Tire model TMeasy

Hirschberg, Wolfgang; Rill, Georg; Weinfurter, Heinz

doi:10.1080/00423110701776284

Cited by 86 publications

(34 citation statements)

References 1 publication

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“…For the lateral ground-tire dynamics, a first-order model was chosen. This model is described in [13], and is close to a slightly more complex formulation known as TMEASY described in [14].…”

Section: Dynamic Modelmentioning

confidence: 99%

Stabilization of a road-train of articulated vehicles

Lucet

Micaelli

2019

Robotics and Autonomous Systems

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This paper deals with the stable navigation of up to eight articulated vehicles, coupled together to form a road-train. Based on kinematic and dynamic models, three control approaches are proposed for dynamic stabilization in road-train configuration, as well as a methodology for setting control gains, using three possible actuators: damper at the vehicle articulation, front steering or rear drive wheels. Implementation on a 3D simulator, representative of the dynamics of the real system with a high degree of fidelity, demonstrates the controller's performance and robustness in critical scenario conditions. Tests are then conducted in real conditions to validate the new strategy.

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Section: Dynamic Modelmentioning

confidence: 99%

Stabilization of a road-train of articulated vehicles

Lucet

Micaelli

2019

Robotics and Autonomous Systems

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“…Hirschberg et al stated that the effective radius, illustrated in Figure , is given by R e = C e /2 π, where C e is the effective rolling circumference. Both R e and C e depend on the vertical force F z and wheel speed ω , where R s and R o are the static tire radius and free rolling radius, IC R is the instantaneous tire center and unloaded tire radius, respectively, and Δ z v describes the influence of the vertical force F z in the tire vertical deflection.…”

Section: Smo Designmentioning

confidence: 99%

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Rajendran

Spurgeon

Tsampardoukas

et al. 2018

Intl J Robust & Nonlinear

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Summary The introduction of electric braking via brake‐by‐wire systems in electric vehicles) has reduced the high transportation delays usually involved in conventional friction braking systems. This has facilitated the design of more efficient and advanced control schemes for antilock braking systems (ABSs). However, accurate estimation of the tire‐road friction coefficient, which cannot be measured directly, is required. This paper presents a review of existing estimation methods, focusing on sliding‐mode techniques, followed by the development of a novel friction estimation technique, which is used to design an efficient ABS control system. This is a novel slip‐based estimation method, which accommodates the coupling between the vehicle dynamics, wheel dynamics, and suspension dynamics in a cascaded structure. A higher‐order sliding‐mode observer–based scheme is designed, considering the nonlinear relationship between friction and slip. A first‐order sliding‐mode observer is also designed based on a purely linear relationship. A key feature of the proposed estimation schemes is the inclusion of road slope and the effective radius of the tire as an estimated state. These parameters impact significantly on the accuracy of slip and friction estimation. The performance of the proposed estimation schemes are validated and benchmarked against a Kalman filter (KF) by a series of simulation tests. It is demonstrated that the sliding‐mode observer paradigm is an important tool in developing the next generation ABS systems for electric vehicles.

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“…In further considerations it is assumed that in any point of this surface of coordinates , , determined in any immovable coordinate system {0} assumed, being a reference system ( Figure 8), normal versor ̂ to this surface is known. According to the suggestions presented in work [3], in the case of the continuous model of the road surface, in the neighborhood of point (Figure 9), it is assumed that there are four auxiliary points of the coordinates determined in reference system {0} as:…”

Section: Normal Versor To Modeled Road Surfacementioning

confidence: 99%

Dynamic Analysis of Special Cars on Uneven Roads

Tengler¹

2016

Proceedings of the VII European Congress on Computational Methods in Applied Sciences and Engineering (ECCOMAS Congress 2016)

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The method of the dynamic analysis of special cars with a high gravity centre is presented in this article. The method proposed by the authors includes a comprehensive mathematical model of the car, and this model is supplemented with the models of uneven road surface, algorithms to determine the contact point between the tire and the road surface, and programs to perform computer simulations. In the article the mathematical model of the cooperation between road surface and tires are discussed in details. As it is known the road acts on the tire in a form of the reaction forces which should be applied in the concrete point named "contact point C". Thus, it is very important to determine this point location correctly. For this purpose the special mathematical models of the road surface and the algorithms to define the contact point location are developed. Two mathematical models of the road are discussedcontinuous and discrete one. Two algorithms to find the location of the contact point are presented, as well. According to the conception of the authors names of the algorithms refer to the essence of the matter of the procedures assumed. The first of themnamed Planecan be used considering the continuous model of the surface, and the secondnamed 4Pointsin the case of the discrete model of this surface.

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Tire model TMeasy

Cited by 86 publications

References 1 publication

Stabilization of a road-train of articulated vehicles

Stabilization of a road-train of articulated vehicles

Estimation of road frictional force and wheel slip for effective antilock braking system (ABS) control

Dynamic Analysis of Special Cars on Uneven Roads

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