Comments (1)
Dear Xavier,
I believe that the lateral disturbances should be considered directly in the equations of motion and not in the characteristic curve of the tires (Barnard, Richard Harry. Road vehicle aerodynamic design: An introduction. 2001.). If you don't have access to this book take a look at this doctoral thesis, section 2.2.
Considering the wind flow parallel to the ground, we can define an absolute wind direction BETA
and a center of pressure CP
located somewhere over the longitudinal axis of the vehicle (for simplicity). See this figure. This way, the wind generates forces in the X and Y directions (inertial reference frame) and yaw moment.
Check the Fwind terms in equations (4), (5) and (6) of the VehicleSimpleNonlinear.m:
BETA = pi/2; % Lateral wind
Fwind = 1000;
THETA = pi/2 - (BETA - PSI);
lCP = 0; % Center of gravity coincident with center of pressure
dx(1,1) = v * cos(ALPHAT + PSI); % X
dx(2,1) = v * sin(ALPHAT + PSI); % Y
dx(3,1) = dPSI; % dPSI
dx(4,1) = (FxF * cos(ALPHAT - DELTA) + FxR * cos(ALPHAT) + FyF * sin(ALPHAT - DELTA) + FyR * sin(ALPHAT) - Fwind*cos(BETA) )/(m);
dx(5,1) = ( - FxF * sin(ALPHAT - DELTA) - FxR * sin(ALPHAT) + FyF * cos(ALPHAT - DELTA) + FyR * cos(ALPHAT) - m * v * dPSI - Fwind*sin(BETA)) / (m * v);
dx(6,1) = (FxF * a * sin(DELTA) + FyF * a * cos(DELTA) - FyR * b - lCP*Fwind*cos(THETA)) / I;
Specifically, in your case, the initial cross wind generates a force in the lateral direction of the vehicle (beta = 90 deg).
Try different values of BETA
, Fwind
and lCP
with the vehicle moving in a straight line without input.
Let me know if it worked.
OBS: To properly implement cross slopes effects, the model should consider lateral load transfer. This could be another issue.
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