Control-oriented modelling and analysis of transient rolling contact behaviour of tires

With the progress in active chassis control technologies, transient tire dynamics play more important role specially in large wheel slip range. This study aims to reveal the longitudinal transient characteristics of tires due to tread compliance involving large slip and to develop a transient tire model for the application of controller design. In this paper, a novel longitudinal transient tire model is developed based on the transient slip variable defined by the average tread deformation in the adhesion region, and the proposed model is validated by comparing it with the unsteady-state brush tire model and simulation with discrete brush tire model. For controller design analysis, an asymmetric vertical pressure distribution is introduced with the aim to obtain the brush tire model with continuous nature under all slip conditions. Specially, although only the longitudinal transient behavior of tires is addressed in this paper, the idea of this paper can still be used in the transient dynamics modelling of tires under pure lateral slip and combined slip conditions.