Vehicles vehicle and vehicle1 are
accelerated and decelerated by a driving torque. Nominal
torque is defined as the sum of driving resistances at nominal
velocity vNom times wheel
radius R.
Starting at 5 s, the vehicle is accelerated by
a multiple of nominal torque until it nearly reaches nominal
velocity, then driven by nominal torque. Between 20 s and
25 s, an inclination of 5 % occurs and driving torque is
increased to a multiple of nominal torque temporarily. Between
50 s and 55 s, the driving torque is set below zero,
causing the vehicle to decelerate. After 55 s, the vehicle
decelerates due to the driving resistances.
Coupling the trailer with the same data but without
drive, the driving torque of vehicle1 has to be
doubled to achieve the same acceleration and velocity. Force and
power between the two vehicles is measured.
Since the trailer is coupled tightly with the
vehicle1, initialization of the trailer has to be
removed.