A Nonlinear Steady-state Cornering Model for an Electric City Bus 
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The MATLAB-files contained within this dataset describe a nonlinear 
steady-state cornering model for a six-wheel city bus. Due to the employed 
multi-body approach, the wheel-configuration of the model can be changed 
easily. The wheel location and orientation is completely parameterized, 
allowing for the analysis of different types of vehicles. Emphasis is placed 
on the calculation of the cornering resistance power and power lost due to 
scrub losses to research the effect of these tire-effect on the vehicle energy 
consumption. 
 
The current model includes six wheels, where the two sets of double rear 
wheels have individual rotational velocities. In the model derivation, 
linearizations are avoided: large angles are allowed and the non-linear Magic 
Formula is employed to calculate the tire forces. Additionally, lateral load 
transfer effects, due to the elevated center of gravity (CoG), are included. 
The developed non-linear model has four degrees of freedom. Steady-state 
solutions of the model are determined iteratively using an adapted Newton 
scheme. The model enables the calculation of all tire velocities and tire 
forces for a given cornering situation characterized by the cornering radius 
rho and the vehicle velocity v.

Date: 2020-03-18

I. Quick Start Guide
--------------------
Run SSCornering_Newton_Iterations.m using MATLAB (R2017b or later)

II. File List
-------------
	- SSCornering_EoM_TwoTrackBus.m
	  MATLAB function that contains the equations of motion of the model. 
      This function cannot be run without input.
	  
	- SSCornering_Newton_Iterations
	  MATLAB function performing Netwon iterations to solve the equations of 
      motion. This function can run without inputs.
	  
	- CoG.png
	  Picture of a Center of Gravity symbol
	  
	- readme.txt
	  This file
	
	- license.txt 
	  GNU GPLv3 License

III. Getting Started
-------------------
	* Required Software:
	--------------------
	This model is developed and tested in MATLAB Version: 9.3.0.713579 (R2017b)
	Other versions of MATLAB might work, but this is not guaranteed. 
	
	Required toolboxes: None
	
	* How to Run the Script:
	--------------
		- Review/Revise the vehicle parameters included in the first section 
          of SSCornering_EoM_TwoTrackBus.m
		
		- Review/Revise the values V_default and rho_default in 
          SSCornering_Newton_Iterations to change the cornering situation that is 
          simulated.
		
		- Run SSCornering_Newton_Iterations.m
		
	* Review the Results
	---------------------
	Generated figures are stored as .fig and .eps files in the newly created 
	folder 'Figures_generated'. Numerical results of the simulation are 
	displayed in the command window and returned as a struct.

IV. Author
----------
Name:    Camiel Beckers
email:   c.j.j.beckers@tue.nl
Website: https://research.tue.nl/en/persons/camiel-jj-beckers
ORCID:   https://orcid.org/0000-0002-3383-1092
DOI of this dataset: 
http://doi.org/10.4121/uuid:e6560568-4203-43c5-9fdb-a91bc5e2cee4

V. Related Scientific Publications
-----------------------------------
C.J.J. Beckers, I.J.M. Besselink and H. Nijmeijer, "Modeling of Energy 
Losses During Cornering for Electric City Buses," 2019 IEEE Intelligent 
Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 
4164-4169. doi: 10.1109/ITSC.2019.8917232

C.J.J. Beckers, I.J.M. Besselink, and H. Nijmeijer, "Assessing the impact 
of cornering losses on the energy consumption of electric city buses 
(submitted)", Transp. Res. Part D Transp. Environ., 2020. 

VI. License
----------
This software is released under license GNU GPLv3, see license.txt

	Copyright (c) 2020, C.J.J.Beckers
 
	This program is free software: you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation, either version 3 of the License, or
	(at your option) any later version.
 
	This program is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU General Public License for more details.