Symbols

Parameter

Value

Unit

Geometric parameters

$\delta$

Rake angle

0.1571

rad

L

Caster length

0.07

m

Strut parameters

$K_{\theta }$

Torsional stiffness of strut

10,000

N·m/rad

$C_{\theta }$

Torsional damping of strut

10

N·m·s/rad

$I_Z$

Torsional inertia of strut

1

Kg·m²

Wheel parameters

D

Wheel diameter

0.3

m

W

Wheel width

0.125

m

$P_0$

Rated initial tire inflation pressure

600000

pa

$P_r$

Rated tire inflation pressure

600000

pa

$C_{M_{\eta }}$

Tire rotational stiffness coefficient

2

rad⁻¹

$C_{F_{\eta }}$

Tire lateral stiffness coefficient

20

m/rad

K

Tire rotational damping coefficient

270

N·m²/rad

$K_n$

Tire lateral stiffness coefficient

2.8

rad⁻¹

${\eta }_m$

self-aligning moment Limit side angle

0.1744

rad

${\eta }_F$

Tire Lateral Force Limit side angle

0.0872

rad

external parameter

$F_Z$

Vertical force

1800

N

V

velocity

0 - 100

m/s