HTire Integration with MotionSolve
Using Tires with MotionSolve
In some cases where you have a full vehicle model in the MotionSolve xml format and you want to manually enable it to use tires, the following information will apply.MotionSolve Input Deck
Given a tire and road property file you can setup a MotionSolve input deck to include a tire (assuming you have a full vehicle without tires to start with).- A set of required markers (Reference_Marker)
- One wheel/tire body (Body_Rigid)
- One revolute joint for wheel spin axis, or optionally a busing entity with very stiff rates in the non-spin direction and only damping in the spin direction (Constraint_Joint) or (Force_Bushing)
- One force_vector_twobody of type "User" (Force_Vector_Twobody)
- One reference_array (Reference_Array)
- One string entity for .tir file (Reference_String)
- One string entity for .rdf file (Reference_String)
<Reference_Marker
id = "11001020"
label = "Front Tire J Marker-left"
body_id = "30101"
body_type = "RigidBody"
pos_x = "1000."
pos_y = "-750."
pos_z = "1000."
/>
<Reference_Marker
id = "11001010"
label = "Road Reference Marker Front-left"
body_id = "30101"
body_type = "RigidBody"
pos_x = "0."
pos_y = "0."
pos_z = "680.03"
/>
<Reference_Marker
id = "11003020"
label = "Front Tire Force Reference-left"
body_id = "10403"
body_type = "RigidBody"
pos_x = "1000."
pos_y = "-750."
pos_z = "1000."
a00 = "-1."
a10 = "0."
a20 = "0."
a02 = "0."
a12 = "0."
a22 = "1."
/>
<Body_Rigid
id = "10403"
label = "Wheel-left"
cg_id = "10403010"
im_id = "10403010"
lprf_id = "10403001"
mass = "36."
inertia_xx = "1750000."
inertia_yy = "1750000."
inertia_zz = "1000000."
v_ic_x = "-24587.2"
v_ic_y = "0."
v_ic_z = "0."
w_ic_x = "0."
w_ic_y = "0."
w_ic_z = "-76.842204"
v_ic_x_flag = "TRUE"
v_ic_y_flag = "TRUE"
v_ic_z_flag = "TRUE"
w_ic_flag = "TRUE"
/>
<Constraint_Joint
id = "104002"
label = "Wheel spindle rj-left"
type = "REVOLUTE"
i_marker_id = "10404020"
j_marker_id = "10401020"
/>
- par1: The routing ID (not needed as long as fnc_name is"mbdtire")
- par2: The ID of the Force_Vector_TwoBody.
- par3: The ID of the Reference_Array used for the tire.
- par4: In the case where co-simulation tire is used, this is the order of the interpolating polynomial between subsequent evaluation of forces at integrator convergence. Set to 0 for zero order hold, or 1 for first order hold.
<Force_Vector_TwoBody
id = "11001"
label = "Front tire force-left"
type = "ForceAndTorque"
i_marker_id = "11003020"
j_floating_marker_id= "11001022"
ref_marker_id = "11001010"
usrsub_param_string = "USER(408,11001,31000100,0)"
usrsub_dll_name = "mbdtire"
usrsub_fnc_name = "mbdtire"
/>
<Reference_Array
id = "31000100"
label = "Front tire input array left"
type = "IC"
num_element = "7">
0.0000000E+00 1.8000000E+01 0.0000000E+00 3.1000900E+05 3.1000100E+05 3.1001100E+05 3.1000500E+05
</Reference_Array>
Num_element must be seven; however the only two that currently apply are element 5 and element 7 (the others are reserved for future use).
<Reference_String
id = "310001"
label = "Front left tire property file string"
string = "prop_files/ftire.tir"
/>
<Reference_String
id = "310005"
label = "Front left road property file string"
string = "prop_files/2d_road.rdf"
/>