To further improve this work the inclusion of other vehicle’s components is the task at hand.
Several other suspension parts could be implemented with the use of FEA, be it via an interface between Matlab and a FEA software, as ANSYS for example, or even by previously performing the simulations and by mapping the displacements that arise from several load cases. The use of a previously built map of displacements could be the best choice but only if the superposition of results was validated via a combined load condition. If this superposition of results was valid, relevant savings in simulation time could be achieved. The other way would involve a FEA software setup for each added component and the inclusion of a bridge between the vehicle model simulation and the FEA analysis.
The chassis behavior could also be included in a simpler way. By having the stiffness of every suspension pickup point and with the loads in the suspension links, the compliance of the chassis could be directly introduced in the three-point method described in this work.
The methods used for the calculation of suspension links compliance could also be revised and the work done in (Ferreira 2013) to model the bonded joint with finite elements could be used.
If opportunity exists for K & C testing of the FST 05e, validation of the modeled compliant components could be achieved. This testing, as stated earlier is very expensive and other ways to validate the models may be investigated.
The instrumentation of the FST 05e with strain gauges in the suspension links, could give an insight to the forces present and also the compliance of each link.
Finally the tire model may be revised to introduce more parameters with the first target being the influence of the inclination angle in the longitudinal force to check the difference in the acceleration times. The equations for this model were used in (Neves 2012) but not in this work.
81
8 REFERENCES
Adams, R. D., J. Comyn and W. C. Wake (1996). Structural Adhesive Joints in Engineering.
Antona, J. F. d. Development of a full vehicle dynamic model of a passenger car using ADAMS/Car, Oxford Brookes University.
Beer, F. P., E. R. Johnston and W. E. Clausen (2006). Mecânica Vectorial para Engenheiros:
Dinâmica.
Beer, F. P., E. R. J. Jr., J. DeWolf and D. Mazurek (2011). Mechanics of Materials.
Blundel, M. and D. Harty (2004). Multibody Systems Approach to Vehicle Dynamics.
Ferreira, R. N. C. (2013). Analysis of Different Types of Chassis for Formula Student.
Fischer, E. (2001). ADAMS/Car-AT in The Chassis Development at BMW.
Holdmann, P., P. Köhn, B. Möller and R. Willems (1998). Suspension Kinematics and Compliance - Measuring and Simulation. S. t. papers.
Jazar, R. N. (2008). Vehicle Dynamics: Theory and Applications.
Kasprzak, J. Understanding your Dampers: A guide from Jim Kasprzak. Kaz Technologies website:
25.
McGuan, S. P. and S. Pintar (1994). Flexible Vehicle Simulation or Modeling Vehicle Suspension Compliance at Ford Motor Co. Using a Copuling of ADAMS and MSC/NASTRAN.
Milliken, W. F. and D. L. Milliken (1995). Race Car Vehicle Dynamics.
Morse, P. (2004). Using K&C Measurements for Practical Suspension Tuning and Development. S. T.
Papers.
Neves, T. V. (2012). Numerical Model for Dynamic Handling of Competition Vehicles. Masters in Mechanical Engineering, Universidade Técnica de Lisboa.
Pacejka, H. B. (2005). Tyre and Vehicle Dynamics.
Reddy, J. N. (1997). Mechanics of laminated composite plates and shell - Theory and Analysis.
SAE (2008). Vehicle Dynamics Terminology - J670: 73.
Valverde, N. M. P. d. A. (2007). Aplicabilildade de materiais compósitos em transmissões de protótipos FSAE/Formula Student.
Wale, D. V. (2009). Modelling and Simulation of Full Vehicle for Analysing Kinematics and Compliance Characteristics of Independent (Macpherson strut) and Semi Independent (Twist Beam ) suspension system. Second International Conference on Emerging Trends in Engineering (SICETE).
82
APPENDIX A – MAGIC FORMULA EQUATIONS
The equations used in this work to fit the tire experimental data were adapted from (Pacejka 2005) and the final set of implemented equations will also be presented next.
The equations have some minor simplifications and the majority of the scaling factors are set equal to one. The only factor used that has a value different from one is λµx,y and this is only for purposes of vehicle simulations. For tire modelling, one is used.
First, the lateral slip is defined to account for the case of large slip angles:
* tan(SA)
(A.1)For the spin due to camber angle the following is also introduced:
* sin( )
IA IA (A.2)
The normalized change in vertical load is presented next:
z zo
z
zo
F F
df F
(A.3)
Longitudinal Force (pure longitudinal slip):
1 2
( )
Vx z Vx Vx z
S F p p df (A.4)
1 2
( )
Hx Hx Hx z
S p p df (A.5)
1 2 3
( ) exp( )
x z Kx Kx z Kx z
K F p p df p df (A.6)
1 2
( ) 0
x pDx pDx dfz x
(A.7) 0
x x z
D
F (A.8)
1
0
x cx
C p (A.9)
x x
x x
B K
C D
(A.10)
x SL SHx
(A.11)
1 2 3 2
1 4 sgn( )
1x Ex Ex z Ex z Ex x
E p p df p df p (A.12)
sin arctan arctan( )
xo x x x x x x x x x Vx
F D C B E B B S (A.13)
Lateral Force (pure side slip):
( 1 2 ) ( 3 4 ) *
Vy z Vy Vy z Vy Vy z
S F p p df p p df IA (A.14)
*
1 2 3
( )
Hy Hy Hy z Hy
S p p df p IA (A.15)
83
1
2
sin 2 arctan
zy o Ky zo
Ky zo
K p F F
p F
(A.16)
1 3 *2
y y o Ky
K K p IA (A.17)
*2
1 2 3
( ) 1 0
y pDy pDy dfz pDy IA y
(A.18)y y z
D F (A.19)
1
0
y cy
C p (A.20)
y y
y y
B K
C D
(A.21)
*
y SHy
(A.22)
1 2 1
3 2 * sgn( ) 1
y Ey Ey z Ey Ey y
E p p df p p IA
(A.23)
sin arctan arctan( )
yo y y y y y y y y y Vy
F D C B
E B
B
S (A.24)Longitudinal Force (Combined Slip):
1
Hx Hx
S r (A.25)
1 2
1
x Ex Ex z
E r r df (A.26)
1
x Cx
C r (A.27)
1cos arctan 2 0
x Bx Bx
B r r (A.28)
*
S SHx
(A.29)
cos arctan arctan( )
x o x x Hx x x Hx x Hx
G C B S E B S B S (A.30)
cos arctan arctan( )
x x S x x S x S ( 0)
x
x o
C B E B B
G G
(A.31)
x x xo
F GF (A.32)
Lateral Force (Combined Slip):
1 1
Hy Hy Hy z
S r r df (A.33)
* *
1 2 3 3
( ) cos arctan( )
Vy y z Vy Vy z Vy Vy
D F r r df r IA r (A.34)
5 6
sin arctan( )
Vy Vy Vy Vy
S D r r (A.35)
1 2
1
y Ey Ey z
E r r df (A.36)
84
1
y Cy
C r (A.37)
*
1
cos arctan
2(
3) 0
y By By By
B r r
r (A.38)S SL SHy
(A.39)
cos arctan arctan( )
y o y y Hy y y Hy y Hy
G C B S E B S B S (A.40)
cos arctan arctan( )
( 0)
y y S y y S y S
y
y o
C B E B B
G G
(A.41)
y y yo Vy
F GF S (A.42)
Aligning Torque (pure side slip):
Vy
Hf Hy
y
S S S
K
(A.43)
*
t SHt
(A.44)
10
r Bz y y
B q B C (A.45)
r
1
C (A.46)
6 7
8 9
*r z wheel Dz Dz z Dz Dz z y
D F R q q df q q df IA (A.47)
cos arctan[ ]
zro r r r r
M D C B
(A.48)*
1 2 ( 3 4 )
Ht Hz Hz z Hz Hz z
S q q df q q df IA (A.49)
*
r SHf
(A.50)
Bz1 Bz2 z Bz2 z2 1
Bz4 * Bz2 *
t
y
q q df q df q IA q IA
B
(A.51)
1
( 0)
t Cz
C q (A.52)
1 2
( )
wheel
to z Dz Dz z
zo
D F R q q df
F
(A.53)
1 3 * 3 *2
t to Dz Dz
D D q IA q IA (A.54)
1 2 3 2
1
4 5 *
2 arctan
( 1)t Ez Ez z Ez z Ez Ez t t t
E q q df q df q q IA B C
(A.55)
cos arctan arctan( )
o t t t t t t t t t
t D C B E B B (A.56)
'z0 o yo
M t F (A.57)
zo 'zo zro
M M M (A.58)
85
APPENDIX B – EQUIVALENT LAMINATE PROPERTIES
The carbon fiber tubes used in the FST 05e are purchased from Easy Composites. The fiber layup and the properties of the fiber and matrix used are known.
Besides being known as a CFRP tube, it also uses glass fiber together with carbon fiber. The tubes in this category are roll-wrapped pre-preg made.
The layup of the tube is as follows:
[ 0 90 0 90 0]
The fibers at 0 degrees are oriented parallel to the longitudinal axis of the tube and the 90 degrees fibers are oriented parallel to the radial direction of the tube.
At 0 degrees, carbon fiber from Toray is used: 300 gsm Toray T700. At 90 degrees, the reinforcement of glass fibers is used: 300 gsm E-glass.
The carbon fiber pre-preg is unidirectional and the glass fiber pre-preg can also be considered unidirectional.
To calculate the equivalent modulus of elasticity in the longitudinal direction, micro- mechanics and classic laminate theory are used.
To start one can approximate the thickness of each fiber layer by dividing the total thickness of the tube by the number of layers:
tube layer
layers
h h
n (B.1)
To calculate the fiber and matrix volume fraction in the layer the following equation is used, where g symbolizes the weight per area of the fiber and the density is represented as ρfiber.
1
f
fiber layer
m f
V g
h
V V
(B.2)
These volume fractions will be used to compute the rule of mixtures and obtain the elastic properties of the layer by knowing the properties of the matrix and fiber in the following way:
L m m f f
E E V E V (B.3)
LT Vm m Vf f
(B.4)1 m f
T m f
V V
E E E (B.5)
86
1 m f
LT m f
V V
G G G (B.6)
LT TL
L T
E E
(B.7)
The elasticity matrix in the fiber coordinate system is then computed as:
1 1 0
1 1 0
0 0
L LT T
LT TL LT TL
L L
TL L T
T T
LT TL LT TL
LT LT
LT
E E
E E
G
(B.8)
In a laminate, every layer is not usually with the same orientation, so a transformation to the above properties must be made to obtain the said properties in the laminate coordinate system. In the following, ξ, symbolizes the angle at which the layer is oriented with respect to the laminate coordinate system.
2 2
2 2
2 2
2 2
c s cs
R s c cs
cs cs c s
(B.9)
cos sin
cs
(B.10)
The equations (B.9) and(B.8) are combined in the following way:
11 1 0
1 0 0
0 0 1 0
1 1
0 0 2
0 0
L LT T
LT TL LT TL
X X
TL L T
Y Y
LT TL LT TL
XY XY
LT
E E
E E
R R
G
(B.11)
This results in the following matrix:
87
11 1 0
1 0 0
0 0 1 0
1 1
0 0 2
0 0
L LT T
LT TL LT TL
TL L T
LT TL LT TL
LT
E E
E E
K R R
G
(B.12)
To compute the final stiffness matrix of the laminate one needs to assemble the several stiffness matrixes from the several layers present. This is done by writing the constitutive equations of the laminate. Since the only objective is to obtain the extensional properties of the laminate and since the laminate is symmetric one only needs to write the constitutive relations for a tensile force:
0
11 12 13
0
21 22 23
0
31 32 33
X X
Y Y
XY XY
N A A A
N A A A
N A A A
(B.13)
The A matrix is obtained with the knowledge of the components of matrix K:
1
layers
n
ij ij layer ji
t
A K h A
(B.14)To obtain the final stiffness matrix the following is done:
tube
A A
h (B.15)
The stiffness variable that is used in this work is then obtained:
CFRP axial 11
E A (B.16)
88
APPENDIX C – FORMULA STUDENT RESULTS
Figure C.1 – Acceleration Results from Formula Student Electric 2012
Figure C.2 – Skid Pad results from Formula Student 2013 competition in the UK
89
APPENDIX D – MATLAB / SIMULINK DIAGRAMS
Signal 1 Group 1
Throttle Pedal
Signal 1Group 1 Steering Wheel Steering_wheel
Steering Displacements
Twist Angle Steer
Steering Mechanism vy
vx w Steer Slip angle
vi
Vehicle and Wheel Angles
Steer Vertical Displacements L_rods IA
IA calculator Throttle
Brake w vx
Torque available
Torque to wheels
Motor / Brake System
SA Torque to wheels vi Torque f rom Fx FZ
SL_raw
Wheels Angular Velocity
Wheel Rotational Dynamics
FZ SL_raw Torque to Wheels SA IA
Fx Fy Mz
Tire Dynamics
Steer
Mz
Fy
Fx
Vertical Displacements w vy vx v Torque f rom Fx FZ FX FY MZ Vehicle Dynamics Signal 1
Group 1
Brake Pedal
FZ
FX
FY
MZ
F_rods_FR
F_rods_FL
F_rods_RR
F_rods_RL
F_steering_rods Force Calculator
F_rods_FR
F_rods_FL
F_rods_RR
F_rods_RL
F_steering_rods
L_rods
Steering Displacements
Twist angle
Compliance Calculator Memory
Memory1
Memory2
Memory3 1
Zero 2 1
Zero 1
Memory4 0
Zero 2 Signal 1 Group 1
Throttle Pedal1
FY
w
FX
vy
DOWNFORCE
DRAG
vx ay
dvy
FZ
dvx
z
9DOF
steer
Fy
Fx FY
FX fcn
Fy/Fx -> FY/FX [a;a;-b;-b]
Gain
Sum of Elements 1/76
Gain1 1
s Integrator3 Yaw Velocity
Yaw Acceleration
1 s Integrator4 Yaw Position
yaw.mat To File1
[tf/2;-tf/2;tr/2;-tr/2]
Gain2 1
s Integrator Lateral Velocity
1/9.81 Gravity3 Lateral Acceleration
dvy
1 Steer
3 Fy
4 Fx
7 FZ
1 Vertical Displacements Linear Acceleration
1/9.81 Gravity
1 s Integrator1
u2 Velocity squared
0.91 Drag Coefficient
-2.12
Lift Coefficient Linear Velocity
3.6 m/s -> km/h
2 3 w
vy
4 vx
r Wheel radius
Torque from FX 6
Torque from Fx
yaw vx vy
VX fcn VY Visual Preparation
1 s Integrator6
1 s Integrator7
X.mat To File5
Y.mat To File6 u2
vx squared u2
vy squared
sqrt(u) Fcn
5 v
Yaw moment from FX Yaw moment from FY
Yaw moment
8 FX 9 FY
2 Mz Yaw moment from Mz
10 MZ Ay.mat
Lateral Acceleration to file - Ay
vy.mat Lateral Velocity to file - vy
vx.mat Longitudinal Velocity to file - vx
Ax.mat Longitudinal Acceleration to file - Ax
Yaw_m.mat Yaw Moment to file - Yaw_m Yaw_a.mat
YawAcc to file - Yaw_a Yaw_v.mat
Yaw vel to file - Yaw_v
FZ.mat FZ to file - FZ
Velocity
XY Graph X position
Product7
1/9.81 Gravity1 Radial Acceleration
u2 vx squared1 Divide1
Path Radius
v.mat Tangential Velocity to file - v ar.mat
Radial Acceleration to file - ar
R.mat Path Radius to file - R
Vehicle Dynamics Block
Vertical Force on tire Applied Forces
Matrix Multiply Product2
Matrix Multiply Product3
Matrix Multiply Product4
Product5
-K- Gain2 -1
Constant1
-Kt/1000 Constant2 C
Damping Ax
FX Az Ay FY
FORCES fcn
MATLAB Function
Minv Mass - Inverse
K Stiffness
Displacements Velocity Plot
Add
1 s Position 1
s Velocity
-502.3 -241.4 -591.4 -24.48 -466.6 -306.8 -602.8 -25.66 993.3 Display
-44.53 -6.85 -24.3 -1.224 -36.63 -7.141 -16.26 -1.187 1.021
Display1
1153 206.1 1202 199.9 Display2 3
FX
Sum of
Elements m
Mass
Divide
4 dvx
3 FZ 6
DRAG
5 DOWNFORCE
Divide1 m*9.81
Mass1
1 FY
Sum of Elements1 Divide2
m Mass2
2 dvy
7 vx 2
w
Product6
1 ay 4
vy
Product7
5 z
z_nom.mat To File 1
Gain
1/9.81 Gain3
1/9.81 Gain1
Vibrational Model Block
Iy_roda Wheel Inertia
Divide
Divide1 Subtract
Total Torque
Subtract1 1
Constant ~= 0
Switch2
[0;0;0;0]
SR for v = 0 T
Angular Acc - raw
v
FZ
w
Angular Acceleration and Velocity Product1
2 Torque to wheels 4 Torque from Fx
5 FZ
1
SA 1
SL_raw
3 vi
f(u) COS(SA)
2 Wheels Angular Velocity Wheels Velocity - angular
Velocity of wheels in the body CS x-y
SL raw plot
~= 0 Switch1 r
Wheel radius 1
Product2
wi.mat
Wheel Angular Velocity to file - wi
1/r Wheel radius 2
SL raw plot1
Wheel Dynamics Block
Product
Torque from the motors to the wheels
w
E_T_W E_T_M w_M fcn
MOTOR 21
Gear Ratio Motor Torque
Motor Speed
> 0
Switch Brake/Throttle >= 0
Switch1 [0 0 0 0]
Brakes if v = 0 4
vx
1 Throttle
3 w
2 Torque to wheels
1 Torque available Throttle Pedal
T_to_wheels.mat Torque to wheels to file - T_to_wheel Pedal_in.mat
Pedal input to file - Pedal_input
Memory1 2
Brake
F_Brake_Pedal T
fcn Brake System
Motor/Brake System
Steering Input Steering Displacements - Right Steering Displacements - Lef t Steering Right
Steering Lef t
Steering Mechanism
Steering_wheel Twist_angle Rack_d
fcn Rack Displacement
0 Rear Right Steering
0 Rear Left Steering ROT_FR
ROT_FL
ROT_RR
ROT_RL steer
fcn
Rotation matrix to steering angle
Steering wheel input
1 Steering_wheel
1 Steer
Wheels Steering
2 Steering Displacements 1
1 Gain Gain1 delta.mat
Steer to file - delta
delta_in.mat Steering input to file - delta_in
3 Twist Angle
~= 0
Switch1
[0 0 0 0]
Steering if steering wheel = 0
Steering Model
vy vx w xi yi
B
Bi
vi fcn
Sideslip angle calculation [a;a;-b;-b]
x Positions
[-tf/2;tf/2;-tr/2;tr/2]
y Positions x_positions.mat
To File3
y_positions.mat To File4
Subtract2 1
vy
2 vx
3 w
4 Steer
1 Slip angle Sideslip angle
2 vi
Slip angles B.mat
Sideslip to file - B SA.mat
Slip angles to file - SA
> 0
Switch1
[0 0 0 0]
SA if v = 0
Wheel Angles
Steer z L_rods up_f
Camber_nom KPI_nom Caster_nom z_NOM up_r
IA
fcn
IA calculation
up_f
Front Upright
Camber_nom
Camber_nom
z_NOM
Nominal Positions
KPI_nom
KPI_nom
Caster_nom
Caster_nom
up_r
Rear Upright
1
Steer
2
Vertical Displacements
1
IA IA plot
3
L_rods
IA.mat
IA to file - IA Inclination Angle Block
T SL_raw FZ SA IA COEFSXX COEFSXY COEFSYY COEFSYX COEFSMZY
Fx
Fy
Mz
SL fcn
P2002XY COEFSX
COEFSX COEFSXY
COEFSXY
Longitudinal Slip
T FX SL
FX_ef fcn Limit FX
Longitudinal Force - Raw
COEFSYY
COEFSYY COEFSYX
COEFSYY 3
Torque to Wheels 2
SL_raw 1
FZ 4
SA
1 Fx
2 5 Fy
IA
Lateral Force
Longitudinal Force
Self-Aligning Torque
COEFSMZY COEFSMZY
3 Mz
Fx.mat Fx to file - Fx Fy.mat
Fy to file - Fy
Mz.mat Mz to file - Mz
SL.mat SL to file - SL
Tire Model
2 FX
3 FY
1 FZ
[1;1;1]
Gain
[1;1;1]
Gain1
[1;1;1]
Gain2
[1;1;1]
Gain3
CG
CS4
CS6
CS9 CS1
CS7
CS2
CS8
CS3
CS5
Front Left Upright Ground
Env Machine Environment
B F
Spherical Ground1
Ground2
B F
Spherical3
Ground3
Ground4
Ground5
CS1 CS2
Tie-Rod
B F
Spherical7
B F Spherical1
B F Spherical4 Body Actuator
FLUF Sensor
CS1 CS2
Pullrod
B F
Spherical6 Ground6
B F
Six-DoF
CS1CS2
FL Upper A-Arm Front
B F
Spherical2
CS1CS2
FL Upper A-Arm Rear B
F Spherical5
CS1CS2
FL Bottom A-Arm Rear
CS1CS2
FL Bottom A-Arm Front
B F
Spherical8
B F
Spherical9
B F Spherical10
B F
Spherical11
FLUR Sensor
FLBF Sensor
FLBR Sensor
CG
CS4
CS6
CS9 CS1
CS7
CS2
CS8
CS3
CS5
Front Right Upright
Ground7 Env Machine Environment1
Body Actuator1 B
F Spherical12 Ground8
Ground9
B F
Spherical17 Ground10
Ground11
Ground12
CS1 CS2
Tie-Rod1
B F
Spherical21 B
F Spherical13
B F Spherical18 FRUF Sensor
CS1 CS2
Pullrod1 B F
Spherical20 Ground13
CS1 CS2 FR Upper A-Arm Front
B F Spherical16 CS1 CS2 FR Upper A-Arm Rear B
F
Spherical19
CS1 CS2 FR Bottom A-Arm Rear
CS1 CS2 FR Bottom A-Arm Front
B F
Spherical22
B F
Spherical23
B F Spherical14
B F
Spherical15 FRUR Sensor
FRBF Sensor
FRBR Sensor
B F
Six-DoF1
CG
CS4
CS6
CS9 CS1
CS7
CS2
CS8
CS3
CS5
Rear Left Upright Ground14
Env Machine Environment2
B F
Spherical24 Ground15
Ground16
B F
Spherical29
Ground17
Ground18
Ground19
CS1 CS2
Tie-Rod2
B F
Spherical33
B F Spherical25
B F
Spherical30
RLUF Sensor
CS1 CS2
Pullrod2
B F
Spherical32
Ground20
B F
Six-DoF2
CS1CS2
RL Upper A-Arm Front
B F
Spherical28
CS1CS2
RL Upper A-Arm Rear B
F Spherical31
CS1CS2
RL Bottom A-Arm Rear
CS1CS2
RL Bottom A-Arm Front
B F Spherical34
B F
Spherical35
B F Spherical26
B F
Spherical27
RLUR Sensor
RLBF Sensor
RLBR Sensor
CG
CS4
CS6
CS9 CS1
CS7
CS2
CS8
CS3
CS5
Rear Right Upright
Ground25 Env Machine Environment3 B
F
Spherical36 Ground26
Ground27
B F
Spherical41 Ground21
Ground22
Ground23
CS1 CS2
Tie-Rod3
B F
Spherical45 B
F
Spherical37
B F Spherical42 RRUF Sensor
CS1 CS2
Pullrod3 B F Spherical44
Ground24
CS1 CS2 RR Upper A-Arm Front
B F
Spherical40 CS1 CS2 RR Upper A-Arm Rear B
F
Spherical43
CS1 CS2 RR Bottom A-Arm Rear
CS1 CS2
RR Bottom A-Arm Front
B F Spherical46
B F
Spherical47
B F Spherical38
B F
Spherical39 RRUR Sensor
RRBF Sensor
RRBR Sensor
B F Six-DoF3
F_rods_raw up_f
up_f _s up_r up_r_t ch_f ch_r
F_rods_FR F_rods_FL F_rods_RR F_rods_RL F_rods_toe_tie
verif ica fcn
MATLAB Function up_f
UP Front
up_r UP Rear
ch_f Chassis Frontch_r
Chassis Rear
2 Matrix
Concatenate
-1158 -295.9 -1002 -2356
Display -477.2 -207.2 485 167.3
Display1
669.7 742.4 -1195 -735.1
Display2 -178 -178.7 72.35 722.2
Display3 Body Actuator4
>= 0
Switch [0;0;0]
Constant [1;0;0]
Gain4 >= 0
Switch1 [0;1;1]
Gain5
[1;0;0]
Gain6 >= 0
Switch2 Body Actuator5
[0;0;0]
Constant1 >= 0 Switch3
[0;1;1]
Gain7
Body Actuator6
[1;0;0]
Gain8 >= 0 Switch4 Body Actuator7
[0;0;0]
Constant2 >= 0 Switch5
[0;1;1]
Gain9
Body Actuator3
Body Actuator8
>= 0
Switch6 [0;0;0]
Constant3 [1;0;0]
Gain10 >= 0
Switch7 [0;1;1]
Gain11
1 F_rods_FR
2 F_rods_FL
3 F_rods_RR
4 F_rods_RL 4
MZ
Body Actuator2
Body Actuator9
Body Actuator10
Body Actuator11 [0;0;1]
Gain12
[0;0;1]
Gain14
[0;0;1]
Gain15 [0;0;1]
Gain13
Tie-L Sensor
Tie-R Sensor
Toe-R Sensor Toe-L Sensor
up_r_t UP Rear1 up_f_s UP Front2
660.3 -0.5335 -389.2 30.46
Display4 5.292e-14
660 -21.18
Display5
5.69e-16 1.485e-15 4.927e-16 2.429e-16 6.661e-16 4.441e-16 1.665e-16 2.394e-16 8.327e-17 9.992e-16 1.409e-17 3.574e-15 6.939e-16 3.331e-16 2.312e-15 -1.54e-17 1.912e-16 -7.914e-14 5.077e-15 8.571e-15
Display6
5 F_steering_rods F_rods_FR plot
F_rods_FL plot
F_rods_RR plot
F_rods_RL plot
F_rods_toe_tie plot F_FR.mat F_FR to file - F_FR
Wishbones Loads Block