How to define the tire and ground contact for tire enveloping characteristics in Simscape Multibody (to simulate the tire driving over an obstacle)?

Hi, I have question regarding the tire and the ground contact in Simscape Multibody. From the contact forces library I am able to define the contact, but it is a point contact and secondly the wheel does not have tire enveloping behavior, when it comes in contact with an obstacle. The point follows the obstacle as it is, which should not be the case for the simulation.

It will be great help, if anyone suggest me the solution for the described problem?

And thank you very much for the contact force library. It is very helpful :)

Answer 1

[Steve Miller]

Tire enveloping behavior is an advanced physical effect which requires viscoelastic structure in the model of the tire. That is not included in the Simscape Multibody Contact Forces Library, though you could add it because all of the source code is provided. You can get closer by using the nonlinear normal force law, but that won't capture higher frequency behavior.

Your options:

1. Delft-Tyre (now Simcenter Tire) has tire enveloping behavior. You can download an example that integrates Delft Tyre and Simscape Multibody here: Vehicle Model with Delft-Tyre in Simscape Multibody.
2. You can add viscoelastic behavior as an external spring-damper to the Magic Formula Tire Force and Torque block.
3. You can create a custom force law using the Spatial Contact Force block. See examples here: Spatial Contact Force Examples Simscape Multibody

For more on vehicle simulation, see this page:

https://www.mathworks.com/solutions/physical-modeling/simscape-vehicle-templates.html

Thanks,

--Steve