%
%??Cornering?Vehicle?Dynamics?Simulation
%
%??Created?by?I.Chen?and?Y.Huang?in?2015.
%??Copyright?（c）?2015?All?rights?reserved.
%?


%?Calculate?Resistance
R_r_c?=?m_car*g*c_r;
R_a_c?=?1/2*c_d*rho_a*A_f*u_c^2;?
R_total_c?=?R_r_c?+?R_a_c;

%?Normal?Load?of?Each?Tire
F_n_1L_c?=?[（1/l*[m_car*g*l_b-l_h*（m_car*du+R_a_c）]）*l_d/2-m_car*dv*l_h]/l_d;
F_n_1R_c?=?[（1/l*[m_car*g*l_b-l_h*（m_car*du+R_a_c）]）*l_d/2+m_car*dv*l_h]/l_d;?
F_n_2L_c?=?[（1/l*[m_car*g*l_a+l_h*（m_car*du+R_a_c）]）*l_d/2-m_car*dv*l_h]/l_d;?
F_n_2R_c?=?[（1/l*[m_car*g*l_a+l_h*（m_car*du+R_a_c）]）*l_d/2+m_car*dv*l_h]/l_d;?

%?Build?Tire?Slip?vs?Traction?Table?for?each?tire
List_itc_2L_c?=?（interp2（List_F_ntList_i_sTable_F_tcF_n_2L_cList_i_s））‘;
List_itc_2R_c?=?（interp2（List_F_ntList_i_sTable_F_tcF_n_2R_cList_i_s））‘;?

%?Interpolate?Resistance（Traction）?to?Find?Tire?Slip?Ratio
i_s_2L_c?=?interp1（List_itc_2L_c（1:7）List_i_s（1:7）R_total_c/2）;
i_s_2R_c?=?interp1（List_itc_2R_c（1:7）List_i_s（1:7）R_total_c/2）;

%?Calculate?Traction
F_tc_2L_c?=?interp1（List_i_s（1:7）List_itc_2L_c（1:7）i_s_2L_c）;?
F_tc_2R_c?=?interp1（List_i_s（1:7）List_itc_2R_c（1:7）i_s_2R_c）;?



%?Calculate?Wheel?Speed
W_w2L_c?=??（u_c/r_w）/（1-i_s_2L_c）;
W_w2R_c?=??（u_c/r_w）/（1-i_s_2R_c）;

%?Calculate?Input?Speed
switch?TD_type
????case?1?
????????W_in_c?=?W_w2L_c;
????case?2
????????W_in_c?=?（W_w2L_c+W_w2R_c）/2;
????case?3
????????W_in_c?=?W_w2L_c*n_CVT_2L_c;
end

%?Calculate?Total?Traction?Force?and?Torque
F_totaltc_c?=?F_tc_2L_c+F_tc_2R_c;?%?total?tractive?effort
T_totaltc_c?=?F_totaltc_c*r_w;?%?total?tractive?torque

%?System?input?Torque
T_in_c?=?T_totaltc_c;
T_in_c_initial=T_in_c;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-02-02?20:46??Vehicle_Dynamics-master\
?????文件??????????70??2017-02-02?20:46??Vehicle_Dynamics-master\README.md
?????文件????????4938??2017-02-02?20:46??Vehicle_Dynamics-master\Slip.m
?????文件????????2336??2017-02-02?20:46??Vehicle_Dynamics-master\Slip_Dynamics.m
?????文件????????1180??2017-02-02?20:46??Vehicle_Dynamics-master\Slip_plot.m
?????文件????????3361??2017-02-02?20:46??Vehicle_Dynamics-master\VD_Main.m
?????文件?????????303??2017-02-02?20:46??Vehicle_Dynamics-master\VD_next_step.m
?????文件????????5073??2017-02-02?20:46??Vehicle_Dynamics-master\VD_plot.m
?????文件????????2788??2017-02-02?20:46??Vehicle_Dynamics-master\VD_save_data.m
?????文件?????????950??2017-02-02?20:46??Vehicle_Dynamics-master\VD_sim_record.m
?????目錄???????????0??2017-02-02?20:46??Vehicle_Dynamics-master\data\
?????文件???????13957??2017-02-02?20:46??Vehicle_Dynamics-master\data\Magic?Formula-Lateral?Force.fig
?????文件???????13560??2017-02-02?20:46??Vehicle_Dynamics-master\data\Magic?Formula-Traction?Force.fig
?????文件????????1613??2017-02-02?20:46??Vehicle_Dynamics-master\data\a_vs_lf.m
?????文件????????1521??2017-02-02?20:46??Vehicle_Dynamics-master\data\car_spec.m
?????文件????????1351??2017-02-02?20:46??Vehicle_Dynamics-master\data\i_vs_tc.m
?????文件????????3443??2017-02-02?20:46??Vehicle_Dynamics-master\data\magic_formula.m
?????文件????????1636??2017-02-02?20:46??Vehicle_Dynamics-master\p0_initial.m
?????文件????????1664??2017-02-02?20:46??Vehicle_Dynamics-master\p1_Driver.m
?????文件????????4765??2017-02-02?20:46??Vehicle_Dynamics-master\p2_Traction.m
?????文件????????2080??2017-02-02?20:46??Vehicle_Dynamics-master\p3_VD.m
?????文件?????????278??2017-02-02?20:46??Vehicle_Dynamics-master\p4_Trajectory.m
?????文件????????3228??2017-02-02?20:46??Vehicle_Dynamics-master\parameter_list.txt