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.


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    Title :

    A LuGre tire friction model with exact aggregate dynamics


    Contributors:

    Published in:

    Vehicle System Dynamics ; 42 , 3 ; 195-210


    Publication date :

    2004


    Size :

    16 Seiten, 20 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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