Plot

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

Plot

1 xy T PPlot n T length : XY n 2 matrix : k 1 n range : c 12 range : 14 mat XY k c el T k el xy c el XY 1 k 1 - 12 mat max c el try : (2 n 1 - (range c el eval 21 line :

1 x 1 y T PPlot t# xy t# x t# y 12 mat : t# xy T PPlot 21 line :

t Id t 11 line :

1 f T Plot T 1 el x < (x T T length el < (& x f not defined if 11 line :

1 f t NDiff t h.NDiff + f t f - h.NDiff / 11 line :

h.NDiff 105 -^:

k

V 20 :

a 50 :

b 100 :

T 08 0.05 range :

T length 161

r a 2^b 2^+ 2 / sqrt : 79.0569

ω V r / : 0.253

t x a a ω t * π 2 / + sin * - : t y 100 ω t * sin * : 21 sys

t x t y T PPlot

Derivatives & slopes

t x' t x t diff :

t y' t y t diff :

t m t y' t x' / :

t x'' t x' t diff :

t y'' t y' t diff :

t slope t m atan :

Curvature & Radious of curvature

t c t x' t y'' * t y' t x'' * - abs t x' 2^t y' 2^+ (3^sqrt / :

t R.c 1 t c / :

t c T Plot t R.c T Plot

t ψ' V t R.c / (:

velocità di imbardata

in rad/sec per calcoli successivi

t ψ' T Plot 1 1 sys

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^+ sqrt * / (+ :

t φ' t φ t diff :

t φ' t φ t NDiff :

velocità di rollio

t φ T Plot t φ' T Plot t m T Plot t ψ' T Plot t φ' T Plot 2 1 sys

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

t ψ T Plot t slope T Plot

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^+ / : 21 sys

t y.m T Plot

coordinate centro di curvatura nel sistema solidalle alla motocicletta

t x.t 0 : t y.t V t ψ' / : 21 sys

t xy.M t x t y 21 mat t ψ cos t ψ sin - t ψ sin t ψ cos 22 mat t x.m t y.m 21 mat * + :

t x t y T PPlot t xy.M T PPlot 2 1 sys

Notes

1.

You define twice ψ(t), check your integral

t ψ π 2 / t m atan - (:

t yy' t ψ t diff :

t ψ' T Plot t yy' T Plot 2 1 sys

2.

t x.M t xy.M 1 el 11 line : t y.M t xy.M 2 el 11 line : 21 sys

works:

t.o 5 :

t.o x.M t.o y.M 21 sys 9.8243 111.223 21 sys

But can't be used in

t x.M t y.M T PPlot

Alvaro