syms m v beta_dot psi_dot m_s h phi_dotdot Y_beta beta Y_psi_dot Y_delta_f delta_f
% Gleichung 1
%m*v*
(beta_dot+psi_dot
) - m_s*h*phi_dotdot = Y_beta*beta + Y_psi_dot*psi_dot + Y_delta_f*delta_f
syms I_xz I_zz psi_dotdot N_beta N_psi_dot N_delta_f l_w delta_F_b
% Gleichung 2
%-I_xz*phi_dotdot + I_zz*psi_dotdot = N_beta*beta + N_psi_dot*psi_dot + N_delta_f*delta_f + l_w/
2 * delta_F_b
syms I_xx g phi k_f phi phi_t_f b_f phi_dot phi_t_f_dot k_r phi_t_r b_r phi_t_r_dot
% Gleichung 3
%
(I_xx+m_s*h^
2)*phi_dotdot - I_xz*psi_dotdot = m_s*g*h*phi + m_s*v*h*
(beta_dot+psi_dot
) - k_f*
(phi-phi_t_f
) - b_f*
(phi_dot-phi_t_f_dot
) - k_r*
(phi-phi_t_r
) - b_r*
(phi_dot-phi_t_r_dot
)
syms r Y_beta_f Y_psi_dot_f m_u_f h_u_f k_t_f
% Gleichung 4
%-r*
(Y_beta_f*beta + Y_psi_dot_f*psi_dot + Y_delta_f*delta_f
) = m_u_f*v*
(r-h_u_f
)*
(beta_dot+psi_dot
) + m_u_f*g*h_u_f*phi_t_f - k_t_f*phi_t_f + k_f*
(phi-phi_t_f
) + b_f*
(phi_dot-phi_t_f_dot
)
syms Y_beta_r Y_psi_dot_r m_u_r h_u_r k_t_r
% Gleichung 5
%-r*
(Y_beta_r*beta + Y_psi_dot_r*psi_dot
) = m_u_r*v*
(r-h_u_r
)*
(beta_dot+psi_dot
) + m_u_r*g*h_u_r*phi_t_r - k_t_r*phi_t_r + k_r*
(phi-phi_t_r
) + b_r*
(phi_dot-phi_t_r_dot
)
% Löse nach Ableitungen des Zustandsvektors auf, in solve(...) sind obige fünf Gleichungen eingesetzt
%
[beta_dot, psi_dotdot, phi_dot, phi_dotdot, phi_t_f_dot, phi_t_r_dot
] =
solve('
m*v*(beta_dot+psi_dot) - m_s*h*phi_dotdot = Y_beta*beta + Y_psi_dot*psi_dot + Y_delta_f*delta_f', '
-I_xz*phi_dotdot + I_zz*psi_dotdot = N_beta*beta + N_psi_dot*psi_dot + N_delta_f*delta_f + l_w/2 * delta_F_b', '
(I_xx+m_s*h^2)*phi_dotdot - I_xz*psi_dotdot = m_s*g*h*phi + m_s*v*h*(beta_dot+psi_dot) - k_f*(phi-phi_t_f) - b_f*(phi_dot-phi_t_f_dot) - k_r*(phi-phi_t_r) - b_r*(phi_dot-phi_t_r_dot)', '
-r*(Y_beta_f*beta + Y_psi_dot_f*psi_dot + Y_delta_f*delta_f) = m_u_f*v*(r-h_u_f)*(beta_dot+psi_dot) + m_u_f*g*h_u_f*phi_t_f - k_t_f*phi_t_f + k_f*(phi-phi_t_f) + b_f*(phi_dot-phi_t_f_dot)', '
-r*(Y_beta_r*beta + Y_psi_dot_r*psi_dot) = m_u_r*v*(r-h_u_r)*(beta_dot+psi_dot) + m_u_r*g*h_u_r*phi_t_r - k_t_r*phi_t_r + k_r*(phi-phi_t_r) + b_r*(phi_dot-phi_t_r_dot)'
)
RSS