|
| Symbol | Parameter name | Value | Unit |
|
| Tractor mass | 5800 | kg |
| Semitrailer mass | 19080 | kg |
| Distance between tractor centroid and front axle | 2.0 | m |
| Distance between tractor centroid and rear axle | 1.4 | m |
| Distance between tractor centroid and saddle point | 0.8 | m |
| Distance between semitrailer centroid and saddle point | 2.0 | m |
| Distance between semitrailer centroid and rear axle | 1.4 | m |
| Tractor yaw moment of inertia | 9737 | kg⋅m2 |
| Semitrailer yaw moment of inertia | 138437 | kg⋅m2 |
| Moment of inertia of steering wheel around spin | 60 | kg⋅m2 |
| Damping coefficient of steering wheel around spin | 10250 | — |
| Steering system stiffness | 2000 | Nm/rad |
| Tractor front tire pneumatic trail | 0.01 | m |
| Steering radio | 28 | — |
| Tractor longitudinal velocity | — | m/s |
| Semitrailer longitudinal velocity | — | m/s |
| Tractor lateral velocity | — | m/s |
| Semitrailer lateral velocity | — | m/s |
| Tractor yaw angle | — | rad/s |
| Semitrailer yaw angle | — | rad/s |
| Articulated angle | — | rad |
| Tractor steering wheel angle | — | rad |
| Tractor front wheel steering angle | — | rad |
| Tractor front wheel longitudinal force | — | N |
| Tractor rear wheel longitudinal force | — | N |
| Tractor front wheel lateral force | — | N |
| Tractor rear wheel lateral force | — | N |
| Semitrailer wheel longitudinal force | — | N |
| Semitrailer front wheel lateral force | — | N |
| Longitudinal force from saddle to tractor | — | N |
| Lateral force from saddle to tractor | — | N |
| Longitudinal force from saddle to semitrailer | — | N |
| Lateral force from saddle to semitrailer | — | N |
|
