Description

Parameter

Value

Motor

Torque peak value

$T_{\max }$

150/550 Nm

Torque curve slope

$k_M$

2

Brake peak value

$T_{b\max }$

50 Nm

Brake start time

$t_b$

$3/4t_f$

Brake curve slope

$T_{br}$

2

Brake duration

$b_d$

$t_f$

Road

Friction upper limit

${\mu }_u$

0.85

Friction lower limit

${\mu }_l$

0.15

Slip duration

$s_d$

$1/5t_f$

Slip start time

$t_s$

$1/2t_f$

Air resistance area

$A_r$

2 m²

Air density

$\rho$

1.2 kg/m³

Air resistance coefficient

$c_x$

0.3

Chassis

Body mass

$m_1$

350 kg

Body inertia

$J_1$

1500 kg∙m²

Rear spring stiffness

$k_r$

45000 N/m

Front spring stiffness

$k_f$

40000 N/m

Rear damper damping

$c_r$

2500 kg/s

Front damper damping

$c_f$

2500 kg/s

P1x coordinate

$P_{1X}$

1.2 m

P1z coordinate

$P_{1Z}$

0.0 m

P2x coordinate

$P_{2X}$

1.3 m

P2z coordinate

$P_{2Z}$

0.4 m

P2x coordinate

$P_{2X}$

1.3 m

P2z coordinate

$P_{2Z}$

0.4 m

P3x coordinate

$P_{3X}$

0.4 m

P3z coordinate

$P_{3Z}$

0.4 m

G1x coordinate

$G_{1X}$

0.3 m

G1z coordinate

$G_{1Z}$

0.1 m