Extension of the Lugre Dynamic Tire Friction Model to 2d Motion
نویسندگان
چکیده
An extension of the LuGre dynamic friction model from longitudinal motion to longitudinal/lateral motion is developed. Applying this model to the motion of a tire we derive a model for tire-road contact forces and moments. A comparison of the steadystate behaviour of the dynamic model with existing static tire friction models is also presented. This comparison allows one to determine the values of the parameters for the new model. Introducing a set of mean states we reduce the order of the system and derive a model in lumped form which is useful for control purposes.
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