Symbol

Default

Units

Description

ID




Nominal normal force

Fz0




Unloaded radius

R0




Nominal (measured) forward speed

V0





Scale factor of nominal load

LFz0





Scale factor of Fx,Fy shape factor

LCxLCy





Scale factor of Fx, Fy peak friction coefficient

LmuxLmuy





Scale factor of Fx, Fy curvature factor

LExLEy





Scale factor of Fx, Fy slip stiffness

LKxLKy





Scale factor of Fx, Fy horizontal shift

LHxLHy





Scale factor of Fx, Fy vertical shift

LVxLVy





Scale factor of inclination for Fx, Fy, Mz

Lgammaxyz





Scale factor of peak pneumatic trail

Ltrail





Scale factor for offset of residual torque

Lres





Scale factor of slipangle influence on Fx

LXalpha





Scale factor of longslip influence on Fy

LYkappa





Scale factor of longslip influence on Fy vertical shift

LVykappa





Scale factor of moment arm of Fx about vertical axis

LS





Scale factor of overturning couple and rolling resistance torque

LMxLMy





Scale factor of Mx vertical shift

LVMx





Shape factor for longitudinal force

PCx1





Longitudinal friction at Fz0, force variation with load, inclination

PDx1PDx3





Longitudinal curvature at Fz0, variation with load, variation with load squared, factor while driving (causes asymmetry)

PEx1PEx4





Longitudinal slip stiffness at Fz0, variation with load, exponent in slip stiffness with load

PKx1PKx3





Horizontal shift of longitudinal slip at Fz0, variation with load

PHx1PHx2





Vertical shift at Fz0, variation with load

PVx1PVx2





Slope factor for combined slip Fx reduction, variation with load

RBx1RBx2





Shape factor for combined slip Fx reduction

RCx1





Curvature factor for combined slip Fx reduction, variation with load

REx1REx2





Shift factor for combined slip Fx reduction

RHx1





Overturning moment coefficients

QSx1QSx3





Shape factor for pure lateral force

PCy1





Lateral peak friction, variation with load, inclination squared

PDy1PDy3





Lateral force curvature factor at Fz0, variation with load, sign of slip angle, inclination

PEy1PEy4





Maximum value of cornering stiffness, load (Fz/Fz0) at which cornering stiffness reaches its max value, variation of with inclination

PKy1PKy3





Horizontal shift of lateral force at Fz0, variation with load, inclination

PHy1PHy3





Vertical shift at Fz0, variation with load, inclination, inclination and load

PVy1PVy4





Slope factor for combined slip Fy reduction, variation with slip angle, shift term for alpha in slope factor

RBy1RBy3





Shape factor for combined slip Fy reduction

RCy1





Curvature factor for combined slip Fy reduction, variation with load

REy1REy2





Shift factor for combined slip Fy reduction, variation with load

RHy1RHy2





Longitudinal slip induced side forces at Fz0, variation with load, inclination, slip angle, longitudinal slip, and arctan of longitudinal slip

RVy1RVy6





Rolling resistance coefficients

QSy1QSy4





Pneumatic trail slope factor at Fz0, variation with load, load squared, inclination, absolute inclination

QBz1QBz5





Slope factors for residual torque

QBz9QBz10





Shape factor for pneumatic trail

QCz1





Peak pneumatic trail, variation with load, inclination, load and inclination

QDz1QDz4





Peak residual torque, variation with load, inclination, load and inclination

QDz6QDz9





Pneumatic trail curvature at Fz0, variation with load, load squared, sign of slip angle, sign of slip angle and inclination

QEz1QEz5





Pneumatic trail horizontal shift at Fz0, variation with load, inclination, load and inclination

QHz1QHz4





Nominal value of S/R0, variation with Fy, inclination, load and inclination

SSz1SSz4
