The Experts below are selected from a list of 621 Experts worldwide ranked by ideXlab platform
Zhihong Man - One of the best experts on this subject based on the ideXlab platform.
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Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
Journal of Intelligent & Fuzzy Systems, 2019Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke ShaoAbstract:This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.
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Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
IET Cyber-Physical Systems: Theory & Applications, 2017Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).
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Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
IET Control Theory & Applications, 2017Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong ManAbstract:Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.
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Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This paper presents an adaptive sliding-mode (ASM) control methodology for a vehicle steer-by-wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front-wheel steering angle. For simplicity, the self-Aligning Torque and friction arising from the tire-to-ground contact are regarded as external disturbance acting on the SbW system. Next, an ASM controller is designed for the SbW system, which can not only cope with the parametric uncertainties in the plant model but also estimate the coefficient of the self-Aligning Torque effectively. The stability of the ASM control system is proved in the sense of Lyapunov and the guidelines for selecting the control parameters are given. Finally, experiments are carried out for steering control to respectively follow a slalom path and a circular path under various road conditions. It is shown that the proposed ASM controller can achieve stronger robustness against various road conditions leading to significantly smaller tracking errors in comparison with a conventional sliding-mode controller and a linear $H_{\infty}$ controller.
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Adaptive sliding mode control for a vehicle steer-by-wire system
2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE), 2016Co-Authors: Zhe Sun, Jinchuan Zheng, Zhihong ManAbstract:This paper presents an adaptive sliding mode (ASM) controller designed for a vehicle Steer-by-Wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front wheel steering angle. For simplicity, the tire-to-ground frictions and the self-Aligning Torque are treated as external disturbances acting on the SbW system. Next, an ASM controller is designed for the SbW system, which utilizes sliding mode control to handle the parametric uncertainties and an adaptive estimation scheme to estimate the coefficient of the self-Aligning Torque, respectively. Finally, experiments are carried out to validate the performance of the ASM control. The experimental results indicate that the proposed ASM controller possesses strong robustness and high tracking accuracy.
Hai Wang - One of the best experts on this subject based on the ideXlab platform.
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Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
Journal of Intelligent & Fuzzy Systems, 2019Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke ShaoAbstract:This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.
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Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
IET Cyber-Physical Systems: Theory & Applications, 2017Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).
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Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
IET Control Theory & Applications, 2017Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong ManAbstract:Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.
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Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This paper presents an adaptive sliding-mode (ASM) control methodology for a vehicle steer-by-wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front-wheel steering angle. For simplicity, the self-Aligning Torque and friction arising from the tire-to-ground contact are regarded as external disturbance acting on the SbW system. Next, an ASM controller is designed for the SbW system, which can not only cope with the parametric uncertainties in the plant model but also estimate the coefficient of the self-Aligning Torque effectively. The stability of the ASM control system is proved in the sense of Lyapunov and the guidelines for selecting the control parameters are given. Finally, experiments are carried out for steering control to respectively follow a slalom path and a circular path under various road conditions. It is shown that the proposed ASM controller can achieve stronger robustness against various road conditions leading to significantly smaller tracking errors in comparison with a conventional sliding-mode controller and a linear $H_{\infty}$ controller.
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Robust sliding mode control for Steer-by-Wire systems with AC motors in road vehicles
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Hai Wang, Zhihong Man, Huifang Kong, Manh Tuan, Zhenwei Cao, Weixiang ShenAbstract:In this paper, the modeling of steer-by-wire (SbW) systems is further studied, and a sliding mode control scheme for the SbW systems with uncertain dynamics is developed. It is shown that an SbW system, from the steering motor to the steered front wheels, is equivalent to a second-order system. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-Aligning Torque, and uncertain Torque pulsation disturbances, in the sense that not only the strong robustness with respect to large and nonlinear system uncertainties can be obtained but also the front-wheel steering angle can converge to the handwheel reference angle asymptotically. Both the simulation and experimental results are presented in support of the excellent performance and effectiveness of the proposed scheme.
Zhe Sun - One of the best experts on this subject based on the ideXlab platform.
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Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
Journal of Intelligent & Fuzzy Systems, 2019Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke ShaoAbstract:This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.
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Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
IET Cyber-Physical Systems: Theory & Applications, 2017Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).
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Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
IET Control Theory & Applications, 2017Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong ManAbstract:Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.
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Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This paper presents an adaptive sliding-mode (ASM) control methodology for a vehicle steer-by-wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front-wheel steering angle. For simplicity, the self-Aligning Torque and friction arising from the tire-to-ground contact are regarded as external disturbance acting on the SbW system. Next, an ASM controller is designed for the SbW system, which can not only cope with the parametric uncertainties in the plant model but also estimate the coefficient of the self-Aligning Torque effectively. The stability of the ASM control system is proved in the sense of Lyapunov and the guidelines for selecting the control parameters are given. Finally, experiments are carried out for steering control to respectively follow a slalom path and a circular path under various road conditions. It is shown that the proposed ASM controller can achieve stronger robustness against various road conditions leading to significantly smaller tracking errors in comparison with a conventional sliding-mode controller and a linear $H_{\infty}$ controller.
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Adaptive sliding mode control for a vehicle steer-by-wire system
2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE), 2016Co-Authors: Zhe Sun, Jinchuan Zheng, Zhihong ManAbstract:This paper presents an adaptive sliding mode (ASM) controller designed for a vehicle Steer-by-Wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front wheel steering angle. For simplicity, the tire-to-ground frictions and the self-Aligning Torque are treated as external disturbances acting on the SbW system. Next, an ASM controller is designed for the SbW system, which utilizes sliding mode control to handle the parametric uncertainties and an adaptive estimation scheme to estimate the coefficient of the self-Aligning Torque, respectively. Finally, experiments are carried out to validate the performance of the ASM control. The experimental results indicate that the proposed ASM controller possesses strong robustness and high tracking accuracy.
Jinchuan Zheng - One of the best experts on this subject based on the ideXlab platform.
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Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
Journal of Intelligent & Fuzzy Systems, 2019Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke ShaoAbstract:This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.
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Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
IET Cyber-Physical Systems: Theory & Applications, 2017Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).
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Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
IET Control Theory & Applications, 2017Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong ManAbstract:Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.
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Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode
IEEE Transactions on Industrial Electronics, 2016Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai WangAbstract:This paper presents an adaptive sliding-mode (ASM) control methodology for a vehicle steer-by-wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front-wheel steering angle. For simplicity, the self-Aligning Torque and friction arising from the tire-to-ground contact are regarded as external disturbance acting on the SbW system. Next, an ASM controller is designed for the SbW system, which can not only cope with the parametric uncertainties in the plant model but also estimate the coefficient of the self-Aligning Torque effectively. The stability of the ASM control system is proved in the sense of Lyapunov and the guidelines for selecting the control parameters are given. Finally, experiments are carried out for steering control to respectively follow a slalom path and a circular path under various road conditions. It is shown that the proposed ASM controller can achieve stronger robustness against various road conditions leading to significantly smaller tracking errors in comparison with a conventional sliding-mode controller and a linear $H_{\infty}$ controller.
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Adaptive sliding mode control for a vehicle steer-by-wire system
2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE), 2016Co-Authors: Zhe Sun, Jinchuan Zheng, Zhihong ManAbstract:This paper presents an adaptive sliding mode (ASM) controller designed for a vehicle Steer-by-Wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front wheel steering angle. For simplicity, the tire-to-ground frictions and the self-Aligning Torque are treated as external disturbances acting on the SbW system. Next, an ASM controller is designed for the SbW system, which utilizes sliding mode control to handle the parametric uncertainties and an adaptive estimation scheme to estimate the coefficient of the self-Aligning Torque, respectively. Finally, experiments are carried out to validate the performance of the ASM control. The experimental results indicate that the proposed ASM controller possesses strong robustness and high tracking accuracy.
Milan Apetaur - One of the best experts on this subject based on the ideXlab platform.
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MODELLING OF TRANSIENT NONLINEAR TYRE RESPONSES
1993Co-Authors: Milan ApetaurAbstract:NONLINEAR TYRE RESPONSES WITH RESPECT TO THE LATERAL FORCE, SELF Aligning Torque AND LONGITUDINAL FORCE DEVELOPMENT MUST BE CONSIDERED IF A MORE PRECISE VEHICLE MODELLING IS REQUIRED. A PROCEDURE DESCRIBING THESE RESPONSES BY SIMPLE FIRST ORDER DIFFERENTIAL EQUATIONS IS SHOWN. IT IS BASED ON THE ASSUMPTION THAT IN EVERY INSTANT THERE MUST BE EQUILIBRIUM BETWEEN THE FORCE CAUSED BY THE TYRE DEFORMATION AND THE FORCE CORRESPONDING NONLINEARILLY TO THE RESPONSE ON SOME KINEMATIC PARAMETER (STEADY STATE RESPONSE ON INSTANTANEOUS SLIP ANGLE, LONGITUDINAL SLIP, PATH CURVATURE). KNOWLEDGE OF THE BASIC TYRE CONSTANTS AND OF ITS EMPIRICALLY DESCRIBED CHARACTERISTICS (FOR EXAMPLE BY THE "MAGIC FORMULA") IS NECESSARY. (A) FOR THE COVERING ABSTRACT OF THE COLLOQUIUM SEE IRRD 859025.
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MODELLING OF TRANSIENT NONLINEAR TYRE RESPONSES
Vehicle System Dynamics, 1992Co-Authors: Milan ApetaurAbstract:Abstract Nonlinear tyre responses in respect to the lateral force, self Aligning Torque and longitudinal force development are to be considered if a more precise vehicle modelling is demanded. A procedure describing these responses by simple first order differential equations is shown. It is based on the assumption that in every instant there must be equilibrium between the force caused by the tyre deformation and the force corresponding nonlinearilly to the response on some kinematic parameter (steady state response on instantaneous slip angle, longitudinal slip, path curvature). Knowledge of the basic tyre constants and of its empirically described characteristics (f.e. by the “Magic Formula”) is necessary.
