Vehicle Dynamics
This contains specifications of the Dallara AV-21R vehicle dynamics including actuation, powertrain, and aero.
Vehicle properties
The AV-21 is built by Dallara and based on the Dallara IL-15 chassis. The engine is built by 4Piston Racing and based on a Honda K20.
General Vehicle Specifications
| Specification | Symbol | Value | Units |
|---|---|---|---|
| Mass | ( m ) | 815.11 | kg |
| Moment of Inertia (x,y,z) | ( I_x, I_y, I_z ) | 265,550,800 | kg·m2 |
| Wheelbase | ( l ) | 2.9718 | m |
| Center of Gravity to front axle | ( l_f ) | 1.6785 | m |
| Center of Gravity to rear axle | ( l_r ) | 1.2933 | m |
| Half track width front | ( tw_f ) | 1.638762 | m |
| Half track width rear | ( tw_r ) | 1.523969 | m |
| Tyre radius front | ( R_f ) | 0.3 | m |
| Tyre radius rear | ( R_r ) | 0.3 | m |
Powertrain Specifications
| Specification | Value | Units |
|---|---|---|
| Engine max power | 473.25 @ 6110 rpm | hp |
| Engine max torque | 566.91 @ 5860 rpm | Nm |
| Engine redline | 7500 | rpm |
| Number of gears | 6 | |
| Gear ratios | ||
| 1st | 2.9167 | |
| 2nd | 1.8750 | |
| 3rd | 1.3809 | |
| 4th | 1.1154 | |
| 5th | 0.9600 | |
| 6th | 0.8889 | |
| Final drive | 3.0 | |
| Rear differential | LSD/Spool |
Actuator Specifications
Steer-by-wire Specifications
| Specification | Symbol | Value | Units |
|---|---|---|---|
| Steering motor angle input range | ( delta_{cmd} ) | [-240, 240] | deg |
| Steering motor rate limit | ( delta_{rate} ) | 500 | deg/s |
| Steering ratio (motor to wheel) | ( delta_{ratio} ) | 15.0 | deg/deg |
| Steering motor pure delay | ( delta_{delay} ) | 0.04 | s |
| Steering motor bandwidth | ( delta_{bw} ) | 3.0 | Hz |
Brake-by-wire Specifications
| Specification | Symbol | Value | Units |
|---|---|---|---|
| Max brake pressure | ( b_{cmd} ) | 6000 | kPa |
| Max brake rate | ( b_{rate} ) | 180000 | kPa/s |
| Brake bias | ( b_{bias} ) | 54 | % Front |
| Brake constant ratio (pressure to torque) | ( b_{c} ) | 1.0 | Nm/kPa |
| Brake pure delay | ( b_{delay} ) | 0.04 | s |
| Brake bandwidth | ( b_{bw} ) | 5.0 | Hz |
Aerodynamics
Aerodynamic effects are modeled with the drag coefficients and the lift coefficients and downforce is applied at each axle.
| Specification | Symbol | Value | Units |
|---|---|---|---|
| Coefficient of drag | ( C_d ) | 0.8581 | |
| Coefficient of lift (front) | ( C_{lf} ) | -0.65 | |
| Coefficient of lift (rear) | ( C_{lr} ) | -1.18 | |
| Frontal area | ( A_f ) | 1.0 | (m^2) |