Skip to main content

Table 1 Bus simulation parameters

From: An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

Parameter Value
Total mass of bus m (kg) 10900
Moment of inertia Iz (kgm2) 31200
Longitudinal distance of cog to front axle a (m) 5.4
Longitudinal distance of cog to front axle b (m) 5.1
Front wheel tread tw1 (m) 2.2
Rear wheel tread tw2 (m) 2.2
Front tire cornering stiffness kf (N/rad) − 6000
Moment of inertia of the wheel J (kgm2) 65
Wheel radius R (m) 0.52
Height of vehicle center hg (m) 1.35