MATLAB-scripts describing a nonlinear steady-state cornering model for an electric city bus

  • C.C.J. (Camiel) Beckers (Creator)
  • IJM Besselink (Creator)
  • H. Nijmeijer (Creator)



The MATLAB-files contained within this dataset describe a nonlinear
steady-state cornering model for a six-wheel city bus. Due to the employed
multi-body approach, the wheel-configuration of the model can be changed
easily. The wheel location and orientation is completely parameterized,
allowing for the analysis of different types of vehicles. Emphasis is placed
on the calculation of the cornering resistance power and power lost due to
scrub losses to research the effect of these tire-effect on the vehicle energy
The current model includes six wheels, where the two sets of double rear
wheels have individual rotational velocities. In the model derivation,
linearizations are avoided: large angles are allowed and the non-linear Magic
Formula is employed to calculate the tire forces. Additionally, lateral load
transfer effects, due to the elevated center of gravity (CoG), are included.
The developed non-linear model has four degrees of freedom. Steady-state
solutions of the model are determined iteratively using an adapted Newton
scheme. The model enables the calculation of all tire velocities and tire
forces for a given cornering situation characterized by the cornering radius
rho and the vehicle velocity v.
Date made available19 Mar 2020
PublisherTU Delft - 4TU.ResearchData
Date of data production2020

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