A LuGre tire friction model with exact aggregate dynamics
A LuGre tire friction model with exact aggregate dynamics
复制标题
具有精确聚合动力学的 LuGre 轮胎摩擦模型
DOI：
10.1080/00423110412331289835
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
M. Sorine
中科院分区：
文献类型：
--
作者：
P. Tsiotras;E. Velenis;M. Sorine
用于物体在表面上的二维平移的LuGre动态点接触摩擦模型过去被用来推导轮胎接触面处的摩擦力和力矩的模型。由此得到的轮胎摩擦模型是分布的，由一组偏微分方程组描述。在文献中已经使用了几种近似方法来使用一组常微分方程组来逼近这一分布模型，使得该模型适合于控制设计和在线估计。本文利用矩量法推导出一组描述分布模型平均动力学的常微分方程组。考虑并比较了三种正态荷载分布情况：均匀荷载分布、梯形荷载分布和立方荷载分布。仿真结果与现有的近似稳态集总模型进行了比较。
The LuGre dynamic point contact friction model for the two-dimensional translation of a body on a surface has been used in the past to derive a model for the friction forces and moments at the contact patch of a tire. The resulting tire friction model is distributed, 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 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: uniform, trapezoidal and cubic load distribution. Simulations are also presented to compare with existing approximate steady-state lumped models.