Very high changes in acceleration and wheel forces which is not logical

Hi All,

I am trying to control the vehicles, my control law needs to know vehicle
acceleration "DynGCg.acc".
watching this acceleration show that it change very quickly in unlogical
way (we don't see all this changes as the speed is the accumulation
(filteration) of the acceleration and we will see filtred response...)

trying to konw the source of the problem :
i found that the problem is from the forces applied on the wheels computed
in (void SimWheelUpdateForce(tCar *car, int index)) function
where the forces change very rapidly in unlogical way
as un exempl:
 taking          Car->ctrl.accelCmd = 0.1;
i get the following forces acting on the wheels:



you can see that the longitudial force changes very rapidly (eg. from Ft
=-6360 to 7843) which is not logiacl

Searching more and more to know the problem i have found that it is caused
as a result of high changes of  sx = (vt - wrl) / fabs(vt);
which is it its turn change as a result of high changes of wrl =
wheel->spinVel * wheel->radius;
so it is very clear that the problem is from high changes of
"wheel->spinVel" but i couldn't know much more ...
can any one help me to know why it change rapidly and how to reduce this
changes as it is not logical.

thanks for all.

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