Caster Angle Change
Caster angle is defined as the angle measured in the side elevation between the kingpin axis and the vertical. This is measured in degrees and taken as positive if the top of the kingpin leans towards the rear of the vehicle as shown in Figure.
Figure. Calculation of caster change
TKid: Kingpin top marker id.
BKid: Kingpin bottom marker id.
The calculation of caster angle is converted from radians to degrees by the factor of 180/
p and uses the following system variables:DX (TKid, BKid) - the X axis of the displacement of the top kingpin marker relative to the bottom kingpin marker referenced to the Ground Reference Frame (GRF).
DZ (TKid, BKid) - the Z axis of the displacement of the top kingpin marker relative to the bottom kingpin marker referenced to the Ground Reference Frame (GRF).
Camber Change Steer Change Track Change Wheel Rate Instant Centre