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乳胶中的 3 自由度自行车模型

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乳胶中的 3 自由度自行车模型

车辆动力学建模的常用方法是使用 3DOF 自行车模型在此处输入图片描述

我尝试在 tikzpictures 中创建这个，但遇到了一些困难。我本来打算放弃，在 Inkscape 中完成，但 LaTeX 的一个优点是，我可以获得论文所需的所有数学符号。在 tikzpictures 中创建这个会很困难吗？如果有人可以轻松做到这一点，任何建议或帮助都将不胜感激。

谢谢！

答案1

绘制这种图形并不太难。您可能需要熟悉 calc 语法，该语法在 pgfmanual 的第 13.5 节中通过许多简洁的示例进行了描述。其他简化此操作的库是和quotes，angles并且该arrows.meta库允许您绘制几乎任何您能想到的箭头。

\documentclass[tikz, margin=3.14mm]{standalone} 
\usetikzlibrary{calc,angles,quotes,arrows.meta}

\tikzset{pill/.style={minimum width=1.2cm,minimum height=6mm,rounded
corners=3mm,draw},
reactor/.style={circle,draw,minimum size=6mm,path picture={
\draw (-3mm,0) -- (3mm,0) (0,-3mm) -- (0,3mm);
\fill (0,0) -- (3mm,0) arc(0:-90:3mm) -- cycle;
\fill (0,0) -- (-3mm,0) arc(180:90:3mm) -- cycle;
}}}

\begin{document}    
\begin{tikzpicture}
\draw[thick,{Triangle[length=2mm]}-{Triangle[length=2mm]}] (0,6) coordinate (Y) -- (0,0) coordinate (O)-- (10,0)
coordinate (X);
\draw[thick,dashed] (O) -- (9.5,4.3) coordinate[pos=0.28] (F1) coordinate[pos=0.8] (F2) coordinate (TR);
\draw[thick,dotted] (O |- F2) node[left]{$x$} -- (F2) -- (O -| F2) node[below] {$y$};
\draw[thick] (F1)  -- (F2) node[pos=0.55,sloped,reactor] (M){~}
node[pos=0,sloped,pill]{};
\draw[green!70!black,thick,-latex] (M.center) -- ($(M.center)!1cm!0:(F2)$)
node[above]{$U$};
\draw[green!70!black,thick,-latex] (M.center) -- ($(M.center)!1cm!90:(F2)$)
node[left]{$V$};
\draw[thick,dashed] (F2) -- ++ (48:2) coordinate(H)  node[pos=0,sloped,pill,solid]{}
pic ["$\delta_f$",draw,solid,->,angle radius=1cm,angle eccentricity=1.3] {angle = TR--F2--H};
\draw[thick,red,-latex] (F2) -- ++ (62:2) coordinate (A2) node{$\alpha_f$}
pic [draw,solid,black,->,angle radius=1.3cm] {angle = H--F2--A2};;
\draw[thick,red,-latex] (F1) -- ++ (48:2) coordinate (A1)
pic ["$\alpha_r$",draw,->,red,thick,angle radius=1cm,angle eccentricity=1.3] {angle = F2--F1--A1};
\draw[->] let \p1=($(F2)-(F1)$),\n1={-180+atan2(\y1,\x1)},\n2={\n1+180} in 
($($(M)!8mm!00:(F1)$)+({cos(\n1+90)*1mm},{sin(\n1+90)*1mm})$) arc(\n1:\n2:8mm)
node[midway,below,red]{$\omega_z$};
\draw[latex-] ($(F1)!1mm!-90:(M)$) -- ($(F1)!5mm!-90:(M)$) node[below]{$F_{\gamma r}$};
\draw[latex-] ($(F2)!1mm!90:(M)$) -- ($(F2)!5mm!90:(M)$) node[below]{$F_{\gamma f}$};
\draw[{Bar}{Latex}-{Latex}{Bar}] ($(F1)!1.5cm!90:(M)$) -- 
($(M)!1.5cm!90:(F2)$) node[midway,sloped,fill=white]{$L_r$};
\draw[{Bar}{Latex}-{Latex}{Bar}] ($(M)!1.5cm!90:(F2)$) -- 
($(F2)!1.5cm!-90:(M)$) node[midway,sloped,fill=white]{$L_f$};
\end{tikzpicture}
\end{document}

在此处输入图片描述

答案2

我也在寻找解决方案，但@marmot 抢先了一步！:) 无论如何，它在这里......

在此处输入图片描述

\documentclass[border=1mm,tikz]{standalone}
\usetikzlibrary{calc,quotes,angles}

\begin{document}

\begin{tikzpicture}

\pgfmathsetmacro{\y}{4.5}
\pgfmathsetmacro{\x}{2.5}
\pgfmathsetmacro{\Angle}{atan2(\x,\y)}
\pgfmathsetmacro{\AngleR}{30}
\pgfmathsetmacro{\AngleF}{45}
\pgfmathsetmacro{\AngleDelta}{25}
\pgfmathsetmacro{\COMradius}{0.15}

\coordinate (Origin) at (0,0);
\draw [-latex,thick] (Origin)--++(0,\x+1.5) coordinate (yaxis); 
\draw [-latex,thick] (Origin)--++(\y+1.5,0) coordinate (xaxis); 
\draw [dashed] (Origin)--++(\Angle:6.5cm) coordinate (AngleEnd);
\draw [dotted,thick] (\y,0) node [below] {$y$} --++(0,\x) coordinate (Fyf);
\draw [dotted,thick] (0,\x) node [left] {$x$} --++(\y,0);
\draw pic["$\Psi$", draw=black, text=black, -latex, angle eccentricity=1.25, angle radius=0.8cm]
              {angle=xaxis--Origin--Fyf};

% Fyr
\coordinate (Fyr) at ($ (Origin) + (\Angle:2cm) $);
\node at (Fyr) [rotate=\Angle,draw,thick,rounded corners=2mm,minimum width=1cm, minimum height=0.4cm] {};
\draw [red,-latex,thick] (Fyr)--++(\Angle+\AngleR:1.3cm) coordinate (RedArrowOne);
\draw pic["$\alpha_r$", draw=black, text=red, -latex, angle eccentricity=1.45, angle radius=0.8cm]
              {angle=Fyf--Fyr--RedArrowOne};
\draw [latex-,thick,blue] (Fyr)--++(\Angle-90:0.5cm) node [rotate=\Angle,right] {$F_{yr}$};           

\draw [thick] (Fyr)--(Fyf); 

% Fyf  
\node at (Fyf) [rotate=\Angle+\AngleDelta,draw,thick,rounded corners=2mm,minimum width=1cm, minimum height=0.4cm] {};         
\draw [red,-latex,thick] (Fyf)--++(\Angle+\AngleF:1.3cm) coordinate (RedArrowTwo);
\draw [dashed] (Fyf)--++(\Angle+\AngleDelta:1.3cm) coordinate (DeltaAngleEnd);
\draw pic["$\delta_f$", draw=black, text=black, -latex, angle eccentricity=1.35, angle radius=0.8cm]
           {angle=AngleEnd--Fyf--DeltaAngleEnd};
\draw pic["$\alpha_f$", draw=black, text=red, -latex, angle eccentricity=1.45, angle radius=1cm]
      {angle=DeltaAngleEnd--Fyf--RedArrowTwo};
\draw [latex-,thick,blue] (Fyf)--++(\Angle-90:0.5cm) node [rotate=\Angle,right] {$F_{yf}$};       

% COM
\coordinate (COM) at ($ (Origin) + (\Angle:3.7cm) $);
\begin{scope}[rotate=\Angle]
\fill [radius=\COMradius] (COM) -- ++(\COMradius,0) arc [start angle=0,end angle=90] -- ++(0,-2*\COMradius) arc [start angle=270, end angle=180];
\draw [thick,radius=\COMradius] (COM) circle;
\end{scope}
\draw [-latex,thick,green] (COM)--++(\Angle+90:0.5cm) node [left,rotate=\Angle] {$V$};
\draw [-latex,thick,green] (COM)--++(\Angle:0.8cm) node [below,rotate=\Angle] {$U$};

% Labels
\coordinate (LrLabel) at ($ (Fyr) +  (\Angle+90:1cm) $);
\coordinate (COMLabel) at ($ (COM) +  (\Angle+90:1cm) $);
\coordinate (LfLabel) at ($ (Fyf) +  (\Angle+90:1cm) $);
\draw [{Bar}{latex}-{latex}{Bar}] (LrLabel)--(COMLabel) node [midway,sloped,fill=white] {$L_r$};
\draw [{Bar}{latex}-{latex}{Bar}] (COMLabel)--(LfLabel) node [midway,sloped,fill=white] {$L_f$};

\end{tikzpicture}

\end{document}

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