Motorcycle Chain

Implement motorcycle chain

Since R2021b

• 

Libraries:
Powertrain Blockset / Drivetrain / Couplings
Vehicle Dynamics Blockset / Powertrain / Drivetrain / Couplings

Description

The Motorcycle Chain block implements the dynamic effects of a motorcycle chain on the Motorcycle Body Longitudinal In-Plane block, including dynamic tension and moment drive coupling.

This figure shows how the chain relates geometrically to the motorcycle frame, rear arm, and rear wheel.

Frame	Variable in Figure	Description
Motorcycle main frame iFrm – Forward along vector normal to front fork steer axis kFrm – Downward normal to iFrm jFrm – Orthogonal to motorcycle plane	OFrm	Main frame origin

Ports

Input

MDshft — Drive shaft moment on front sprocket

scalar

Drive shaft moment on front sprocket about y_m, in N·m.

FCpR — Longitudinal and vertical forces at rear wheel contact patch

vector

Longitudinal and vertical forces at rear wheel contact patch O_CpR, along i_CpR and k_CpR, in N. Signal vector dimensions are [1x2] or [2x1].

ThetaFrm — Main frame pitch angle

scalar

Main frame pitch angle, ϴ_frm, in rad.

ThetaArmR — Rear arm pitch angle

scalar

Rear arm pitch angle, ϴ_ra, in rad.

MBrkR — Brake moment at rear wheel

scalar

Brake moment at the rear wheel G_WhlRr, about j_WhlRr, in N·m.

AngAWhlR — Rear wheel angular acceleration

scalar

Rear wheel angular acceleration, in rad/s².

Output

Info — Bus signal

bus

Bus signal containing these block calculations.

Signal	Description	Units
FChn	Chain force applied to rear arm	N
AngVSprtR	Angular velocity of rear sprocket	rad/s
MDrvSprtR	Wheel damper moment applied to rear sprocket	N·m
WhlDmpAng	Angle between rear sprocket and rear wheel	rad

MDrvSprtR — Wheel damper moment at rear sprocket

scalar

Wheel damper moment applied to rear sprocket, in N·m.

MDrvArmR — Drive chain moment at rear arm

scalar

Drive chain moment at rear arm O_ArmRr, about j_ArmRr, in N·m.

MDrvFrm — Drive chain moment at frame

scalar

Drive chain moment at the frame O_Frm, about j_Frm, in N·m.

Parameters

This figure shows how the chain relates geometrically to the motorcycle frame, rear arm, and rear wheel.

Front Sprocket

Coordinates, SprktFrPxz — Front sprocket position

[0.05 -0.05] (default) | vector

Position of front sprocket, SprktFrPxz, along x_m z_m, respectively, in m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktFrPxz
Values:	[0.05 -0.05] (default) | vector
Data Types:	double

Mass moment of inertia, SprktFrIyy — Front sprocket inertia

0.005 (default) | scalar

Front sprocket mass moment of inertia, SprktFrIyy, in kg·m².

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktFrIyy
Values:	0.005 (default) | scalar
Data Types:	double

Radius, SprktFrR — Front sprocket radius

0.04 (default) | scalar

Front sprocket radius, SprktFrR, in m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktFrR
Values:	0.04 (default) | scalar
Data Types:	double

Rear Sprocket

Mass moment of inertia, SprktRrIyy — Rear sprocket inertia

0.01 (default) | scalar

Rear sprocket mass moment of inertia, SprktRrIyy, in kg·m².

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktRrIyy
Values:	0.01 (default) | scalar
Data Types:	double

Radius, SprktRrR — Rear sprocket radius

0.12 (default) | scalar

Rear sprocket radius, SprktRrR, in m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktRrR
Values:	0.12 (default) | scalar
Data Types:	double

Rear Wheel

Mass moment of inertia, WhlRrIyy — Rear wheel inertia

0.66 (default) | scalar

Rear wheel mass moment of inertia, WhlRrIyy, in kg·m².

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlRrIyy
Values:	0.66 (default) | scalar
Data Types:	double

Radius, WhlRrR — Rear wheel radius

0.33 (default) | scalar

Rear wheel radius, WhlRrR, in m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlRrR
Values:	0.33 (default) | scalar
Data Types:	double

Swing Arm

Arm length, ArmRrLen — Swing arm length

0.535 (default) | scalar

Arm length, ArmRrLen, in m.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	ArmRrLen
Values:	0.535 (default) | scalar
Data Types:	double

Wheel Damper

Stiffness, WhlDmpK — Wheel damper stiffness

1e4 (default) | scalar

Wheel damper stiffness, WhlDmpK, in N/rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlDmpK
Values:	1e4 (default) | scalar
Data Types:	double

Damping, WhlDmpC — Wheel damping

1e2 (default) | scalar

Wheel damper damping, WhlDmpC, in N·s/rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlDmpC
Values:	1e2 (default) | scalar
Data Types:	double

Equilibrium angle, WhlDmpAng0 — Wheel damper equilibrium angle

-15e-3 (default) | scalar

Equilibrium angle, WhlDmpAng0, in rad.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlDmpAng0
Values:	-15e-3 (default) | scalar
Data Types:	double

Initial Conditions

Rear sprocket angular velocity, SprktRrAngV0 — Angular velocity

0 (default) | scalar

Rear sprocket angular velocity, SprktRrAngV0, in rad/s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	SprktRrAngV0
Values:	0 (default) | scalar
Data Types:	double

Rear wheel angular velocity, WhlRrAngV0 — Angular velocity

0 (default) | scalar

Rear wheel angular velocity, WhlRrAngV0, in rad/s.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	WhlRrAngV0
Values:	0 (default) | scalar
Data Types:	double

References

[1] Giner, David Moreno. “Symbolic-Numeric Tools for the Analysis of Motorcycle Dynamics. Development of a Virtual Rider for Motorcycles Based on Model Predictive Control.” PhD diss., Universidad Miguel Hernández de Elche, 2016.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2021b