I am not sure how to exactly calculate slip angle. I have got several versions here and I want to find out which one is the most accurate one. Actually the equations is clear(atan(Vy/|Vx|)), but the speed obtanation isn't as clear.

Vy must be wheel's movement in it's local lateral axis, I think.

Vx, though, I'm not that sure about. My versions are:

1. Vx = wlv + wav * wr
2. Vx = wav * wr
3. Vx = wlv
4. Vx = wlv * ((wav * wr) / wlv)

wlv = wheel longitudal velocity

wav = wheel angular velocity

wr = wheel radius

So I'm not sure about which of those 4 versions is the most correct one. I'd appreaciate the right answer.

Thanks!:)

You can find a detailed calculation of the slip angle at the great book The Physics of Racing from Brian Beckman:

http://phors.locost7.info/phors24.htm