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 slip-angle 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
|