Table 1 Parameters of a triaxle bus

K _f

62952

N/rad

h _r

0.575

m

K _m

114829

N/rad

h _uf

0.51

m

K _r

62952

N/rad

h _ur

0.51

m

I _xf

1033.1

kg·m²

k _f

888433

N·m/rad

I _xr

1277.4

kg·m²

k _r

58843

N·m/rad

I _Z

34693.7

kg·m²

k _uf

489978

N·m/rad

T _wf

2.03

m

k _uf

489978

N·m/rad

T _wr

1.863

m

l _f

3444

N·m·s/rad

a

3.5

m

l _r

3444

N·m·s/rad

b

2.29

m

m

8715

kg

c

3.47

m

m _sf

3203

kg

h _cf

0.675

m

m _sr

3797

kg

h _cr

0.675

m

m _uf

570

kg

h _f

0.575

m

m _ur

1145

kg