Motorcycle Chain

Implement motorcycle chain

Since R2021b

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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 xm – Forward along vector pointing to front fork zm – Downward ym – Orthogonal to motorcycle plane	Om	Main frame origin

Examples

Longitudinal Motorcycle Braking Test Reference Application

Simulate an in-plane motorcycle model undergoing a braking test. Use for motorcycle dynamics ride and handling analysis and chassis controls development.

• Open Script

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.

Mass moment of inertia, SprktFrIyy — Front sprocket inertia

0.005 (default) | scalar

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

Radius, SprktFrR — Front sprocket radius

0.04 (default) | scalar

Front sprocket radius, SprktFrR, in m.

Rear Sprocket

Mass moment of inertia, SprktRrIyy — Rear sprocket inertia

0.01 (default) | scalar

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

Radius, SprktRrR — Rear sprocket radius

0.12 (default) | scalar

Rear sprocket radius, SprktRrR, in m.

Rear Wheel

Mass moment of inertia, WhlRrIyy — Rear wheel inertia

0.66 (default) | scalar

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

Radius, WhlRrR — Rear wheel radius

0.33 (default) | scalar

Rear wheel radius, WhlRrR, in m.

Swing Arm

Arm length, ArmRrLen — Swing arm length

0.535 (default) | scalar

Arm length, ArmRrLen, in m.

Wheel Damper

Stiffness, WhlDmpK — Wheel damper stiffness

1e4 (default) | scalar

Wheel damper stiffness, WhlDmpK, in N/rad.

Damping, WhlDmpC — Wheel damping

1e2 (default) | scalar

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

Equilibrium angle — Wheel damper equilibrium angle

-15e-3 (default) | scalar

Equilibrium angle, WhlDmpAng0, in rad.

Initial Conditions

Rear sprocket angular velocity, SprktRrAngV0 — Angular velocity

0 (default) | scalar

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

Rear wheel angular velocity, WhlRrAngV0 — Angular velocity

0 (default) | scalar

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

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