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HalfCar_Files_nonsymm - File HalfCar_Setup.m 15 Feb 2006...

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% File: HalfCar_Setup.m 15 Feb 2006 % rev. 12Feb07 added global variables feature % global kf bf kr br A B % % Non-symmetrical vehicle model % Parameters m= 1814; % kg translational mass Jc= 2592; % kg-m^2 pitch-axis moment of inertia kf= 44000; % N/m front spring stiffness kr= 44000; % rear spring stiffness bf= 3750; % Ns/m front damper br= 3750; % rear damper df= 1.5; % m distance from CG to front suspension dr= 1.5; % distance from CG to rear suspension g= 9.81; % m/s^2 accel of gravity % W= m*g; % weight % % State vector definition % x(1)= vz heave velocity % x(2)= wp pitch (angular) velocity % x(3)= deltaf front deflection % x(4)= deltar rear deflection % % Input vector definition % u(1)= W weight % u(2)= Vf(t) front tire contact lift velocity % u(3)= Vr(t) rear tire contact lift velocity % % A and B definitions A= [ -(bf+br)/m (bf*df-br*dr)/m -kf/m -kr/m; 0 -(bf*df^2+br*dr^2)/Jc df*kf/Jc -dr*kr/Jc; 1 -df 0 0; 1 dr 0 0 ]; % B= [ 1/m -bf/m -br/m; 0 df*bf/Jc -dr*br/Jc; 0 1 0; 0 0 1 ]; % % *******************************************************
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function xdot= HalfCar_Eqs(t,x) % % This file defines the HalfCar equations % by returning the state vector derivatives (xdot) % given the state x(t) at time t.
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