dwEgomotionSuspensionParameters Struct Reference

Detailed Description

Suspension model type and parameters.

Definition at line 262 of file EgomotionTypes.h.

Data Fields
dwEgomotionSuspensionModel	model
	Suspension model to use. More...
float32_t	torsionalSpringPitchNaturalFrequency
	Torsional spring model parameters. More...
float32_t	torsionalSpringPitchDampingRatio
	Level of damping relative to critical damping around the pitch axis of the vehicle [dimensionless]. More...

Field Documentation

model

dwEgomotionSuspensionModel dwEgomotionSuspensionParameters::model

Suspension model to use.

If left zero-intialized, a rigid suspension system is assumed (i.e. no suspension modeling).

Definition at line 266 of file EgomotionTypes.h.

torsionalSpringPitchDampingRatio

float32_t dwEgomotionSuspensionParameters::torsionalSpringPitchDampingRatio

Level of damping relative to critical damping around the pitch axis of the vehicle [dimensionless].

Typical passenger car suspension systems have a damping ratio in the range of [0.2, 0.6]. Default value is 0.6 if left zero-initialized.

Definition at line 294 of file EgomotionTypes.h.

torsionalSpringPitchNaturalFrequency

float32_t dwEgomotionSuspensionParameters::torsionalSpringPitchNaturalFrequency

Torsional spring model parameters.

Used if model == DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL. If left zero-initizialized, a default set of parameters will be used.

These model parameters are suitable for a simple damped torsional spring model with external driving torque resulting from vehicle linear accelerations, described by the following ODE: \( I \ddot{\theta} + C \dot{\theta} + k \theta = \tau \)

where:

• \( \theta \) suspension angle [rad]
• I vehicle inertia around y axis [kg m^2]
• C angular damping constant [J s rad^-1]
• k torsion spring constant [N m rad^-1]
• \( \tau \) driving torque [N m], function of linear acceleration, vehicle mass and height of center of mass.

Note

if selected, this model requires accurate vehicle mass, inertia and height of center of mass in the dwVehicle struct provided as part of the dwEgomotionParameters.

Frequency at which the suspension system tends to oscillate around the pitch axis of the vehicle in the absence of an external driving force or damping [Hz]. Typical passenger car suspension systems have a natural frequency in the range of [0.5, 1.5] Hz. Default value is 1.25Hz if left zero-initialized.

Definition at line 289 of file EgomotionTypes.h.

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The documentation for this struct was generated from the following file:

• EgomotionTypes.h