RollResist_Constant class
Contents
Description
This is a sub-class of the RollResist class for the implementation of the Constant rolling resistance torque model.
This model assumes that a constant resistance torque (not dependent on relative rotation velocity), but depending on normal force, is applied against the relative rotation.

Notation:
: Relative angular velocity
: Rolling resistance coefficient
: Effective contact radius
: Normal contact force vector
References:
classdef RollResist_Constant < RollResist
Public properties
properties (SetAccess = public, GetAccess = public)
% Contact parameters
resist double = double.empty; % rolling resistance coefficient
end
Constructor method
methods
function this = RollResist_Constant()
this = this@RollResist(RollResist.CONSTANT);
this = this.setDefaultProps();
end
end
Public methods: implementation of super-class declarations
methods
%------------------------------------------------------------------
function this = setDefaultProps(this)
end
%------------------------------------------------------------------
function this = setCteParams(this,~)
end
%------------------------------------------------------------------
function this = evalTorque(this,int)
% Needed properties
dir = -sign(int.kinemat.vel_ang);
res = this.resist;
r = int.eff_radius;
f = norm(int.cforcen.total_force);
% Total torque (against relative rotation)
this.torque = dir * res * r * f;
end
end
end