A LuGre tire friction model with exact aggregate dynamics

被引：30

作者：

Tsiotras, P ^{[1
]}

Velenis, E ^{[1
]}

Sorine, M ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA

来源：

VEHICLE SYSTEM DYNAMICS | 2004年 / 42卷 / 03期

关键词：

D O I：

10.1080/00423110412331289835

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The LuGre dynamic point contact friction model for the two-dimensional translation of a body on a surface has been used to derive a model for the friction forces and moments at the contact patch of a tire. The resulting tire friction model is distributed, i.e., is described by a set of partial differential equations. Several approximations have been used in the literature to approximate this distributed model using a set of ordinary differential equations, making the model more appropriate for control design and on-line estimation. In this paper, the method of moments is used to derive a set of ordinary differential equations to describe the exact average dynamics of the distributed model. Three cases of normal load distribution are considered and compared with each other: uniform, trapezoidal and quartic load distribution. Simulations are also presented to compare with existing approximate lumped models.

引用

页码：195 / 210

页数：16

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