Simulink EKF vehicle model

% This script loads the parameters required by the QuarterCar.mdl % % Author: Phil Goddard (phil@goddardconsulting.ca) % Date: Q2, 2011 % Do some housekeeping clear all close all clc disp('Loading parameters for QuarterCar.mdl'); % Physical parameters g = 9.81; % gravity % Controller parameters Ts = 0.005; % Sample rate of discrete controller Kp = 1200; Ki = 100000; Kd = 0; dPole = 1000; % Pole of non-idealized derivative % Vehicle parameters Wr = 0.32; % wheel radius J = 1; % wheel moment v0 = 30; % initial velocity m = 450; % 1/4 car mass m0 = m; % Initial mass (used in the EKF mass estimation) % Road surface parameters % Pacejka model for dry asphelt roadCoeffs = [1.28 23.99 0.52]; % Actuator parameters actuatorPole = 70; actuatorSat = 4000; actuatorDelay = 0.005; % Reference signal lambda_ref = 0.1;