a0e112fd-4790-4513-9f49-0a830a098cd8 23 4 5 false false 0 decimal

&[DATE] &[TIME] - &[FILENAME]

r a 2^b 2^+ 2 / (12 /^:

V 20 :

a 50 :

b 100 :

ω V r / : 0.253

t 0 (8 (0.01 range :

n t length :

n 801

k 1 n range x k el 5050 ω t k el * π 2 / + sin * - (: y k el 100 ω t k el * sin * : 21 line for

M x y augment :

t Clear 1

t x 5050 ω t * π 2 / + sin * - (:

t y 100 ω t * sin * :

t c t x t diff t y t 2 diff * (t y t diff t x t 2 diff * (- (abs t x t diff (2^t y t diff (2^+ (32 /^/ :

x 0 > ( x 8 < ( & x c not defined if

t R.c 1 t c / :

x 0 > ( x 8 < ( & x R.c not defined if

in grad/sec

t ψ' V t R.c / (:

velocità di imbardata

in rad/sec per calcoli successivi

x 0 > ( x 8 < ( & x ψ' not defined if

ω.r V 0.32 / : 62.5

m 200 :

h.g 0.6 :

I.w 1.2 :

t φ.id V 2^9.806 t R.c * / atan (:

t φ t φ.id I.w ω.r * t ψ' * t φ.id cos * h.g m 9.806 * (2^m t R.c * t ψ' (2^* (2^+ (12 /^* / (+ :

t φ' t φ t diff :

x f x φ :

h 0.01 :

x φ' x 2 h * + f - 8 x h + f * + 8 x h - f * - x 2 h * - f + 12 h * / :

velocità di rollio

x 0 > ( x 8 < ( & x φ not defined if x 0 > ( x 8 < ( & x φ' not defined if x 0 > ( x 8 < ( & x ψ' x φ' 2 1 sys not defined if

t Clear

t f t x 5050 ω t * π 2 / + sin * - (: t y 100 ω t * sin * : 21 sys :

t 0.001 8 0.01 range :

t x' t x t diff :

t y' t y t diff :

t m t y' t x' / :

x 0 > ( x 8 < ( & x m not defined if

in rad/sec per calcoli successivi

t ψ π 2 / t m atan - (:

andamento dell'angolo tra i due sistemi di riferimento (fisso e mobile) rispetto a t

x 0 > ( x 8 < ( & x ψ not defind if x 0 > ( x 8 < ( & x m atan not defind if

coordinate traccia di mozzi nel sistema solidalle alla motocicletta

t x.m 0 :

t y.m t ψ' V * t ψ' (2^t φ' (2^+ / :

coordinate centro di curvatura nel sistema solidalle alla motocicletta

t x.t 0 :

t y.t V t ψ' / :

x 0 > ( x 8 < ( & x y.m not defind if

t n Clear 1

t 0.001 81 range :

n t length : 9

i 1 n range x.M i el t i el y t i el ψ sin t i el y.m * (- : y.M i el t i el x t i el ψ cos t i el y.m * (+ : 21 line for

Z y.M x.M augment :

t X.M t Y.M 21 mat t x t y 21 mat t ψ cos t ψ sin - t ψ sin t ψ cos 22 mat 0 t y.m 21 mat * (+ :

t n Clear 1

t 0.001 81 range :

n t length : 9

t x.M t x t ψ sin t y.m * (- :

i 1 n range x.T i el t i el y t i el ψ sin t i el y.t * (- : y.T i el t i el x t i el ψ cos t i el y.t * (+ : 21 line for

t y.M t y t ψ cos t y.m * (+ :

T y.T x.T augment :

Z M T 3 1 sys