Analytical dynamic tire model

Liang, Wei; Medanić, J.; Ruhl, Roland L.

doi:10.1080/00423110701267466

Cited by 62 publications

(35 citation statements)

References 7 publications

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“…Such a model has good numerical performance, and eliminates the causality switch inherent in stick-slip friction. The tire friction model also needs to include road-friction, but most hysteresis based friction models found in the literature [24,25] are not very conducive to RT-simulation. Hence, a simpler tire friction model is used, where the tire is modeled as an elastic band in the longitudinal direction [26].…”

Section: Vehicle Model and Wheel-slip Emulationmentioning

confidence: 99%

On emulating engine and vehicle transient loads for transmission-in-the-loop experiments

Ahlawat¹,

Jiang²,

Medonza³

et al. 2012

Mechatronics

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Section: Vehicle Model and Wheel-slip Emulationmentioning

confidence: 99%

On emulating engine and vehicle transient loads for transmission-in-the-loop experiments

Ahlawat¹,

Jiang²,

Medonza³

et al. 2012

Mechatronics

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“…Such a model has good numerical performance, and eliminates the causality switch inherent in stick-slip friction. The tire friction model also needs to include road-friction, but most hysteresis based friction models found in the literature [23], [24] are not very conducive to RT-simulation. Hence, a simpler tire friction model is used where the tire is modeled as an elastic band in the longitudinal direction [25].…”

Section: Vehicle Model and Wheel-slip Emulationmentioning

confidence: 99%

Engine torque pulse and wheel slip emulation for transmission-in-the-loop experiments

Ahlawat

Jiang²,

Medonza³

et al. 2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents the development of real-time (RT) engine and vehicle models for transmission-in-the-loop (TIL) experiments. In this TIL experimental setup, the input side of the transmission is controlled by a dynamometer emulating the engine, whereas the output sides of the transmission are controlled by two dynamometers emulating the wheels. The models emulating these vehicle-components are required to possess sufficient fidelity to simulate engine torque pulse (ETP) and wheel-slip dynamics while being computationally efficient to run in RT. The engine and tire models available in the literature that accurately capture these dynamics are often computationally intensive and not suited for RT simulation. This paper presents the modeling details of a RT semi-empirical engine model and a physics based tire model, capable of accurately emulating the desired dynamic loads for the TIL experiments. Parameters of the engine model are identified using experimental data, and both the models are validated in pure simulation. Finally, open and closed loop test results are presented to demonstrate successful emulation during the TIL experimentation.

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“…However, the transient force lagging phenomena always affects the tire forces [17][18][20][21][22][23]. In order to take this effect into account, a non-linear first order equation is introduced as [ …”

Section: Tire -Terrain Model For Rigid Inclined Terrainmentioning

confidence: 99%

New method for slip and tire force estimation of wheeled mobile robot on inclined terrain

Zhu

Qiu

Guo

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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This paper introduces a new method, based on extended Kalman filter (EKF), to estimate wheel slip and tire forces for a four-wheel drive mobile robot on rigid and continuously varying inclined terrain. The longitudinal and lateral forces are both considered in the proposed method. An empirical tire-terrain model from Pacejka's Magic Formula is used to represent the true model of the contact patch force. Simulation results show that the proposed technique can estimate the tire forces and the slip ratio effectively when robot is traveling on simulated inclined surface.

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Analytical dynamic tire model

Cited by 62 publications

References 7 publications

On emulating engine and vehicle transient loads for transmission-in-the-loop experiments

On emulating engine and vehicle transient loads for transmission-in-the-loop experiments

Engine torque pulse and wheel slip emulation for transmission-in-the-loop experiments

New method for slip and tire force estimation of wheeled mobile robot on inclined terrain

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