Development of a vehicle model considering tire elasticity using Simscape Multibody（​simscapemu​ltibodyを用い​たタイヤの弾性を考慮​した車体モデルの作成​について）

Hello,

I'm working on building a vehicle model using Simscape Multibody to support mechanism analysis—such as estimating the loads acting on the axle during driving.

In my current model, the tires are treated as rigid bodies. To represent tire stiffness, I'm using the Spatial Contact Force block to define stiffness and damping between the tire and the ground. However, I understand that actual tire stiffness is not constant—it varies depending on the load.

To improve simulation accuracy, I would like to make the stiffness value load-dependent. What would be the best way to implement this?

As a starting point, I'm planning a simple simulation where the front wheels are dropped from a certain height to observe the resulting axle loads. At this stage, the vertical (Z-direction) load is the primary concern, so I'm not focusing much on slip behavior. My main interest is modeling tire compliance.

In this context, would using the Fiala model or the Magic Formula Tire Force and Torque block be sufficient?

Also, how should I connect either the Fiala model or the Magic Formula block to the Spatial Contact Force block? If there are other effective approaches, I would greatly appreciate hearing about them as well.