Professional Documents
Culture Documents
Tire Modeling Lecture
Tire Modeling Lecture
=
= =
R
stat
R
w
a
G. Erdogan 13
t
a
r
eff
=
w eff stat
R r R < <
Slip Ratio:
( )
w eff x
x w eff
x
r V
V r
, max
=
Brush Model Pure Longitudinal Slip
through simple physical models
Longitudinal Tire Deformation
G. Erdogan 14
x w eff o
V r V =
0 =
g
V
Remember
BM Pure Longitudinal Slip
Brush Model Pure Side Slip
through simple physical models
w eff
r
G. Erdogan 15
V
=
Slip Angle:
Brush Model Pure Side Slip
through simple physical models
UniformNormal Force Distribution
w eff
r
F
z
( )
= =
a
a
z z
z
dx q F
a
F
x p
2
G. Erdogan 16
w eff
r
UniformNormal Force Distribution
Brush Model Pure Side Slip
through simple physical models
( )
( )
( ) ( )
z z
py
z
z y
F F
M
a c
F
F F
tan 8
3 2
'
2
2
=
= Lateral Tire Force :
Tire Moment:
G. Erdogan 17
( )
( )
( )
( )
( )
bs
z
py
py
z
py
z
z
x
F
a c
a c
F
a c
F
M
tan 2
tan 48 tan 8
2 3
'
=
=
Friction Coefficient :
Tire Moment:
( ) 2
1
tan
1
2 2 2
max
|
|
\
|
|
\
|
= =
a c
F
a
F
F
x y
F F
py
z z
z
bs b
z y
Parabolic Normal Force Distribution
w eff
r
F
z
Brush Model Pure Side Slip
through simple physical models
( ) ( )
=
|
|
\
|
=
a
a
z
z
dx x p F
a
x a
a
F
x p
2
2 2
4
3
G. Erdogan 18
w eff
r
Brush Model Pure Side Slip
through simple physical models
Parabolic Normal Force Distribution
=
V
G. Erdogan 19
Parabolic Normal Force Distribution
Small Slip Angle (as 0, tan( ) )
( ) ( )
( )
x a
x a y
=
= tan
y c q
py y
=
Brush Model Pure Side Slip
through simple physical models
( )
y
py
a
a
py
a
a
y z
F
a
a
a c
dx x x a c
dx x q M
3
3
2
2
=
=
=
=
( )
F
py
a
a
py
a
a
y y
C
a c
dx x a c
dx q F
=
=
=
=
2
2
( ) x a =
Brush Model Pure Side Slip
through simple physical models
Parabolic Normal Force Distribution
Large Slip Angles
G. Erdogan 21
( )
( )
( )
( )
( )
( )
|
|
\
|
+ =
sl sl sl
z y
F F
2
2
tan
tan
3
1
tan
tan
1
tan
tan
3
( )
sl
z
py
F
a c
tan
3
2
2
=
Lateral Tire Force :
Friction Coefficient :
( )
( )
( )
( )
( )
( )
( )
( )
} |
tan
tan
| )
tan
tan
( 3 |
tan
tan
| 3 1 {
tan
tan
3 2 '
sl sl sl sl
z z
a F M
=
+
=
=
=
+
=
=
=
drive
V
V
brake
V
V
drive
V
V
V
V V
brake
V
V
V
V V
sy
x
sy
y
sx x r
x
sx
x
x r
x
1
tan
tan
1
Brush Model Combined Slip
through simple physical models
G. Erdogan 22
=
+
= =
+
drive
V
drive
V V
r
r r
1
1
w eff r
r V =
( )
( )
2 2
y x
y
x
x a v
x a u
+ =
=
=
|
|
\
|
+ =
2
2
3
1
1 3
m m m
z
F F
Tire Force :
} 3 3 1 {
3
3
2
2
'
m m m m
z z
a F M
+ =
Tire Moment:
Brush Model Combined Slip
through simple physical models
G. Erdogan 23
m
z
p
F
a c
3
2
2
=
Friction Coefficient :
m m m m
Friction Circle:
Dugoffs Model
_
_
y lin y
x lin x
C F
C F
=
=
String Model
through simple physical models
G. Erdogan 25
The steady state tire models are handy when we have constant linear and
angular velocities.
Experimental data used to validate the slip/force curves are obtained using
specialized equipment that allows independent linear and angular velocity
modulation so as to cover the whole slip range.
Dynamic (Transient) Tire Models
through simple physical models
This steady-state point of view is rarely true in reality, especially when the vehicle
goes through continuous successive phases between acceleration and braking.
Dynamic models capture the transient behavior of the tire-road contact forces
under time-varying velocity conditions.
Bliman
Kinematic TM
Dahl TM
LuGre TM
G. Erdogan 26
Dynamic Models Relaxation Length
Relaxation length
is related to the distance needed by the tire to reach a the steady state situation after a step
change in slip.
is the distance needed to build up the steady state tire forces.
G. Erdogan 27
( ) v e F z
F F
coulomb
o
F
x
coulomb o
friction n deformatio
sgn 1
|
|
\
|
=
=
z
F
v
v z
coulomb
o
= &
Dynamic Models Dahl Models
through simple physical models
The Dahl model is essentially Coulomb friction with a lag.
G. Erdogan 28
( )
( ) v v
z
e
v v e z
dt
dF
dt
dF
coulomb
o
coulomb
o
F
x
F
x
friction n deformatio
sgn
sgn
&
&
=
=
=
\
Derivation
( ) v
F
z
z
F
v
v
z z
o
coulomb
ss
ss
coulomb
o
ss
sgn
0
0
=
=
= &
Steady State:
( )
( )
( )
( )
( ) v e F v f z z
or v e F z
F F
v g
x
coulomb o
v g
x
coulomb o
friction n deformatio
o
o
sgn 1
, sgn 1
1
|
|
\
|
= + +
|
|
\
|
=
=
&
Dynamic Models LuGre Models
through simple physical models
G. Erdogan 29
\
( )
z
v g
v
v z
o
= &
( ) ( )
( ) v v f
e F F F v g
stribeck
v v
coulomb static coulomb
2
=
+ =
Tire Models
from experimental data only
Pacejka TM
Burckhardt TM
Kiencke and Daiss TM
G. Erdogan 30
TIRE
BLACK BOX
Create
TIRE
DEFORMATION
Measure
TIRE FORCE
( ) Slip f Force =
Pacejka Tire Model (Magic Formula)
from experimental data only
G. Erdogan 31
References
Vehicle Dynamics and Control, 2005, R. Rajamani
Tire and Vehicle Dynamics, 2005, H.B. Pacejka
Contact Mechanics, 1987, K.L. Johnson
Vehicle Dynamics: Theory and Application, 2009, R. N. Jazar
G. Erdogan 32
THANKS
G. Erdogan 33