Table 2.

Specification parameters.

Symbol	Description	Value	Unit
ms	Sprung mass	1810	kg
muij	Unsprung mass	52	kg
hφ	Distance from center of gravity to roll axis	550	mm
hθ	Distance from center of gravity to pitch axis	550	mm
twi	Half of the track width front/rear axle	735/730	mm
bi	Distance from center of gravity to front/rear axle	1250/1670	mm
Jx	Moment of inertia of the x-axis	690	kgm2
Jy	Moment of inertia of the y-axis	2820	kgm2
Jz	Moment of inertia of the z-axis	2745	kgm2
τ	Time constant	0.005	s
Kv	Servo valve gain	0.03	m/A
Kqi	Valve flow gain coefficient	0.02	m2/s
Kce	Total flow pressure coefficient	4 × 10−11	m5/Ns
Vt	Total volume of trapped oil	1 × 10−3	m3
βe	Effective bulk modulus of the oil	6×106	N/m2
Dm	Flow per revolution	1.6 × 10−5	m3/rad
Bm	Viscous friction coefficient	10	Nms/rad
Jm	Moment of inertia of the hydraulic motor	3.5	kgm2