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Cheers Martin, I think that's more or less what I've arrived at.
I've also been thinking about the wheel-lifting scenario and indeed, getting airborne. As I'm tracking angular momentum, I can probably use the inertia tensor for all of the possible wheel-up combinations - not that this is entirely necessary. In the case where the car is off the ground we're not actually in control as such...
2009-10-19 16:56:35 UTC in mjbWorld
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Hi Martin, sorry to bump this thread but I think I've figured out a solution and I just need clarification on something.
Ok, the original problem was that I'd stupidly set the sprung mass as if it were the whole car - clearly that's not right.
Now, as the bulk of the car mass is the sprung mass I figured that so long as I account for the unsprug mass in the accelerations I can just model...
2009-10-19 07:06:59 UTC in mjbWorld
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Hi Martin, yes, I think I'm over simplifying the suspension and that's complicating the dynamics. The auto engineers (SAE) use the concept of a roll centre, which is derived from the suspension geometry - the suspension rotates about this imaginery axis which in turn means the car body rolls about this axis. I think we can neglect the conservation of angular momentum of the car body because of...
2009-03-03 18:53:44 UTC in mjbWorld
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Hi Martin, I'm probably just confusing myself as usual but I'm having trouble with modelling different inertias in a multi-body system like a car.
Currently I have a simplified model - there's one inertia tensor and mass of the whole car - i.e. the sprung plus unsprung masses.
Road forces (i.e. on the tyres) are split between verticle and horizontal components. The horizontal components...
2009-03-02 17:21:22 UTC in mjbWorld
