Tire (Simple)
No-slip tire model with minimal parameters
Libraries:
Simscape /
Driveline /
Tires & Vehicles
Description
The Tire (Simple) block represents a simple, no-slip model of a tire that you parameterize by tire radius.
You can optionally add inertia, stiffness, or damping. These dynamics require additional computation that tends to make models less suitable for real-time simulation.
Examples
Vehicle with Four-Wheel Drive
A four-wheel drive vehicle starting from rest and ascending a 15 degree incline. Initially the vehicle rolls backwards until the engine develops sufficient torque to counter the slope. The tire compliance dynamics can be seen as the vehicle starts to accelerate. The model variant chosen for all of the tires can be set to the Simple, Friction Parameterized, or Magic Formula tire model using the hyperlinks in the model.
Assumptions and Limitations
The tire does not slip.
Torque-transfer capability is infinite.
Ports
Conserving
A — Axle
mechanical rotational
Mechanical rotational port associated with the axle that the tire sits on.
H — Hub
mechanical translational
Mechanical translational port associated with the wheel hub that transmits the thrust generated by the tire to the remainder of the vehicle.
Parameters
The table shows how the visibility of some Tire (Simple) parameters depends on the option that you choose for other parameters.
Parameter Dependencies
Parameter | |
---|---|
Rolling Radius | |
Compliance — Choose
| |
No compliance - Suitable for HIL simulation | Specify stiffness and damping |
Longitudinal stiffness | |
Longitudinal damping | |
Inertia — Choose | |
No Inertia | Specify inertia and initial velocity |
Tire inertia | |
Initial velocity |
Rolling radius — Radius
0.3
m
(default) | positive scalar
Rolling radius of the tire. The rolling radius must be greater than zero.
Compliance — Compliance model
No compliance - Suitable for HIL
simulation
(default) | Specify stiffness and damping
Include or neglect longitudinal stiffness and damping.
Dependencies
Selecting Specify stiffness and damping
exposes other parameters. For more information, see Parameter Dependencies.
Longitudinal stiffness — Longitudinal stiffness
1e6
N/m
(default) | positive scalar
Longitudinal stiffness of the tire. The parameter must be greater than zero.
Dependencies
This parameter appears only if the Compliance
parameter is set to Specify stiffness and
damping
. For more information, see Parameter Dependencies.
Longitudinal damping — Longitudinal damping
1000
N/(m/s)
(default) | positive scalar
Longitudinal damping of the tire. The parameter must be greater than zero.
Dependencies
This parameter appears only if the Compliance
parameter is set to Specify stiffness and
damping
. For more information, see Parameter Dependencies.
Inertia — Inertia model
No inertia
(default) | Specify inertia and initial velocity
Include or neglect tire inertia.
Dependencies
Selecting Specify inertia and initial
velocity
exposes other parameters. For more
information, see Parameter Dependencies.
Tire inertia — Tire inertia
1
kg*/m^2
(default) | positive scalar
Rotational inertia of the tire.
Dependencies
This parameter appears only if the Inertia
parameter is set to Specify inertia and initial
velocity
. For more information, see Parameter Dependencies.
Initial velocity — Initial velocity
0
rad/s
(default)
Initial rotational velocity of the tire.
Dependencies
This parameter appears only if the Inertia
parameter is set to Specify inertia and initial
velocity
. For more information, see Parameter Dependencies.
More About
Real-Time and Hardware-in-the-Loop Simulation
For optimal simulation performance, set the Parameters > Compliance parameter to No compliance - Suitable for HIL
simulation
.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2012a
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