Longitudinal tyre force is needed in the feedback control systems for enhancing the decelerating and accelerating properties of road vehicles. There lacks means for its direct measurement. This paper presents a longitudinal tyre force observer, designed on wheel rotating dynamics using the conventional linear control systems theory with wheel speed and drive/brake torque. The observer is formulated firstly in continuous-time and then converted to an implementable form in discrete-time for compatibility with digital electronic control units (ECUs). The effectiveness and applicability of the observer are investigated using numerical simulations and road testing of an 8 × 4 Volvo truck with each wheel equipped with an ECU consisting of, in C-code, a robust slip control system, a tyre-road friction estimator, a brake pressure observer and the longitudinal tyre force observer for application in an intelligent brake system. The robustness of the observer to parametric uncertainties, e.g., the inertia of moment, effective radius, and brake gain of the wheel, is also examined.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Investigation of Longitudinal Tyre Force Observation for Slip Control System Development


    Additional title:

    Lect.Notes Mechanical Engineering


    Contributors:

    Conference:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2019 ; Gothenburg, Sweden August 12, 2019 - August 16, 2019



    Publication date :

    2020-02-13


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    An Investigation of Longitudinal Tyre Force Observation for Slip Control System Development

    Zhu, Shenjin / Henderson, Leon / Drenth, Edo et al. | TIBKAT | 2020


    Closed-Loop Direct Tyre Force Control Based on Tyre Slip Mapping

    Yu, Yunchang / Ji, Wenfei / Li, Runfeng et al. | Springer Verlag | 2024


    LONGITUDINAL TYRE FORCE ESTIMATION

    JONASSON MATS / MARZBANRAD ALIREZA / RYDSTRÖM MATS | European Patent Office | 2024

    Free access


    Investigation of steady-state tyre force and moment generation under combined longitudinal and lateral slip conditions

    Mavros, G. / Rahnejat, H. / King, P. et al. | British Library Conference Proceedings | 2004