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How to create an ISO 8606 disturbance profile?

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Nathan Batta
Nathan Batta on 23 Feb 2021
Hello!
I am trying to create an ISO 8606 class D disturbance profile. I tried to follow the code described here but I am getting a disturbance with a magnitude of 0.2 meters. Many of the papers I have seen that utilize this standard have magnitudes around 0.02 meters so I wasn't sure if I was doing something wrong. I have dropped my code below. Does anyone have any experience with creating this profile? Thank you!
function [dist, ref, hx] = ISO8606TypeD(t)
delay=.4; %there is a .4s gap between when the front wheel hits the bump and the second wheel hits it
deltaIndex = t(2)-t(1);
iP = 100;
hx = generateProfile(t, iP);
hx = hx - hx(1);
dist(1,:) = [hx zeros(1,iP)];
dist(2,:) = [zeros(1,delay/deltaIndex) hx zeros(1,iP-delay/deltaIndex)];
ref = zeros(12, length(t));
figure(2)
hold on
plot(t,dist(1,:))
plot(t,dist(2,:))
title('ISO8606 Disturbance Profile');
xlabel('Time [s]');
ylabel('Disturbance [m]')
end
function hx = generateProfile(t, iP)
vel=10; % car velocity [m/s]
N = length(t) - iP; % Number of data points
L = t(end)*vel; % Length Of Road Profile (m)
k = 6; % A = 3, B = 4, C = 5, D = 6, E = 7, F = 8, G = 9
B = L/N; % Sampling Interval (m)
dn = 1/L; % Frequency Band
n0 = 0.1; % Spatial Frequency (cycles/m)
n = dn : dn : N*dn; % Spatial Frequency Band
phi = 2*pi*rand(size(n)); % Random Phase Angle
Amp1 = sqrt(dn)*(2^k)*(1e-3)*(n0./n); % Amplitude for Road Class A-B
x = 0:B:L-B; % Abscissa Variable from 0 to L
hx = zeros(size(x));
for i=1:length(x)
hx(i) = sum(Amp1.*cos(2*pi*n*x(i)+ phi));
end
[q , C] = psd_1D(hx, B, 'x');
f = q / (2*pi); % spatial frequency
PSD = 2 * pi * C; % power spectrum
figure(1)
loglog(f,PSD)
title('Power Spectral Density');
xlabel('Frequency (Hz)');
ylabel('PSD (m^3)');
end

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