Good Day,
I am trying to make a simulator for a car/trailer combination that will allow me to get a rough estimate of trailer dampening and other factors. I have found that many papers suggest simplifying it to a 'tricycle' model, where any given trailer is composed of three wheels.
They then come up with a system of equations and simplify them into matrix form, and furthermore change it to a state equation as seen in the top right and bottom left:
I recognize this form, and they give as inputs. (u would be an active damping which for me is zero. )
Basically, I cannot figure out how to go from this state equation to the what the actual vehicle response it to an input. When I look up state equations usually there is a y component, but I do not appear to have a second equation. I am not sure how to proceed with coding this, or doing it by hand. I am using MATLAB.
I have attached the full paper. Thank you for any assistance.
I am trying to make a simulator for a car/trailer combination that will allow me to get a rough estimate of trailer dampening and other factors. I have found that many papers suggest simplifying it to a 'tricycle' model, where any given trailer is composed of three wheels.
They then come up with a system of equations and simplify them into matrix form, and furthermore change it to a state equation as seen in the top right and bottom left:
I recognize this form, and they give as inputs. (u would be an active damping which for me is zero. )
Basically, I cannot figure out how to go from this state equation to the what the actual vehicle response it to an input. When I look up state equations usually there is a y component, but I do not appear to have a second equation. I am not sure how to proceed with coding this, or doing it by hand. I am using MATLAB.
I have attached the full paper. Thank you for any assistance.
