);
A21=-(mcrank*Zcrank*(Udot+(Zcrank*betadoubledotin)(V*Omegaz)+(Xcrank*(Omegaz^2))+(Zcrank*thetadot*Omegaz)+(zdot*betadot)+(X
crank*(betadot^2))));
A22=-(Icrank*betadoubledotin)+(Ixcrank*((i/2)*(Omega3+Omega4))*Omegaz)(mcrank*Xcrank*(zdoubledot+(Xcrank*betadoubledotin)(U*betadot)+(Zcrank*(betadot^2))+(V*thetadot)-(Xcrank*thetadot*Omegaz)(Zcrank*(thetadot^2))));
SMy=A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14+A15+A16+A17+A18+A19+A2
0+A21+A22;
betadoubledot=(SMy-((Ixx-Izz)*thetadot*Omegaz)-(Ixz*((thetadot^2)(Omegaz^2))))/Iyy;
end
, z
Page 166 of 237
:
function Omegazdot =
dof_Omegaz(U,Vdot,zdot,thetadot,thetadoubledot,betadot,Omegaz,Omegazdotin
,Omega3,Omega4,Fuf1,Fur1,Fdf1,Fdr1,Fa1,Fb1,Fp1,Fuf2,Fur2,Fdf2,Fdr2,Fa2,Fb
2,Fp2,Fuf3,Fur3,Fdf3,Fdr3,Fa3,Fb3,Fp3,Fuf4,Fur4,Fdf4,Fdr4,Fa4,Fb4,Fp4)
i=11;
Ixx=260;
Iyy=720;
Izz=850;
Ixz=360;
mcrank=10;
Ixcrank=0.02;
Icrank=0.21;
Xuf1=1.9;
Yuf1=0.6;
Xur1=1.5;
Yur1=0.65;
Xdf1=1.85;
Ydf1=0.5;
Xdr1=1.45;
Ydr1=0.55;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Xuf3=1.1;
Yuf3=0.55;
Xur3=1.5;
Yur3=0.6;
Xdf3=1.1;
Ydf3=0.45;
Xdr3=1.5;
Ydr3=0.5;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Yp3=0.55;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Xcrank=0.6;
Zcrank=0.1;
Page 167 of 237
A1=-(Fuf1*Cuf1*Xuf1)-(Fur1*Cur1*Xur1)-(Fdf1*Cdf1*Xdf1)-(Fdr1*Cdr1*Xdr1)(Fa1*Cdf1*Xdf1)-(Fb1*Cdr1*Xdr1)+(Fp1*Cp1*Xp1);
A2=-(Fuf1*Suf1*Yuf1)+(Fur1*Sur1*Yur1)-(Fdf1*Sdf1*Ydf1)+(Fdr1*Sdr1*Ydr1)(Fa1*Sdf1*Ydf1)+(Fb1*Sdr1*Ydr1);
A3=-(Fuf2*Cuf1*Xuf1)-(Fur2*Cur1*Xur1)-(Fdf2*Cdf1*Xdf1)-(Fdr2*Cdr1*Xdr1)(Fa2*Cdf1*Xdf1)-(Fb2*Cdr1*Xdr1)-(Fp2*Cp1*Xp1);
A5=(Fuf3*Cuf3*Xuf3)+(Fur3*Cur3*Xur3)+(Fdf3*Cdf3*Xdf3)+(Fdr3*Cdr3*Xdr3)+(F
a3*Cdf3*Xdf3)+(Fb3*Cdr3*Xdr3)-(Fp3*Cp3*Xp3);
A7=(Fuf4*Cuf3*Xuf3)+(Fur4*Cur3*Xur3)+(Fdf4*Cdf3*Xdf3)+(Fdr4*Cdr3*Xdr3)+(F
a4*Cdf3*Xdf3)+(Fb4*Cdr3*Xdr3)+(Fp4*Cp3*Xp3);
A9=-(Icrank*Omegaz)-(Ixcrank*((i/2)*(Omega3+Omega4))*betadot)(mcrank*Xcrank*(Vdot-(Xcrank*Omegazdotin)-(Zcrank*thetadoubledot)(zdot*thetadot)(Xcrank*thetadot*betadot)+(U*Omegaz)+(Zcrank*betadot*Omegaz)));
SMz=A1+A2+A3+A4+A5+A6+A7+A8+A9;
Omegazdot=(SMz+(Ixz*thetadoubledot)-((Iyy-Ixx)*thetadot*betadot)(Ixz*betadot*Omegaz))/Izz;
end
Page 168 of 237
Embedded Functions
(
dof) (
).
Embedded
Functions ,
loops (algebraic loops)
Matlab. Matlab
. transfer function

.
block
, ( )
(bottoming check). block
.
block :
Page 169 of 237

.

, , (
). Embedded Function block
:
function [Ow1,Ow2,Ow3,Ow4,Oc1,Oc2,Oc3,Oc4,Oc] =
bottoming_check(z,theta,beta,z1,z2,z3,z4,zd1,zd2,zd3,zd4)
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
l=0.15;
if (zd1-z1)>0
Ow1=0;
else
Ow1=1;
end
if (zd2-z2)>0
Ow2=0;
else
Ow2=1;
end
if (zd3-z3)>0
Ow3=0;
else
Ow3=1;
end
if (zd4-z4)>0
Ow4=0;
else
Ow4=1;
end
if (zd1-(z-(Ym1*theta)-(Xm1*beta)+l))>0
Oc1=0;
else
Oc1=1;
end
Page 170 of 237

if (zd2-(z+(Ym1*theta)-(Xm1*beta)+l))>0
Oc2=0;
else
Oc2=1;
end
if (zd3-(z-(Ym2*theta)+(Xm2*beta)+l))>0
Oc3=0;
else
Oc3=1;
end
if (zd4-(z+(Ym2*theta)+(Xm2*beta)+l))>0
Oc4=0;
else
Oc4=1;
end
if Oc1==1 || Oc2==1 || Oc3==1 || Oc4==1

Oc=1;
else
Oc=0;
end
end
7 Simulink

.
, blocks

5.
, , modular .
Page 171 of 237

7.1
,

:
1. -
.
2. ( ) .
-
.
3.

. ,
. ,

.

...
loops
block ( block
).
4.
.
5. ( ) ,
.
-
blocks .
Page 172 of 237

7.2
blocks ,

-,
loops (
). blocks 1
. ,
. :
Page 173 of 237
:
function
[Fp1,Fuf1,Fur1,Fdf1,Fdr1,Fa1,Fb1,F11,F12,F13,F14,Mb1,Fx1,Omega10new,U0new
,V0new,Omegaz0new,gamma10new,Bx10new,Cx10new,Dx10new,Ex10new,s10new,By10n
ew,Cy10new,Dy10new,Ey10new,a10new,Fx10new,Fy10new,zd10new,z10new,Udot0new
,Vdot0new,Omegazdot0new,Mb10new,z0new,theta0new,beta0new,zdot0new,z1dot0n
ew,thetadot0new,betadot0new] =
ForcesWheel1(Sw,Bp,U,Udot,V,Vdot,z,zdot,theta,thetadot,beta,betadot,Omega
z,Omegazdot,z1,z1dot,z2,z2dot,Omega1,zd1,zd1dot,Omega10new1,U0new1,V0new1
,Omegaz0new1,gamma10new1,Bx10new1,Cx10new1,Dx10new1,Ex10new1,s10new1,By10
new1,Cy10new1,Dy10new1,Ey10new1,a10new1,Fx10new1,Fy10new1,zd10new1,z10new
1,Udot0new1,Vdot0new1,Omegazdot0new1,Mb10new1,z0new1,theta0new1,beta0new1
,zdot0new1,z1dot0new1,thetadot0new1,betadot0new1)
%Dedomena
kb1=50000;
ksw=0.17;
m1=6;
R1=0.34;
alpha1=0.2;
beta1=0.2;
kp11=25000000;
kp12=60000;
zdw01=0.12;
bp11=20000;
bp12=6000;
krb1=50000;
bhs1=5000;
khs1=250000;
kw1=200000;
bw1=3000;
Xuf1=1.9;
Yuf1=0.6;
Xur1=1.5;
Yur1=0.65;
Xdf1=1.85;
Ydf1=0.5;
Xdr1=1.45;
Ydr1=0.55;
Xuw1=1.7;
Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Yp1=0.6;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Abx1=4.76;
Zbx1=0.00088;
Page 174 of 237

Acx1=-0.00012;
Zcx1=0.000042;
Sigmacx1=1.28;
Adx1=-30;
Zdx1=1.6;
Aex1=0.036;
Zex1=0.000078;
Sigmaex1=0.782;
Aby1=50.91;
Zby1=0.002;
Acy1=-0.000456;
Zcy1=0.000013;
Sigmacy1=1.39;
Ady1=-56.5;
Zdy1=0.99;
Aey1=5.69;
Zey1=-0.0026;
Sigmaey1=6.543;
th=0.3;
U0init=33.3333;
Udot0init=0;
V0init=0;
Vdot0init=0;
z0init=-0.2342;
zdot0init=0;
theta0init=0;
thetadot0init=0;
beta0init=0.0047;
betadot0init=0;
Omegaz0init=0;
Omegazdot0init=0;
z10init=-0.3276;
z1dot0init=0;
Omega10init=-98.0392;
zd10init=0;
zd1dot0init=0;
gamma10init=0;
s10init=(((Omega10init*R1)+(U0init*cos(gamma10init))+(Ym1*Omegaz0init*cos(gamma10
init))+(V0init*sin(gamma10init))+(Xm1*Omegaz0init*sin(gamma10init)))/((U0
init*cos(gamma10init))+(Ym1*Omegaz0init*cos(gamma10init))+(V0init*sin(gam
ma10init))+(Xm1*Omegaz0init*sin(gamma10init))));
a10init=atan(((V0init*cos(gamma10init))+(Xm1*Omegaz0init*cos(gamma10init))(U0init*sin(gamma10init))(Ym1*Omegaz0init*sin(gamma10init)))/((U0init*cos(gamma10init))+(Ym1*Omega
Page 175 of 237

z0init*cos(gamma10init))+(V0init*sin(gamma10init))+(Xm1*Omegaz0init*sin(g
amma10init))));
Bx10init=(Abx1*(abs(a10init)))+(Zbx1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))));
Cx10init=(Acx1*(abs(a10init)))+(Zcx1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))))+Sigmacx1;
Dx10init=(Adx1*(abs(a10init)))+(Zdx1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))));
Ex10init=(Aex1*(abs(a10init)))+(Zex1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))))+Sigmaex1;
By10init=(Aby1*(abs(s10init)))+(Zby1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))));
Cy10init=(Acy1*(abs(s10init)))+(Zcy1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))))+Sigmacy1;
Dy10init=(Ady1*(abs(s10init)))+(Zdy1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot0init))));
Ey10init=(Aey1*(abs(s10init)))+(Zey1*((kw1*(z10initzd10init+R1))+(bw1*(z1dot0init-zd1dot))))+Sigmaey1;
Fx10init=Dx10init*(sin(Cx10init*atan((Bx10init*s10init)(Ex10init*((Bx10init*s10init)-(atan(Bx10init*s10init)))))));
Fy10init=Dy10init*(sin(Cy10init*atan((By10init*a10init)(Ey10init*((By10init*a10init)-(atan(By10init*a10init)))))));
Mb10init=0;
if Omega1<0
Mb1=kb1*Bp;
elseif Omega1>0
Mb1=-(kb1*Bp);
else
Mb1=0;
end
gamma1=ksw*Sw;
if abs(Omega1-Omega10init)<th
Omega10new1=Omega10init;
elseif abs(Omega1-Omega10new1)>th
Omega10new1=Omega1;
end
if abs(U-U0init)<th
U0new1=U0init;
elseif abs(U-U0new1)>th
U0new1=U;
end
if abs(V-V0init)<th
V0new1=V0init;
elseif abs(V-V0new1)>th
V0new1=V;
end
if abs(Omegaz-Omegaz0init)<th
Page 176 of 237

Omegaz0new1=Omegaz0init;
elseif abs(Omegaz-Omegaz0new1)>th
Omegaz0new1=Omegaz;
end
if abs(gamma1-gamma10init)<th
gamma10new1=gamma10init;
elseif abs(gamma1-gamma10new1)>th
gamma10new1=gamma1;
end
Omega10new=Omega10new1;
U0new=U0new1;
V0new=V0new1;
Omegaz0new=Omegaz0new1;
gamma10new=gamma10new1;
%Slip Ratio
Ds1Omega1=R1/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10new))+(V
0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)));
a=((cos(gamma10new))/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10ne
w))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new))));
b=((((Omega10new*R1)+(U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10n
ew))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))*(cos(gamma
10new)))/(((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0ne
w*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))^2));
Ds1U=a+b;
a=((sin(gamma10new))/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10ne
ew))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))*(sin(gamma
10new)))/(((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0ne
w*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))^2));
Ds1V=a+b;
a=((((Ym1*cos(gamma10new))+(Xm1*sin(gamma10new))))/((U0new*cos(gamma10new))
+(Ym1*Omegaz0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new
*sin(gamma10new))));
ew))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))*(((Ym1*cos
(gamma10new))+(Xm1*sin(gamma10new)))))/(((U0new*cos(gamma10new))+(Ym1*Ome
gaz0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamm
a10new)))^2));
Ds1Omegaz=a+b;
a=-((((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new))))/((U0new*cos(gamma10new))+(Ym1*Omegaz0n
ew*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10ne
w))));
Page 177 of 237
ew))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))*(((V0new*c
os(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))-(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new)))))/(((U0new*cos(gamma10new))+(Ym1*Omegaz
0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10
new)))^2));
Ds1gamma1=a+b;
s10=(((Omega10new*R1)+(U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10new)
)+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))/((U0new*cos(g
amma10new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1
*Omegaz0new*sin(gamma10new))));
s1=(Ds1Omega1*(Omega1-Omega10new))+(Ds1U*(U-U0new))+(Ds1V*(VV0new))+(Ds1Omegaz*(Omegaz-Omegaz0new))+(Ds1gamma1*(gamma1gamma10new))+s10;
%Slip Angle
a=(sin(gamma10new))/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10n
ew))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)));
b=((((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new))))*(cos(gamma10new)))/(((U0new*cos(gamma1
0new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omeg
az0new*sin(gamma10new)))^2);
c=1+(((((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new))))^2)/(((U0new*cos(gamma10new))+(Ym1*Omeg
az0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma
10new)))^2));
Da1U=(a+b)/c;
a=((cos(gamma10new))/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10ne
b=((((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new))))*(sin(gamma10new)))/(((U0new*cos(gamma1
0new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omeg
az0new*sin(gamma10new)))^2);
Da1V=(a+b)/c;
a=-(((Xm1*cos(gamma10new))(Ym1*sin(gamma10new)))/((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma
10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new))));
b=((((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new))))*(((Ym1*cos(gamma10new))+(Xm1*sin(gamma
10new)))))/(((U0new*cos(gamma10new))+(Ym1*Omegaz0new*cos(gamma10new))+(V0
new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new)))^2);
Da1Omegaz=(a+b)/c;
Da1gamma1=1;
a10=-atan(((V0new*cos(gamma10new))+(Xm1*Omegaz0new*cos(gamma10new))(U0new*sin(gamma10new))(Ym1*Omegaz0new*sin(gamma10new)))/((U0new*cos(gamma10new))+(Ym1*Omegaz0ne
w*cos(gamma10new))+(V0new*sin(gamma10new))+(Xm1*Omegaz0new*sin(gamma10new
))));
Page 178 of 237
a1=(Da1U*(U-U0new))+(Da1V*(V-V0new))+(Da1Omegaz*(OmegazOmegaz0new))+(Da1gamma1*(gamma1-gamma10new))+a10;
%Fx,Fy
if abs(Bx1-Bx10init)<th
Bx10new1=Bx10init;
elseif abs(Bx1-Bx10new1)>th
Bx10new1=Bx1;
end
if abs(Cx1-Cx10init)<th
Cx10new1=Cx10init;
elseif abs(Cx1-Cx10new1)>th
Cx10new1=Cx1;
end
if abs(Dx1-Dx10init)<th
Dx10new1=Dx10init;
elseif abs(Dx1-Dx10new1)>th
Dx10new1=Dx1;
end
if abs(Ex1-Ex10init)<th
Ex10new1=Ex10init;
elseif abs(Ex1-Ex10new1)>th
Ex10new1=Ex1;
end
if abs(s1-s10init)<th
s10new1=s10init;
elseif abs(s1-s10new1)>th
s10new1=s1;
end
if abs(By1-By10init)<th
By10new1=By10init;
elseif abs(By1-By10new1)>th
By10new1=By1;
end
if abs(Cy1-Cy10init)<th
Cy10new1=Cy10init;
Page 179 of 237

elseif abs(Cy1-Cy10new1)>th
Cy10new1=Cy1;
end
if abs(Dy1-Dy10init)<th
Dy10new1=Dy10init;
elseif abs(Dy1-Dy10new1)>th
Dy10new1=Dy1;
end
if abs(Ey1-Ey10init)<th
Ey10new1=Ey10init;
elseif abs(Ey1-Ey10new1)>th
Ey10new1=Ey1;
end
if abs(a1-a10init)<th
a10new1=a10init;
elseif abs(a1-a10new1)>th
a10new1=a1;
end
Bx10new=Bx10new1;
Cx10new=Cx10new1;
Dx10new=Dx10new1;
Ex10new=Ex10new1;
s10new=s10new1;
By10new=By10new1;
Cy10new=Cy10new1;
Dy10new=Dy10new1;
Ey10new=Ey10new1;
a10new=a10new1;
a=Cx10new*Dx10new*(s10new-(Ex10new*(s10new(s10new/(1+((Bx10new*s10new)^2))))));
b=cos((Cx10new*atan((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new)))))));
c=1+((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new)))));
DFx1Bx1=(a*b)/c;
a=Dx10new*(atan((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new))))));
b=cos(Cx10new*atan((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new))))));
DFx1Cx1=a*b;
DFx1Dx1=sin(Cx10new*atan((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new))))));
a=Cx10new*Dx10new*(-(Bx10new*s10new)+(atan(Bx10new*s10new)));
DFx1Ex1=(a*b)/c;
a=Cx10new*Dx10new*(Bx10new-(Ex10new*(Bx10new(Bx10new/(1+((Bx10new*s10new)^2))))));
c=1+((Bx10new*s10new)-(Ex10new*((Bx10new*s10new)(atan(Bx10new*s10new)))));
DFx1s1=(a*b)/c;
Page 180 of 237

Fx10=Dx10new*(sin(Cx10new*atan((Bx10new*s10new)(Ex10new*((Bx10new*s10new)-(atan(Bx10new*s10new)))))));
a=Cy10new*Dy10new*(a10new-(Ey10new*(a10new(a10new/(1+((By10new*a10new)^2))))));
b=cos((Cy10new*atan((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new)))))));
c=1+((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new)))));
DFy1By1=(a*b)/c;
a=Dy10new*(atan((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new))))));
b=cos(Cy10new*atan((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new))))));
DFy1Cy1=a*b;
DFy1Dy1=sin(Cy10new*atan((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new))))));
a=Cy10new*Dy10new*(-(By10new*a10new)+(atan(By10new*a10new)));
DFy1Ey1=(a*b)/c;
a=Cy10new*Dy10new*(By10new-(Ey10new*(By10new(By10new/(1+((By10new*a10new)^2))))));
c=1+((By10new*a10new)-(Ey10new*((By10new*a10new)(atan(By10new*a10new)))));
DFy1a1=(a*b)/c;
Fy10=Dy10new*(sin(Cy10new*atan((By10new*a10new)(Ey10new*((By10new*a10new)-(atan(By10new*a10new)))))));
if (zd1-z1)<R1
Fx1=(DFx1Bx1*(Bx1-Bx10new))+(DFx1Cx1*(Cx1-Cx10new))+(DFx1Dx1*(Dx1Dx10new))+(DFx1Ex1*(Ex1-Ex10new))+(DFx1s1*(s1-s10new))+Fx10;
Fy1=(DFy1By1*(By1-By10new))+(DFy1Cy1*(Cy1-Cy10new))+(DFy1Dy1*(Dy1Dy10new))+(DFy1Ey1*(Ey1-Ey10new))+(DFy1a1*(a1-a10new))+Fy10;
else
Fx1=0;
Fy1=0;
end
%F1,F2,F3,F4
if abs(Fx1-Fx10init)<th
Fx10new1=Fx10init;
elseif abs(Fx1-Fx10new1)>th
Fx10new1=Fx1;
end
if abs(Fy1-Fy10init)<th
Fy10new1=Fy10init;
elseif abs(Fy1-Fy10new1)>th
Fy10new1=Fy1;
end
if abs(zd1-zd10init)<th
zd10new1=zd10init;
elseif abs(zd1-zd10new1)>th
zd10new1=zd1;
Page 181 of 237

end
if abs(z1-z10init)<th
z10new1=z10init;
elseif abs(z1-z10new1)>th
z10new1=z1;
end
if abs(Udot-Udot0init)<th
Udot0new1=Udot0init;
elseif abs(Udot-Udot0new1)>th
Udot0new1=Udot;
end
if abs(Vdot-Vdot0init)<th
Vdot0new1=Vdot0init;
elseif abs(Vdot-Vdot0new1)>th
Vdot0new1=Vdot;
end
if abs(Omegazdot-Omegazdot0init)<th
Omegazdot0new1=Omegazdot0init;
elseif abs(Omegazdot-Omegazdot0new1)>th
Omegazdot0new1=Omegazdot;
end
if abs(Mb1-Mb10init)<th
Mb10new1=Mb10init;
elseif abs(Mb1-Mb10new1)>th
Mb10new1=Mb1;
end
Fx10new=Fx10new1;
Fy10new=Fy10new1;
zd10new=zd10new1;
z10new=z10new1;
Udot0new=Udot0new1;
Vdot0new=Vdot0new1;
Omegazdot0new=Omegazdot0new1;
Mb10new=Mb10new1;
DF11Fx1=((zd10new-z10new-beta1)*sin(gamma10new))/(alpha1+beta1);
DF11Fy1=((zd10new-z10new-beta1)*cos(gamma10new))/(alpha1+beta1);
DF11zd1=((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))/(alpha1+bet
a1);
DF11z1=(((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))/(alpha1+beta1));
DF11Vdot=(m1*beta1)/(alpha1+beta1);
DF11U=(m1*beta1*Omegaz0new)/(alpha1+beta1);
DF11Omegazdot=(m1*Xm1*beta1)/(alpha1+beta1);
DF11Omegaz=((m1*beta1)*(U0new+(2*Ym1*Omegaz0new)))/(alpha1+beta1);
DF11Mb1=-((sin(gamma10new))/(alpha1+beta1));
DF11gamma1=(((zd10new-z10new-beta1)*((Fx10new*cos(gamma10new))(Fy10new*sin(gamma10new))))-(Mb10new*cos(gamma10new)))/(alpha1+beta1);
DF12Fx1=-(((zd10new-z10new+alpha1)*sin(gamma10new))/(alpha1+beta1));
DF12Fy1=-(((zd10new-z10new+alpha1)*cos(gamma10new))/(alpha1+beta1));
Page 182 of 237

DF12zd1=(((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))/(alpha1+beta1));
DF12z1=(((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))/(alpha1+bet
a1));
DF12Vdot=(m1*alpha1)/(alpha1+beta1);
DF12U=(m1*alpha1*Omegaz0new)/(alpha1+beta1);
DF12Omegazdot=(m1*Xm1*alpha1)/(alpha1+beta1);
DF12Omegaz=((m1*alpha1)*(U0new+(2*Ym1*Omegaz0new)))/(alpha1+beta1);
DF12Mb1=((sin(gamma10new))/(alpha1+beta1));
DF12gamma1=-((((zd10new-z10new+alpha1)*((Fx10new*cos(gamma10new))(Fy10new*sin(gamma10new))))-(Mb10new*cos(gamma10new)))/(alpha1+beta1));
DF13Fx1=-((beta1*cos(gamma10new))/(alpha1+beta1));
DF13Fy1=((beta1*sin(gamma10new))/(alpha1+beta1));
DF13Udot=(m1*beta1)/(alpha1+beta1);
DF13V=-((m1*beta1*Omegaz0new)/(alpha1+beta1));
DF13Omegazdot=(m1*Ym1*beta1)/(alpha1+beta1);
DF13Omegaz=-(((m1*beta1)*(V0new+(2*Xm1*Omegaz0new)))/(alpha1+beta1));
DF13Mb1=-((cos(gamma10new))/(alpha1+beta1));
DF13gamma1=(((beta1*((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))
)+(Mb10new*sin(gamma10new)))/(alpha1+beta1));
DF14Fx1=-((alpha1*cos(gamma10new))/(alpha1+beta1));
DF14Fy1=((alpha1*sin(gamma10new))/(alpha1+beta1));
DF14Udot=(m1*alpha1)/(alpha1+beta1);
DF14V=-((m1*alpha1*Omegaz0new)/(alpha1+beta1));
DF14Omegazdot=(m1*Ym1*alpha1)/(alpha1+beta1);
DF14Omegaz=-(((m1*alpha1)*(V0new+(2*Xm1*Omegaz0new)))/(alpha1+beta1));
DF14Mb1=((cos(gamma10new))/(alpha1+beta1));
DF14gamma1=(((alpha1*((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new))
))-(Mb10new*sin(gamma10new)))/(alpha1+beta1));
F110=((((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))*(zd10newz10newbeta1))+(m1*beta1*(Vdot0new+(Xm1*Omegazdot0new)+(Ym1*(Omegaz0new^2))+(U0n
ew*Omegaz0new)))-(Mb10new*sin(gamma10new)))/(alpha1+beta1);
F120=-(((((Fy10new*cos(gamma10new))+(Fx10new*sin(gamma10new)))*(zd10newz10new+alpha1))(m1*alpha1*(Vdot0new+(Xm1*Omegazdot0new)+(Ym1*(Omegaz0new^2))+(U0new*Omeg
az0new)))-(Mb10new*sin(gamma10new)))/(alpha1+beta1));
F130=-(((((Fx10new*cos(gamma10new))-(Fy10new*sin(gamma10new)))*(beta1))(m1*beta1*(Udot0new+(Ym1*Omegazdot0new)-(Xm1*(Omegaz0new^2))(V0new*Omegaz0new)))+(Mb10new*cos(gamma10new)))/(alpha1+beta1));
F140=-(((((Fx10new*cos(gamma10new))(Fy10new*sin(gamma10new)))*(alpha1))(m1*alpha1*(Udot0new+(Ym1*Omegazdot0new)-(Xm1*(Omegaz0new^2))(V0new*Omegaz0new)))-(Mb10new*cos(gamma10new)))/(alpha1+beta1));
F11=(DF11Fx1*(Fx1-Fx10new))+(DF11Fy1*(Fy1-Fy10new))+(DF11zd1*(zd1zd10new))+(DF11z1*(z1-z10new))+(DF11Vdot*(Vdot-Vdot0new))+(DF11U*(UU0new))+(DF11Omegazdot*(Omegazdot-Omegazdot0new))+(DF11Omegaz*(OmegazOmegaz0new))+(DF11Mb1*(Mb1-Mb10new))+(DF11gamma1*(gamma1gamma10new))+F110;
F12=(DF12Fx1*(Fx1-Fx10new))+(DF12Fy1*(Fy1-Fy10new))+(DF12zd1*(zd1zd10new))+(DF12z1*(z1-z10new))+(DF12Vdot*(Vdot-Vdot0new))+(DF12U*(UU0new))+(DF12Omegazdot*(Omegazdot-Omegazdot0new))+(DF12Omegaz*(Omegaz-
Page 183 of 237

Omegaz0new))+(DF12Mb1*(Mb1-Mb10new))+(DF12gamma1*(gamma1gamma10new))+F120;
F13=(DF13Fx1*(Fx1-Fx10new))+(DF13Fy1*(Fy1-Fy10new))+(DF13Udot*(UdotUdot0new))+(DF13V*(V-V0new))+(DF13Omegazdot*(OmegazdotOmegazdot0new))+(DF13Omegaz*(Omegaz-Omegaz0new))+(DF13Mb1*(Mb1Mb10new))+(DF13gamma1*(gamma1-gamma10new))+F130;
F14=(DF14Fx1*(Fx1-Fx10new))+(DF14Fy1*(Fy1-Fy10new))+(DF14Udot*(UdotUdot0new))+(DF14V*(V-V0new))+(DF14Omegazdot*(OmegazdotOmegazdot0new))+(DF14Omegaz*(Omegaz-Omegaz0new))+(DF14Mb1*(Mb1Mb10new))+(DF14gamma1*(gamma1-gamma10new))+F140;
%Fp
if abs(z-z0init)<th
z0new1=z0init;
elseif abs(z-z0new1)>th
z0new1=z;
end
if abs(theta-theta0init)<th
theta0new1=theta0init;
elseif abs(theta-theta0new1)>th
theta0new1=theta;
end
if abs(beta-beta0init)<th
beta0new1=beta0init;
elseif abs(beta-beta0new1)>th
beta0new1=beta;
end
if abs(zdot-zdot0init)<th
zdot0new1=zdot0init;
elseif abs(zdot-zdot0new1)>th
zdot0new1=zdot;
end
if abs(z1dot-z1dot0init)<th
z1dot0new1=z1dot0init;
elseif abs(z1dot-z1dot0new1)>th
z1dot0new1=z1dot;
end
if abs(thetadot-thetadot0init)<th
thetadot0new1=thetadot0init;
elseif abs(thetadot-thetadot0new1)>th
thetadot0new1=thetadot;
end
if abs(betadot-betadot0init)<th
betadot0new1=betadot0init;
elseif abs(betadot-betadot0new1)>th
betadot0new1=betadot;
end
z0new=z0new1;
Page 184 of 237

theta0new=theta0new1;
beta0new=beta0new1;
zdot0new=zdot0new1;
z1dot0new=z1dot0new1;
thetadot0new=thetadot0new1;
betadot0new=betadot0new1;
DFp1z=(3*kp11*((zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1)^2))+kp12;
DFp1z1=-(3*kp11*((zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1)^2))-kp12;
DFp1theta=-(3*kp11*Ym1*((zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1)^2))-(kp12*Ym1);
DFp1beta=-(3*kp11*Xm1*((zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1)^2))-(kp12*Xm1);
DFp1zdot=(3*bp11*((zdot0new-(Ym1*thetadot0new)-(Xm1*betadot0new)z1dot0new)^2))+bp12;
DFp1z1dot=-(3*bp11*((zdot0new-(Ym1*thetadot0new)-(Xm1*betadot0new)z1dot0new)^2))-bp12;
DFp1thetadot=-(3*bp11*Ym1*((zdot0new-(Ym1*thetadot0new)(Xm1*betadot0new)-z1dot0new)^2))-(bp12*Ym1);
DFp1betadot=-(3*bp11*Xm1*((zdot0new-(Ym1*thetadot0new)(Xm1*betadot0new)-z1dot0new)^2))-(bp12*Xm1);
Fdamp10=(bp11*((zdot0new-(Ym1*thetadot0new)-(Xm1*betadot0new)z1dot0new)^3))+(bp12*(zdot0new-(Ym1*thetadot0new)-(Xm1*betadot0new)z1dot0new));
Fp10=(kp11*((zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1)^3))+(kp12*(zdw01+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1))+Fdamp10;
Fdamp1=(bhs1*((2*zdot)-(2*Xm1*betadot)-z1dot-z2dot))+(DFp1zdot*(zdotzdot0new))+(DFp1z1dot*(z1dot-z1dot0new))+(DFp1thetadot*(thetadotthetadot0new))+(DFp1betadot*(betadot-betadot0new));
Fp1=(DFp1z*(z-z0new))+(DFp1z1*(z1-z10new))+(DFp1theta*(thetatheta0new))+(DFp1beta*(beta-beta0new))+(krb1*(-(2*Ym1*theta)z1+z2))+(khs1*((2*zdw01)+(2*z)-(2*Xm1*beta)-z1-z2(2*beta1)))+Fdamp1+Fp10;
end
Page 185 of 237

.
block :
Page 186 of 237

. :
function
[betadoubledot,Fp10new,Fuf10new,Fur10new,Fdf10new,Fdr10new,Fa10new,Fb10ne
w,Fp20new,Fuf20new,Fur20new,Fdf20new,Fdr20new,Fa20new,Fb20new,Fp30new,Fuf
30new,Fur30new,Fdf30new,Fdr30new,Fa30new,Fb30new,Fp40new,Fuf40new,Fur40ne
w,Fdf40new,Fdr40new,Fa40new,Fb40new,z0new,theta0new,beta0new,z10new,z20ne
w,z30new,z40new,Udot0new,betadoubledotin0new,V0new,Omegaz0new,thetadot0ne
w,betadot0new,zdot0new,zdoubledot0new,U0new,Fl0new,dlift0new,Omega30new,O
mega40new,SMy0new,Cl0new] =
dof_beta(U,Udot,V,z,zdot,zdoubledot,theta,thetadot,beta,betadot,betadoubl
edotin,Omegaz,z1,z2,z3,z4,Omega3,Omega3dot,Omega4,Omega4dot,Fuf1,Fur1,Fdf
1,Fdr1,Fa1,Fb1,Fp1,Fuf2,Fur2,Fdf2,Fdr2,Fa2,Fb2,Fp2,Fuf3,Fur3,Fdf3,Fdr3,Fa
3,Fb3,Fp3,Fuf4,Fur4,Fdf4,Fdr4,Fa4,Fb4,Fp4,Mp,Fp10new1,Fuf10new1,Fur10new1
,Fdf10new1,Fdr10new1,Fa10new1,Fb10new1,Fp20new1,Fuf20new1,Fur20new1,Fdf20
new1,Fdr20new1,Fa20new1,Fb20new1,Fp30new1,Fuf30new1,Fur30new1,Fdf30new1,F
dr30new1,Fa30new1,Fb30new1,Fp40new1,Fuf40new1,Fur40new1,Fdf40new1,Fdr40ne
w1,Fa40new1,Fb40new1,z0new1,theta0new1,beta0new1,z10new1,z20new1,z30new1,
z40new1,Udot0new1,betadoubledotin0new1,V0new1,Omegaz0new1,thetadot0new1,b
etadot0new1,zdot0new1,zdoubledot0new1,U0new1,Fl0new1,dlift0new1,Omega30ne
w1,Omega40new1,SMy0new1,Cl0new1)
i=11;
Ixx=260;
Iyy=720;
Izz=850;
Ixz=360;
mcrank=10;
Ixcrank=0.02;
Icrank=0.21;
Cd=0.45;
Af=1.6;
rho=1.2;
Bcl=10;
Zcl=5;
l=0.15;
Cl0=4;
Bdl=0.5;
Zdl=-0.1;
dlift0=0.1;
ddrag=0.1;
alpha1=0.2;
beta1=0.2;
alpha3=0.21;
beta3=0.21;
Xuf1=1.9;
Zuf1=-0.2;
Xur1=1.5;
Zur1=-0.21;
Xdf1=1.85;
Ydf1=0.5;
Zdf1=0.1;
Xdr1=1.45;
Ydr1=0.55;
Zdr1=0.095;
Xuw1=1.7;
Page 187 of 237

Yuw1=0.9;
Xdw1=1.7;
Ydw1=0.9;
Xp1=1.7;
Yp1=0.6;
Zp1=-0.3;
Xuf3=1.1;
Zuf3=-0.2;
Xur3=1.5;
Zur3=-0.19;
Xdf3=1.1;
Zdf3=0.1;
Xdr3=1.5;
Zdr3=0.1;
Xuw3=1.3;
Yuw3=0.95;
Xdw3=1.3;
Ydw3=0.95;
Xp3=1.3;
Zp3=-0.3;
luf1=0.37;
lur1=0.33;
ldf1=0.43;
ldr1=0.43;
lp1=0.51;
luf3=0.46;
lur3=0.42;
ldf3=0.54;
ldr3=0.49;
lp3=0.58;
Xcrank=0.6;
Zcrank=0.1;
Xm1=(Xuw1+Xdw1)/2;
Ym1=(Yuw1+Ydw1)/2;
Xm2=(Xuw3+Xdw3)/2;
Ym2=(Yuw3+Ydw3)/2;
A=(1/2)*rho*Af;
th=0.3;
Fp10init=3066.9;
Fuf10init=0;
Fur10init=0;
Fdf10init=0;
Fdr10init=0;
Page 188 of 237

Fa10init=1271.7;
Fb10init=763.02;
Fp20init=3066.9;
Fuf20init=0;
Fur20init=0;
Fdf20init=0;
Fdr20init=0;
Fa20init=1271.7;
Fb20init=763.02;
Fp30init=17903;
Fuf30init=-128.6586;
Fur30init=134.2524;
Fdf30init=-153.3051;
Fdr30init=154.5669;
Fa30init=7018.3;
Fb30init=6368.5;
Fp40init=17903;
Fuf40init=-128.6586;
Fur40init=134.2524;
Fdf40init=-153.3051;
Fdr40init=154.5669;
Fa40init=7018.3;
Fb40init=6368.5;
z0init=-0.2342;
theta0init=0;
beta0init=0.0047;
z10init=-0.3276;
z20init=-0.3276;
z30init=-0.3349;
z40init=-0.3349;
Udot0init=0;
betadoubledotin0init=0;
V0init=0;
Omegaz0init=0;
thetadot0init=0;
zdot0init=0;
betadot0init=0;
zdoubledot0init=0;
U0init=33.3333;
Fl0init=3767.7;
Cl0init=3.5322;
dlift0init=0.1108;
SMy0init=0;
if abs(Fp1-Fp10init)<th
Fp10new1=Fp10init;
elseif abs(Fp1-Fp10new1)>th
Fp10new1=Fp1;
end
if abs(Fuf1-Fuf10init)<th
Fuf10new1=Fuf10init;
elseif abs(Fuf1-Fuf10new1)>th
Fuf10new1=Fuf1;
end
Page 189 of 237

if abs(Fur1-Fur10init)<th
Fur10new1=Fur10init;
elseif abs(Fur1-Fur10new1)>th
Fur10new1=Fur1;
end
if abs(Fdf1-Fdf10init)<th
Fdf10new1=Fdf10init;
elseif abs(Fdf1-Fdf10new1)>th
Fdf10new1=Fdf1;
end
if abs(Fdr1-Fdr10init)<th
Fdr10new1=Fdr10init;
elseif abs(Fdr1-Fdr10new1)>th
Fdr10new1=Fdr1;
end
if abs(Fa1-Fa10init)<th
Fa10new1=Fa10init;
elseif abs(Fa1-Fa10new1)>th
Fa10new1=Fa1;
end
if abs(Fb1-Fb10init)<th
Fb10new1=Fb10init;
elseif abs(Fb1-Fb10new1)>th
Fb10new1=Fb1;
end
Fp20new1=Fp20init;
Fp20new1=Fp2;
end
Fuf20new1=Fuf2;
end
Fur20new1=Fur2;
end
Fdf20new1=Fdf2;
end
Page 190 of 237

Fdr20new1=Fdr2;
end
Fa20new1=Fa20init;
Fa20new1=Fa2;
end
Fb20new1=Fb20init;
Fb20new1=Fb2;
end
Fp30new1=Fp30init;
Fp30new1=Fp3;
end
Fuf30new1=Fuf3;
end
Fur30new1=Fur3;
end
Fdf30new1=Fdf3;
end
Fdr30new1=Fdr3;
end
Fa30new1=Fa30init;
Fa30new1=Fa3;
end
Fb30new1=Fb30init;
Fb30new1=Fb3;
end
Page 191 of 237

Fp40new1=Fp40init;
Fp40new1=Fp4;
end
Fuf40new1=Fuf4;
end
Fur40new1=Fur4;
end
Fdf40new1=Fdf4;
end
Fdr40new1=Fdr4;
end
Fa40new1=Fa40init;
Fa40new1=Fa4;
end
Fb40new1=Fb40init;
Fb40new1=Fb4;
end
if abs(z-z0init)<th
z0new1=z0init;
elseif abs(z-z0new1)>th
z0new1=z;
end
if abs(theta-theta0init)<th
theta0new1=theta0init;
elseif abs(theta-theta0new1)>th
theta0new1=theta;
end
if abs(beta-beta0init)<th
beta0new1=beta0init;
elseif abs(beta-beta0new1)>th
Page 192 of 237

beta0new1=beta;
end
z10new1=z10init;
z10new1=z1;
end
z20new1=z20init;
z20new1=z2;
end
z30new1=z30init;
z30new1=z3;
end
z40new1=z40init;
z40new1=z4;
end
if abs(Udot-Udot0init)<th
Udot0new1=Udot0init;
elseif abs(Udot-Udot0new1)>th
Udot0new1=Udot;
end
if abs(betadoubledotin-betadoubledotin0init)<th
betadoubledotin0new1=betadoubledotin0init;
elseif abs(betadoubledotin-betadoubledotin0new1)>th
betadoubledotin0new1=betadoubledotin;
end
if abs(V-V0init)<th
V0new1=V0init;
elseif abs(V-V0new1)>th
V0new1=V;
end
if abs(Omegaz-Omegaz0init)<th
Omegaz0new1=Omegaz0init;
elseif abs(Omegaz-Omegaz0new1)>th
Omegaz0new1=Omegaz;
end
if abs(thetadot-thetadot0init)<th
thetadot0new1=thetadot0init;
elseif abs(thetadot-thetadot0new1)>th
thetadot0new1=thetadot;
end
Page 193 of 237

if abs(zdot-zdot0init)<th
zdot0new1=zdot0init;
elseif abs(zdot-zdot0new1)>th
zdot0new1=zdot;
end
if abs(betadot-betadot0init)<th
betadot0new1=betadot0init;
elseif abs(betadot-betadot0new1)>th
betadot0new1=betadot;
end
if abs(zdoubledot-zdoubledot0init)<th
zdoubledot0new1=zdoubledot0init;
elseif abs(zdoubledot-zdoubledot0new1)>th
zdoubledot0new1=zdoubledot;
end
if abs(U-U0init)<th
U0new1=U0init;
elseif abs(U-U0new1)>th
U0new1=U;
end
if abs(dlift-dlift0init)<th
dlift0new1=dlift0init;
elseif abs(dlift-dlift0new1)>th
dlift0new1=dlift;
end
if abs(Cl-Cl0init)<th
Cl0new1=Cl0init;
elseif abs(Cl-Cl0new1)>th
Cl0new1=Cl;
end
Omega30new1=Omega3;
end
Omega40new1=Omega4;
end
Fp10new=Fp10new1;
Fuf10new=Fuf10new1;
Fur10new=Fur10new1;
Fdf10new=Fdf10new1;
Fdr10new=Fdr10new1;
Fa10new=Fa10new1;
Fb10new=Fb10new1;
Page 194 of 237

Fp20new=Fp20new1;
Fuf20new=Fuf20new1;
Fur20new=Fur20new1;
Fdf20new=Fdf20new1;
Fdr20new=Fdr20new1;
Fa20new=Fa20new1;
Fb20new=Fb20new1;
Fp30new=Fp30new1;
Fuf30new=Fuf30new1;
Fur30new=Fur30new1;
Fdf30new=Fdf30new1;
Fdr30new=Fdr30new1;
Fa30new=Fa30new1;
Fb30new=Fb30new1;
Fp40new=Fp40new1;
Fuf40new=Fuf40new1;
Fur40new=Fur40new1;
Fdf40new=Fdf40new1;
Fdr40new=Fdr40new1;
Fa40new=Fa40new1;
Fb40new=Fb40new1;
z0new=z0new1;
theta0new=theta0new1;
beta0new=beta0new1;
z10new=z10new1;
z20new=z20new1;
z30new=z30new1;
z40new=z40new1;
Udot0new=Udot0new1;
betadoubledotin0new=betadoubledotin0new1;
V0new=V0new1;
Omegaz0new=Omegaz0new1;
thetadot0new=thetadot0new1;
zdot0new=zdot0new1;
betadot0new=betadot0new1;
zdoubledot0new=zdoubledot0new1;
U0new=U0new1;
dlift0new=dlift0new1;
Cl0new=Cl0new1;
DFdU=2*Cd*A*U0new;
Fd0=Cd*A*(U0new^2);
Fd=(DFdU*(U-U0new))+Fd0;
DFlU=2*Cl*U0new;
DFlCl=A*(U0new^2);
Fl0=Cl*A*(U0new^2);
Fl=(DFlU*(U-U0new))+(DFlCl*(Cl-Cl0new))+Fl0;
if abs(Fl-Fl0init)<th
Fl0new1=Fl0init;
Page 195 of 237

elseif abs(Fl-Fl0new1)>th
Fl0new1=Fl;
end
Fl0new=Fl0new1;
DSMyFuf1=(1/luf1)*Xuf1*(Zuf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new+alpha1);
DSMyFur1=(1/lur1)*Xur1*(Zur1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new+alpha1);
DSMyFdf1=(1/ldf1)*Xdf1*(Zdf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1);
DSMyFdr1=(1/ldr1)*Xdr1*(Zdr1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1);
DSMyFa1=(1/ldf1)*Xdf1*(Zdf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1);
DSMyFb1=(1/ldr1)*Xdr1*(Zdr1+z0new-(Ym1*theta0new)-(Xm1*beta0new)-z10newbeta1);
DSMyFp1=(1/lp1)*Xp1*(-Zp1z0new+(Ym1*theta0new)+(Xm1*beta0new)+z10new+beta1);
DSMyFuf2=(1/luf1)*Xuf1*(Zuf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new+alpha1);
DSMyFur2=(1/lur1)*Xur1*(Zur1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new+alpha1);
DSMyFdf2=(1/ldf1)*Xdf1*(Zdf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new-beta1);
DSMyFdr2=(1/ldr1)*Xdr1*(Zdr1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new-beta1);
DSMyFa2=(1/ldf1)*Xdf1*(Zdf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)-z20newbeta1);
DSMyFb2=(1/ldr1)*Xdr1*(Zdr1+z0new+(Ym1*theta0new)-(Xm1*beta0new)-z20newbeta1);
DSMyFp2=(1/lp1)*Xp1*(-Zp1-z0new(Ym1*theta0new)+(Xm1*beta0new)+z20new+beta1);
DSMyFuf3=(1/luf3)*Xuf3*(Zuf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new+alpha3);
DSMyFur3=(1/lur3)*Xur3*(Zur3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new+alpha3);
DSMyFdf3=(1/ldf3)*Xdf3*(Zdf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new-beta3);
DSMyFdr3=(1/ldr3)*Xdr3*(Zdr3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new-beta3);
DSMyFa3=(1/ldf3)*Xdf3*(Zdf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)-z30newbeta3);
DSMyFb3=(1/ldr3)*Xdr3*(Zdr3+z0new-(Ym2*theta0new)+(Xm2*beta0new)-z30newbeta3);
DSMyFp3=(1/lp3)*Xp3*(-Zp3-z0new+(Ym2*theta0new)(Xm2*beta0new)+z30new+beta3);
DSMyFuf4=(1/luf3)*Xuf3*(Zuf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new+alpha3);
DSMyFur4=(1/lur3)*Xur3*(Zur3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new+alpha3);
DSMyFdf4=(1/ldf3)*Xdf3*(Zdf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new-beta3);
Page 196 of 237

DSMyFdr4=(1/ldr3)*Xdr3*(Zdr3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new-beta3);
DSMyFa4=(1/ldf3)*Xdf3*(Zdf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)-z40newbeta3);
DSMyFb4=(1/ldr3)*Xdr3*(Zdr3+z0new+(Ym2*theta0new)+(Xm2*beta0new)-z40newbeta3);
DSMyFp4=(1/lp3)*Xp3*(-Zp3-z0new-(Ym2*theta0new)(Xm2*beta0new)+z40new+beta3);
a=(Fuf10new*(1/luf1)*Xuf1)+(Fur10new*(1/lur1)*Xur1)+(Fdf10new*(1/ldf1)*Xd
f1)+(Fdr10new*(1/ldr1)*Xdr1)+(Fa10new*(1/ldf1)*Xdf1)+(Fb10new*(1/ldr1)*Xd
r1)-(Fp10new*(1/lp1)*Xp1);
b=-(Fuf20new*(1/luf1)*Xuf1)-(Fur20new*(1/lur1)*Xur1)(Fdf20new*(1/ldf1)*Xdf1)-(Fdr20new*(1/ldr1)*Xdr1)(Fa20new*(1/ldf1)*Xdf1)-(Fb20new*(1/ldr1)*Xdr1)-(Fp20new*(1/lp1)*Xp1);
c=-(Fuf30new*(1/luf3)*Xuf3)-(Fur30new*(1/lur3)*Xur3)(Fdf30new*(1/ldf3)*Xdf3)-(Fdr30new*(1/ldr3)*Xdr3)(Fa30new*(1/ldf3)*Xdf3)-(Fb30new*(1/ldr3)*Xdr3)+(Fp30new*(1/lp3)*Xp3);
d=(Fuf40new*(1/luf3)*Xuf3)+(Fur40new*(1/lur3)*Xur3)+(Fdf40new*(1/ldf3)*Xd
f3)+(Fdr40new*(1/ldr3)*Xdr3)+(Fa40new*(1/ldf3)*Xdf3)+(Fb40new*(1/ldr3)*Xd
r3)+(Fp40new*(1/lp3)*Xp3);
DSMyz=a+b+c+d;
a=-(Fuf10new*(1/luf1)*Xuf1*Ym1)-(Fur10new*(1/lur1)*Xur1*Ym1)(Fdf10new*(1/ldf1)*Xdf1*Ym1)-(Fdr10new*(1/ldr1)*Xdr1*Ym1)(Fa10new*(1/ldf1)*Xdf1*Ym1)(Fb10new*(1/ldr1)*Xdr1*Ym1)+(Fp10new*(1/lp1)*Xp1*Ym1);
b=-(Fuf20new*(1/luf1)*Xuf1*Ym1)-(Fur20new*(1/lur1)*Xur1*Ym1)(Fdf20new*(1/ldf1)*Xdf1*Ym1)-(Fdr20new*(1/ldr1)*Xdr1*Ym1)(Fa20new*(1/ldf1)*Xdf1*Ym1)-(Fb20new*(1/ldr1)*Xdr1*Ym1)(Fp20new*(1/lp1)*Xp1*Ym1);
c=(Fuf30new*(1/luf3)*Xuf3*Ym2)+(Fur30new*(1/lur3)*Xur3*Ym2)+(Fdf30new*(1/
ldf3)*Xdf3*Ym2)+(Fdr30new*(1/ldr3)*Xdr3*Ym2)+(Fa30new*(1/ldf3)*Xdf3*Ym2)+(Fb30new*(1/ldr
3)*Xdr3*Ym2)-(Fp30new*(1/lp3)*Xp3*Ym2);
d=(Fuf40new*(1/luf3)*Xuf3*Ym2)+(Fur40new*(1/lur3)*Xur3*Ym2)+(Fdf40new*(1/
ldf3)*Xdf3*Ym2)+(Fdr40new*(1/ldr3)*Xdr3*Ym2)+(Fa40new*(1/ldf3)*Xdf3*Ym2)+
(Fb40new*(1/ldr3)*Xdr3*Ym2)+(Fp40new*(1/lp3)*Xp3*Ym2);
DSMytheta=a+b+c+d;
a=-(Fuf10new*(1/luf1)*Xuf1*Xm1)-(Fur10new*(1/lur1)*Xur1*Xm1)(Fdf10new*(1/ldf1)*Xdf1*Xm1)-(Fdr10new*(1/ldr1)*Xdr1*Xm1)(Fa10new*(1/ldf1)*Xdf1*Xm1)(Fb10new*(1/ldr1)*Xdr1*Xm1)+(Fp10new*(1/lp1)*Xp1*Xm1);
b=(Fuf20new*(1/luf1)*Xuf1*Xm1)+(Fur20new*(1/lur1)*Xur1*Xm1)+(Fdf20new*(1/
ldf1)*Xdf1*Xm1)+(Fdr20new*(1/ldr1)*Xdr1*Xm1)+(Fa20new*(1/ldf1)*Xdf1*Xm1)+
(Fb20new*(1/ldr1)*Xdr1*Xm1)+(Fp20new*(1/lp1)*Xp1*Xm1);
c=-(Fuf30new*(1/luf3)*Xuf3*Xm2)-(Fur30new*(1/lur3)*Xur3*Xm2)(Fdf30new*(1/ldf3)*Xdf3*Xm2)-(Fdr30new*(1/ldr3)*Xdr3*Xm2)(Fa30new*(1/ldf3)*Xdf3*Xm2)(Fb30new*(1/ldr3)*Xdr3*Xm2)+(Fp30new*(1/lp3)*Xp3*Xm2);
d=(Fuf40new*(1/luf3)*Xuf3*Xm2)+(Fur40new*(1/lur3)*Xur3*Xm2)+(Fdf40new*(1/
ldf3)*Xdf3*Xm2)+(Fdr40new*(1/ldr3)*Xdr3*Xm2)+(Fa40new*(1/ldf3)*Xdf3*Xm2)+
(Fb40new*(1/ldr3)*Xdr3*Xm2)+(Fp40new*(1/lp3)*Xp3*Xm2);
DSMybeta=a+b+c+d;
Page 197 of 237

DSMyz1=((Fuf10new*(1/luf1)*Xuf1)+(Fur10new*(1/lur1)*Xur1)+(Fdf10new*(1/ldf1)*Xdf
1)+(Fdr10new*(1/ldr1)*Xdr1)+(Fa10new*(1/ldf1)*Xdf1)+(Fb10new*(1/ldr1)*Xdr
1)-(Fp10new*(1/lp1)*Xp1));
DSMyz2=((Fuf20new*(1/luf1)*Xuf1)+(Fur20new*(1/lur1)*Xur1)+(Fdf20new*(1/ld
f1)*Xdf1)+(Fdr20new*(1/ldr1)*Xdr1)+(Fa20new*(1/ldf1)*Xdf1)+(Fb20new*(1/ld
r1)*Xdr1)+(Fp20new*(1/lp1)*Xp1));
DSMyz3=((Fuf30new*(1/luf3)*Xuf3)+(Fur30new*(1/lur3)*Xur3)+(Fdf30new*(1/ld
f3)*Xdf3)+(Fdr30new*(1/ldr3)*Xdr3)+(Fa30new*(1/ldf3)*Xdf3)+(Fb30new*(1/ld
r3)*Xdr3)-(Fp30new*(1/lp3)*Xp3));
DSMyz4=((Fuf40new*(1/luf3)*Xuf3)+(Fur40new*(1/lur3)*Xur3)+(Fdf40new*(1/ldf3)*Xdf
3)+(Fdr40new*(1/ldr3)*Xdr3)+(Fa40new*(1/ldf3)*Xdf3)+(Fb40new*(1/ldr3)*Xdr
3)+(Fp40new*(1/lp3)*Xp3));
DSMyUdot=-(mcrank*Zcrank);
DSMybetadoubledot=-(mcrank*(Zcrank^2))-(mcrank*(Xcrank^2));
DSMyV=(mcrank*Zcrank*Omegaz0new)-(mcrank*Xcrank*thetadot0new);
DSMyOmegaz=(mcrank*Zcrank*(V0new-(2*Xcrank*Omegaz0new)(Zcrank*thetadot0new)))+(mcrank*(Xcrank^2)*thetadot0new)+(Ixcrank*((i/2)*
(Omega30new+Omega40new)));
DSMythetadot=(mcrank*Xcrank*((2*Zcrank*thetadot0new)+(Xcrank*Omegaz0new)V0new))-(mcrank*Zcrank*Omegaz0new);
DSMyzdot=-(mcrank*(Zcrank^2)*betadot0new);
DSMybetadot=(mcrank*Zcrank*(zdot0new+(2*Xcrank*betadot0new)))+(mcrank*Xcrank*(U0new(2*Zcrank*betadot0new)));
DSMyzdoubledot=-(mcrank*Xcrank);
DSMyU=(mcrank*Xcrank*betadot0new);
DSMyFl=dlift0new;
DSMydlift=Fl0new;
DSMyOmega3=Ixcrank*((i/2)*Omegaz0new);
DSMyOmega4=Ixcrank*((i/2)*Omegaz0new);
A2=((Fuf10new/luf1)*Xuf1*(Zuf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new+alpha1))+((Fur10new/lur1)*Xur1*(Zur1+z0new-(Ym1*theta0new)(Xm1*beta0new)-z10new+alpha1));
A3=((Fdf10new/ldf1)*Xdf1*(Zdf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1))+((Fdr10new/ldr1)*Xdr1*(Zdr1+z0new-(Ym1*theta0new)(Xm1*beta0new)-z10new-beta1));
A4=((Fa10new/ldf1)*Xdf1*(Zdf1+z0new-(Ym1*theta0new)-(Xm1*beta0new)z10new-beta1))+((Fb10new/ldr1)*Xdr1*(Zdr1+z0new-(Ym1*theta0new)(Xm1*beta0new)-z10new-beta1));
A5=((Fp10new/lp1)*Xp1*(-Zp1z0new+(Ym1*theta0new)+(Xm1*beta0new)+z10new+beta1));
A7=-((Fuf20new/luf1)*Xuf1*(Zuf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new+alpha1))-((Fur20new/lur1)*Xur1*(Zur1+z0new+(Ym1*theta0new)(Xm1*beta0new)-z20new+alpha1));
Page 198 of 237

A8=-((Fdf20new/ldf1)*Xdf1*(Zdf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new-beta1))-((Fdr20new/ldr1)*Xdr1*(Zdr1+z0new+(Ym1*theta0new)(Xm1*beta0new)-z20new-beta1));
A9=((Fa20new/ldf1)*Ydf1*(Zdf1+z0new+(Ym1*theta0new)-(Xm1*beta0new)z20new-beta1))+((Fb20new/ldr1)*Ydr1*(Zdr1+z0new+(Ym1*theta0new)(Xm1*beta0new)-z20new-beta1));
A10=((Fp20new/lp1)*Yp1*(-Zp1-z0new(Ym1*theta0new)+(Xm1*beta0new)+z20new+beta1));
A12=-((Fuf30new/luf3)*Xuf3*(Zuf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new+alpha3))-((Fur30new/lur3)*Xur3*(Zur3+z0new(Ym2*theta0new)+(Xm2*beta0new)-z30new+alpha3));
A13=-((Fdf30new/ldf3)*Xdf3*(Zdf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new-beta3))-((Fdr30new/ldr3)*Xdr3*(Zdr3+z0new(Ym2*theta0new)+(Xm2*beta0new)-z30new-beta3));
A14=-((Fa30new/ldf3)*Xdf3*(Zdf3+z0new-(Ym2*theta0new)+(Xm2*beta0new)z30new-beta3))-((Fb30new/ldr3)*Xdr3*(Zdr3+z0new(Ym2*theta0new)+(Xm2*beta0new)-z30new-beta3));
A15=-((Fp30new/lp3)*Xp3*(-Zp3-z0new+(Ym2*theta0new)(Xm2*beta0new)+z30new+beta3));
A17=((Fuf40new/luf3)*Xuf3*(Zuf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new+alpha3))+((Fur40new/lur3)*Xur3*(Zur3+z0new+(Ym2*theta0new)+(Xm2*be
ta0new)-z40new+alpha3));
A18=((Fdf40new/ldf3)*Xdf3*(Zdf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40newbeta3))+((Fdr40new/ldr3)*Xdr3*(Zdr3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new-beta3));
A19=((Fa40new/ldf3)*Xdf3*(Zdf3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40newbeta3))+((Fb40new/ldr3)*Xdr3*(Zdr3+z0new+(Ym2*theta0new)+(Xm2*beta0new)z40new-beta3));
A20=-((Fp40new/lp3)*Xp3*(-Zp3-z0new-(Ym2*theta0new)(Xm2*beta0new)+z40new+beta3))+(Fd*ddrag)+(Fl0new*dlift0new)+((i/2)*(Omega
3dot+Omega4dot))+(i*Mp);
A21=-(mcrank*Zcrank*(Udot0new+(Zcrank*betadoubledotin0new)(V0new*Omegaz0new)+(Xcrank*(Omegaz0new^2))+(Zcrank*thetadot0new*Omegaz0ne
w)+(zdot0new*betadot0new)+(Xcrank*(betadot0new^2))));
A22=(Icrank*betadoubledotin)+(Ixcrank*((i/2)*(Omega30new+Omega40new))*Omegaz0
new)-(mcrank*Xcrank*(zdoubledot0new+(Xcrank*betadoubledotin0new)(U0new*betadot0new)+(Zcrank*(betadot0new^2))+(V0new*thetadot0new)(Xcrank*thetadot0new*Omegaz0new)-(Zcrank*(thetadot0new^2))));
SMy0=A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14+A15+A16+A17+A18+A19+A
20+A21+A22;
a=(DSMyFuf1*(Fuf1-Fuf10new))+(DSMyFur1*(Fur1-Fur10new))+(DSMyFdf1*(Fdf1Fdf10new))+(DSMyFdr1*(Fdr1-Fdr10new))+(DSMyFa1*(Fa1Fa10new))+(DSMyFb1*(Fb1-Fb10new))+(DSMyFp1*(Fp1-Fp10new));
b=(DSMyFuf2*(Fuf2-Fuf20new))+(DSMyFur2*(Fur2-Fur20new))+(DSMyFdf2*(Fdf2Fdf20new))+(DSMyFdr2*(Fdr2-Fdr20new))+(DSMyFa2*(Fa2Fa20new))+(DSMyFb2*(Fb2-Fb20new))+(DSMyFp2*(Fp2-Fp20new));
Page 199 of 237

c=(DSMyFuf3*(Fuf3-Fuf30new))+(DSMyFur3*(Fur3-Fur30new))+(DSMyFdf3*(Fdf3Fdf30new))+(DSMyFdr3*(Fdr3-Fdr30new))+(DSMyFa3*(Fa3Fa30new))+(DSMyFb3*(Fb3-Fb30new))+(DSMyFp3*(Fp3-Fp30new));
d=(DSMyFuf4*(Fuf4-Fuf40new))+(DSMyFur4*(Fur4-Fur40new))+(DSMyFdf4*(Fdf4Fdf40new))+(DSMyFdr4*(Fdr4-Fdr40new))+(DSMyFa4*(Fa4Fa40new))+(DSMyFb4*(Fb4-Fb40new))+(DSMyFp4*(Fp4-Fp40new));
e=(DSMyz*(z-z0new))+(DSMytheta*(theta-theta0new))+(DSMybeta*(betabeta0new))+(DSMyz1*(z1-z10new))+(DSMyz2*(z2-z20new))+(DSMyz3*(z3z30new))+(DSMyz4*(z4-z40new));
f=(DSMyUdot*(Udot-Udot0new))+(DSMybetadoubledot*(betadoubledotinbetadoubledotin0new))+(DSMyV*(V-V0new))+(DSMyOmegaz*(OmegazOmegaz0new))+(DSMythetadot*(thetadot-thetadot0new))+(DSMyzdot*(zdotzdot0new))+(DSMybetadot*(betadotbetadot0new))+(DSMyzdoubledot*(zdoubledot-zdoubledot0new))+(DSMyU*(UU0new))+(DSMyFl*(Fl-Fl0new))+(DSMydlift*(dliftdlift0new))+(DSMyOmega3*(Omega3-Omega30new))+(DSMyOmega4*(Omega4Omega40new));
SMy=a+b+c+d+e+f+SMy0;
if abs(SMy-SMy0init)<th
SMy0new1=SMy0init;
elseif abs(SMy-SMy0new1)>th
SMy0new1=SMy;
end
SMy0new=SMy0new1;
DIbetadoubledotSMy=1;
DIbetadoubledotthetadot=-((Ixx-Izz)*Omegaz0new)-(2*Ixz*thetadot0new);
DIbetadoubledotOmegaz=-((Ixx-Izz)*thetadot0new)+(2*Ixz*Omegaz0new);
Ibetadoubledot0=SMy0new-((Ixx-Izz)*thetadot0new*Omegaz0new)(Ixz*((thetadot0new^2)-(Omegaz0new^2)));
betadoubledot=((DIbetadoubledotSMy*(SMySMy0new))+(DIbetadoubledotthetadot*(thetadotthetadot0new))+(DIbetadoubledotOmegaz*(OmegazOmegaz0new))+Ibetadoubledot0)/Iyy;
end
,
algebraic loops (
transfer function
),
. ,
.
loops .
, 1 sec simulation time
1.5 min, , ,
Page 200 of 237

10 hr.
,
,
laptop. , Matlab Simulink ,
,
proof of concept
development simulation. bespoke
C Fortran
.
,
design process ,
.

.
8.1
, :
1.

(. 6.2). ,
.
3 sec. .
Page 201 of 237

z1
Page 202 of 237

z2
Page 203 of 237

z3
Page 204 of 237

z4
Page 205 of 237
Page 206 of 237
Page 207 of 237
Page 208 of 237
Page 209 of 237
Page 210 of 237
Page 211 of 237
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Page 214 of 237
Page 215 of 237
,
.

.
, ,
U
, steady state ( ,V
, ).
( )
A p
. ,
.
2. Sw
,
t=0.5 sec S w = 0.17(= 10 o ) .
3 sec.
Page 216 of 237

z1
Page 217 of 237

z4
Page 218 of 237
Page 219 of 237
Page 220 of 237
Page 221 of 237

,
V z , ,
3 sec. V

, .
, , input ,
, .
3. bump

. , t=0.5 sec
, 1 4.
0.1 m. 3 sec.
Page 222 of 237

z1
Page 223 of 237

z4
Page 224 of 237
Page 225 of 237

, t=0.5 sec
. ,
.
4. Speed Heading Control

,
, .
controllers 7.
35 m/s, heading angle 0.17 rad.
5 sec.
Page 226 of 237

z1
Page 227 of 237
Page 228 of 237
Page 229 of 237
Page 230 of 237

,
heading angle. ,
,
, .
proportional
, ,
.

S w (s)
1
=
, ( s) error heading.
k
s
k
+
( s )
1
2
8.2
,
,
heading .
.
.
(
)
th=0.3. :
Page 231 of 237

(linear )
Page 232 of 237

(nonlinear )
Page 233 of 237

. ,
.
,
:
Page 234 of 237
9 -

.

.
. ,

(
Simulink),
.
,
, Lagrangian (Hamiltonian) Mechanics,

.
,
( )
design (structural analysis ).

.
.

Simulink ,
.
Matlab ,

C Fortran. Simulink proof of
concept
.
,
() ,
. ,
,

. ,

Page 235 of 237

,
.
Page 236 of 237
10
[1]. William F. Milliken, Douglas L. Milliken, 1995, Race Car Vehicle

Dynamics
[2]. . . , 2000,
[3]. Prof. Georg Rill, 2004, Vehicle Dynamics, Lecture Notes
[4]. Reza N. Jazar, 2008, Vehicle Dynamics: Theory and Application
[5]. Internet
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14

NATIONAL TECHNICAL UNIVERSITY OF ATHENS

NON LINEAR DYNAMIC ANALYSIS OF 14 DEGREE-OFFREEDOM VEHICLE

Antiroll bars ............................................................. 32

5.2.10 z..................................... 118

Blocks ........................................................................ 142

7 Simulink .................................................... 171

Laplace) M p ( s) = [A( s) B( s)]

Fyi = D yi sin(C yi ArcTan( B yi a1 E yi ( B yi ai ArcTan( B yi ai ))))

Fyi = D yi sin(C yi ArcTan( B yi a1 E yi ( B yi ai ArcTan( B yi ai ))))

E ij = AEji ri + Z Eji Fzi + iEj

y = cos + Z cos sin

z = sin + Z cos cos

X df1, 2 = 1.85, Ydf1, 2 = 0.5, Z df1, 2 = 0.1

X 1p, 2 = 1.7, Yp1, 2 = 0.6, Z 1p, 2 = 0.3

X df3, 4 = 1.1, Ydf3, 4 = 0.45, Z df3, 4 = 0.1

X 3p, 4 = 1.3, Yp3, 4 = 0.55, Z 3p, 4 = 0.3

Fy1, 2 ( s = 0, a = [0.18,0.18], Fz = [10,10000])

3.7.3 Antiroll bars

(3), (4), (5) (2)

M y = M y cos M z sin (11)

y = y cos z sin (12)

(11), (12) (10) :

, & = xcrank , (13)

1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1

V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1

Fx1 = D 1x sin(C 1x ArcTan( B1x s1 E 1x ( B1x s1 ArcTan( B 1x s1 ))))

Fy1 = D 1y sin(C 1y ArcTan( B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))))

( Fy1 cos 1 + Fx1 sin 1 )( z 1 z1 1 ) + m1 (V& + X m1& z + Ym1 z2 + U z ) 1 M b1 sin 1

suf1 F11 cuf1 F31

s 1dr F21 + c 1dr F41

2 R2 + U cos 2 Ym1 z cos 2 + V sin 2 + X m1 z sin 2

V cos 2 + X m1 z cos 2 U sin 2 + Ym1 z sin 2

Fy2 = D y2 sin(C y2 ArcTan( B y2 a 2 E y2 ( B y2 a 2 ArcTan( B y2 a 2 ))))

( Fy2 cos 2 + Fx2 sin 2 )( z 2 z 2 2 ) + m2 (V& + X m1& z Ym1 z2 + U z ) 2 M b2 sin 2

( Fy2 cos 2 + Fx2 sin 2 )( z 2 z 2 + 2 ) m2 (V& + X m1& z Ym1 z2 + U z ) 2 M b2 sin 2

s ur2 F12 cur2 F32

s uf2 F12 + cuf2 F32

Fx3 = D x3 sin{C x3 ArcTan[ B x3 s 3 E x3 ( B x3 s 3 ArcTan( B x3 s3 ))]}

Fy3 = D y3 sin{C y3 ArcTan[ B y3 a3 E y3 ( B y3 a3 ArcTan( B y3 a3 ))]}

Fy3 ( z 3 z 3 3 ) + m3 (V& X m 2& z + Ym 2 z2 + U z ) 3

Fx3 3 m3 (U& + Ym 2& z + X m 2 z2 V z ) 3 + M b3

s ur3 F13 + cur3 F33

s uf3 F13 cuf3 F33

Fx4 = D x4 sin{C x4 ArcTan[ B x4 s 4 E x4 ( B x4 s 4 ArcTan( B x4 s 4 ))]}

Fy4 = D y4 sin{C y4 ArcTan[ B y4 a 4 E y4 ( B y4 a 4 ArcTan( B y4 a 4 ))]}

Fy4 ( z 4 z 4 4 ) + m4 (V& X m 2& z Ym 2 z2 + U z ) 4

Fx4 4 m4 (U& Ym 2& z + X m 2 z2 V z ) 4 + M b4

s ur4 F14 cur4 F34

s uf4 F14 + cuf4 F34

Fz = k w1 ( z1 z 1 + R1 ) bw1 ( z&1 z& 1 ) + m1 g m1 &z&1

( xcrank & xcrank =

(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )cos1

(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )sin1

(Ym1 cos 1 + X m1 sin 1 )(1 R1 + U cos 1 + Ym1 z cos 1 + V sin 1 + X m1 z sin 1 )

(V cos 1 + X m1 z cos 1 U sin 1 Ym1 z sin 1 ) sin 1

X m1 cos 1 Ym1 sin 1

Fx1 C 1x D1x ( B 1x s1 + ArcTan[ B 1x s1 ]) cos{C 1x ArcTan[ B 1x s1 E 1x ( B 1x s1 ArcTan( B1x s1 ))]}

= D 1y ( ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]) cos{C 1y ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]}

= sin{C 1y ArcTan[ B 1y a1 E 1y ( B 1y a1 ArcTan( B1y a1 ))]}

C 1y D 1y ( B1y a1 + ArcTan[ B 1y a1 ]) cos{C 1y ArcTan[ B 1y a1 E 1y ( B1y a1 ArcTan( B 1y a1 ))]}

)) cos{C 1y ArcTan[ B 1y a1 E 1y ( B 1y a1 ArcTan( B 1y a1 ))]}

Fy1 cos 1 + Fx1 sin 1