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BikeAndMotorConstants.m
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BikeAndMotorConstants.m
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% Constants
function CONST=BikeAndMotorConstants()
%% Constants
%%%%%%%% Bicycle %%%%%%%
w=1.02; %Wheelbase (m)
c=0.08; %Trail (m)
tilt=pi/10; %tilt (rad)
g=9.81; %gravity (m/(s^2))
%v=6; %forward velocity (m/s)
v=3.57; %forward velocity (m/s)
%Rear Wheel R
r_R=0.1905; %radius (m)
m_R=6.5; %mass (kg)
I_Rxx=0.0603*m_R/2; %Moment of inertia(kg m^2)
I_Ryy=0.12*m_R/2; %Moment of inertia(kg m^2)
%Rear Body and Frame Assembly B
x_B=0.3;
z_B=-0.9; %Position of center of mass (m)
m_B=15.65; %mass (kg)
I_Bxx=9.2*m_B/85; %kg m^2
I_Byy=11*m_B/85; %kg m^2
I_Bzz=2.8*m_B/85; %kg m^2
I_Bxz=2.4*m_B/85; %kg m^2
I_B=[I_Bxx,0,I_Bxz;...
0,I_Byy,0;...
I_Bxz,0,I_Bzz];
%Front Handlebar and Fork Assembly H
x_H=0.9;
z_H=-0.7; %Position of center of mass (m)
m_H=4; %mass (kg)
I_Hxx=0.05892; %kg m^2
I_Hyy=0.06; %kg m^2
I_Hzz=0.00708; %kg m^2
I_Hxz=-0.00756; %kg m^2
I_H=[I_Hxx,0,I_Hxz;...
0,I_Hyy,0;...
I_Hxz,0,I_Hzz];
%Front Wheel F
r_F=0.1905; %radius (m)
m_F=1.81; %mass (kg)
I_Fxx=0.1405*m_F/3; %Moment of inertia(kg m^2)
I_Fyy=0.28*m_F/3; %Moment of inertia(kg m^2)
%Whole Bike
m_T = m_R + m_B + m_H + m_F; %Total mass
x_T = (m_B*x_B + m_H*x_H + m_F*w)/m_T; %Total center of mass
z_T = (-r_R*m_R + z_B*m_B + z_H*m_H -r_F*m_F)/m_T; %(wrt contact point P)
%%%%%%%%% Motor %%%%%%%%%
%Motor Constants
b=1.5*(60*0.000720077887)/(1000*2*pi); %damping (kg*m*s/rad)
J=6*(0.000720077887*10^-3); %Inertia (kg*m*s^2)
Ra=5.88; %Armature Resistance (ohm)
Kb=20/(1000*2*pi/60); %Back Emf Constant (V*s/rad)
La=0.008; %Armature Inductance (Henies)
Km=27.1*(0.000720077887); %Motor Torque Constant (kg*m/amp)
%%%%%%%%% Gear Ratio %%%%%%%%%%
%Gear Ratio
n_s=2;
n_m=1;
%% Put Into Struct
%%%%%% Bicycle %%%%%%%
CONST.w=w; %Wheelbase (m)
CONST.c=c; %Trail (m)
CONST.tilt=tilt; %tile (rad)
CONST.g=g; %gravity (m/(s^2))
CONST.v=v; %forward velocity (m/s)
%Rear Wheel R
CONST.r_R=r_R; %radius (m)
CONST.m_R=m_R; %mass (kg)
CONST.I_Rxx=I_Rxx; %Moment of inertia(kg m^2)
CONST.I_Ryy=I_Ryy; %Moment of inertia(kg m^2)
%Rear Body and Frame Assembly B
CONST.x_B=x_B;
CONST.z_B=z_B; %Position of center of mass (m)
CONST.m_B=m_B; %mass (kg)
CONST.I_Bxx=I_Bxx; %kg m^2
CONST.I_Byy=I_Byy; %kg m^2
CONST.I_Bzz=I_Bzz; %kg m^2
CONST.I_Bxz=I_Bxz; %kg m^2
CONST.I_B=I_B;
%Front Handlebar and Fork Assembly H
CONST.x_H=x_H;
CONST.z_H=z_H; %Position of center of mass (m)
CONST.m_H=m_H; %mass (kg)
CONST.I_Hxx=I_Hxx; %kg m^2
CONST.I_Hyy=I_Hyy; %kg m^2
CONST.I_Hzz=I_Hzz; %kg m^2
CONST.I_Hxz=I_Hxz; %kg m^2
CONST.I_H=I_H;
%Front Wheel F
CONST.r_F=r_F; %radius (m)
CONST.m_F=m_F; %mass (kg)
CONST.I_Fxx=I_Fxx; %Moment of inertia(kg m^2)
CONST.I_Fyy=I_Fyy; %Moment of inertia(kg m^2)
%Whole Bike
CONST.m_T = m_T; %Total mass
CONST.x_T = x_T; %Total center of mass
CONST.z_T = z_T; %(wrt contact point P)
%%%%%%%% Motor %%%%%%%%
CONST.b=b; %damping (kg*m*s/rad)
CONST.J=J; %Inertia (kg*m*s^2)
CONST.Ra=Ra; %Armature Resistance (ohm)
CONST.Kb=Kb; %Back Emf Constant (V*s/rad)
CONST.La=La; %Armature Inductance (Henies)
CONST.Km=Km; %Motor Torque Constant (kg*m/amp)
%%%%%%% Gear Ratio %%%%%%%%
CONST.n_s=n_s;
CONST.n_m=n_m;
end