On the Hybrid Physical/Dynamic Tire/Road Friction Model

2009 ◽  
Author(s):  
Jingang Yi
Keyword(s):  
Physical Model ◽  
Model Comparison ◽  
Friction Model ◽  
Model Parameters ◽  
Dynamic Friction ◽  
Preliminary Model ◽  
New Development ◽  
Road Friction ◽  
Estimation And Control ◽  
And Control

We present new development of a hybrid physical/dynamic tire/road friction model for real-time friction estimation and control. We extend the LuGre tire/road friction model by considering the physical model-based deformation distribution on the tire/road contact patch. Relationship between the physical friction model and the LuGre dynamic friction model has been built and developed. We have shown that the LuGre dynamic friction model predicts the similar deformation and stress characteristics of the physical model, and therefore the friction model parameters can be interpreted with physical meaning and estimated experimentally. We demonstrate preliminary model comparison study through the “smart tire” sensor measurements on a mobile robot platform.

A Hybrid Physical-Dynamic Tire/Road Friction Model

2012 ◽  
Vol 135 (1) ◽  
Author(s):  
Jingliang Li ◽  
Yizhai Zhang ◽  
Jingang Yi
Keyword(s):  
Physical Model ◽  
Normal Load ◽  
Friction Model ◽  
Model Parameters ◽  
Dynamic Friction ◽  
Contact Patch ◽  
Road Friction ◽  
Friction Models ◽  
Vehicle Maneuver ◽  
And Control

We present a hybrid physical-dynamic tire/road friction model for applications of vehicle motion simulation and control. We extend the LuGre dynamic friction model by considering the physical model-based adhesion/sliding partition of the tire/road contact patch. Comparison and model parameters relationship are presented between the physical and the LuGre dynamic friction models. We show that the LuGre dynamic friction model predicts the nonlinear and normal load-dependent rubber deformation and stress distributions on the contact patch. We also present the physical interpretation of the LuGre model parameters and their relationship with the physical model parameters. The analysis of the new hybrid model's properties resolves unrealistic nonzero bristle deformation and stress at the trailing edge of the contact patch that is predicted by the existing LuGre tire/road friction models. We further demonstrate the use of the hybrid model to simulate and study an aggressive pendulum-turn vehicle maneuver. The CARSIM simulation results by using the new hybrid friction model show high agreements with experiments that are performed by a professional racing car driver.

Nonlinear Stability Analysis of Vehicle Lateral Motion With a Hybrid Physical/Dynamic Tire/Road Friction Model

2009 ◽  
Author(s):  
Jingang Yi ◽  
Eric H. Tseng
Keyword(s):  
Friction Model ◽  
Lateral Motion ◽  
Nonlinear Stability Analysis ◽  
Friction Forces ◽  
Motion Stability ◽  
Road Friction ◽  
Vehicle Motion ◽  
Longitudinal Slip ◽  
Estimation And Control ◽  
And Control

We present a nonlinear analysis of vehicle motion using a hybrid physical/dynamic tire/road friction model. The advantage of the proposed LuGre dynamic tire/road friction model is the simple and attractive structural properties for real-time friction estimation and control. Moreover, the model provides a property of capturing coupling effects between the longitudinal and lateral friction forces. We take advantages of these properties and analyze the vehicle lateral motion stability. We have shown that the existence of longitudinal slip affects the lateral motion stability. The quantitative analysis and relationship are also demonstrated through numerical simulation examples.

scholarly journals Study on Friction in Automotive Shock Absorbers Part 1: Friction Simulation Using a Dynamic Friction Model in the Contact Zone of an FEM Model

Vehicles ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 212-232
Author(s):  
Ludwig Herzog ◽  
Klaus Augsburg
Keyword(s):  
Ride Comfort ◽  
Viscous Friction ◽  
Simulation Method ◽  
Friction Model ◽  
Model Parameters ◽  
Dynamic Friction ◽  
Friction Modeling ◽  
Shock Absorbers ◽  
Operation Conditions ◽  
Wide Range

The important change in the transition from partial to high automation is that a vehicle can drive autonomously, without active human involvement. This fact increases the current requirements regarding ride comfort and dictates new challenges for automotive shock absorbers. There exist two common types of automotive shock absorber with two friction types: The intended viscous friction dissipates the chassis vibrations, while the unwanted solid body friction is generated by the rubbing of the damper’s seals and guides during actuation. The latter so-called static friction impairs ride comfort and demands appropriate friction modeling for the control of adaptive or active suspension systems. In this article, a simulation approach is introduced to model damper friction based on the most friction-relevant parameters. Since damper friction is highly dependent on geometry, which can vary widely, three-dimensional (3D) structural FEM is used to determine the deformations of the damper parts resulting from mounting and varying operation conditions. In the respective contact zones, a dynamic friction model is applied and parameterized based on the single friction point measurements. Subsequent to the parameterization of the overall friction model with geometry data, operation conditions, material properties and friction model parameters, single friction point simulations are performed, analyzed and validated against single friction point measurements. It is shown that this simulation method allows for friction prediction with high accuracy. Consequently, its application enables a wide range of parameters relevant to damper friction to be investigated with significantly increased development efficiency.

Joint Estimation and Control of Jump Linear Systems With Multiplicative Noises

1987 ◽  
Vol 109 (1) ◽  
pp. 24-28 ◽  
Author(s):  
M. Mariton
Keyword(s):  
Optimal Solution ◽  
Joint Estimation ◽  
Control Synthesis ◽  
Model Parameters ◽  
Linear Quadratic ◽  
Multiplicative Noises ◽  
Matrix Differential Equations ◽  
Estimation And Control ◽  
Matrix Differential ◽  
And Control

Jump Linear Quadratic Gaussian systems are considered in the presence of state-and control-dependent noises. Assuming that the jumps of the model parameters are perfectly observed, it is possible to formulate and solve an optimal input synthesis problem. It is found that the optimal solution does not present the certainty equivalence property, so that the estimation and control synthesis must be treated simultaneously. Optimal equations for the filter and regulator gains are obtained in terms of a set of coupled nonlinear matrix differential equations.

A New 3D Dynamic Tire/Road Friction Model for Vehicle Control and Simulation

2001 ◽  
Author(s):  
Xavier Claeys ◽  
Jingang Yi ◽  
Luis Alvarez ◽  
Roberto Horowitz ◽  
Carlos Canudas de Wit
Keyword(s):  
Dynamic Systems ◽  
Dry Friction ◽  
Vehicle Control ◽  
Friction Model ◽  
Model Parameters ◽  
Magic Formula ◽  
First Order ◽  
Lateral Forces ◽  
Road Friction ◽  
Tire Dynamics

Abstract In this paper a 3D dynamic tire/road friction model is presented. This model is based on the LuGre dry friction model and tire dynamics. The longitudinal and lateral forces, and tire self-aligning torque are determined through several first-order dynamic systems. The main advantage of this model is that it can be easily used and identified for vehicle control and simulation. Furthermore, calibration of model parameters and comparison with “magic formula”, which is widely used in area, are presented to validate the model.

scholarly journals Modalys-ER for OpenMusic (MfOM): virtual instruments and virtual musicians

2002 ◽  
Vol 7 (3) ◽  
pp. 325-338 ◽  
Author(s):  
Richard Polfreman
Keyword(s):  
Physical Model ◽  
Visual Programming ◽  
Virtual Instruments ◽  
Model Parameters ◽  
Future Directions ◽  
Graphical Environment ◽  
Automation And Control ◽  
High Level ◽  
Musical Sounds ◽  
And Control

Modalys-ER is a graphical environment for creating physical model instruments and generating musical sounds with them. While Modalys-ER provides users with a relatively simple-to-use interface, it has only limited methods for mapping control data onto model parameters for performance. While these are sufficient for many interesting applications, they do not bridge the gap from high-level specifications such as MIDI files or Standard Western Notation (SWN) down to low-level parameters within the physical model. With this issue in mind, a part of Modalys-ER has now been ported to OpenMusic, providing a platform for developing more sophisticated automation and control systems that can be specified through OpenMusic's visual programming interface. An overview of the MfOM library is presented and illustrated with several musical examples using some early mapping designs. Also, some of the issues relating to building and controlling virtual instruments are discussed and future directions for research in this area are suggested. The first release is now available via the IRCAM Software Forum.

On the Dynamic Stability and Agility of Aggressive Vehicle Maneuvers: A Pendulum-Turn Maneuver Example

2010 ◽  
Author(s):  
Jingliang Li ◽  
Jingang Yi ◽  
Zhaodu Liu ◽  
Jianbo Lu
Keyword(s):  
Dynamic Stability ◽  
Human Performance ◽  
Model Comparison ◽  
Friction Model ◽  
Driver Model ◽  
Human Driver ◽  
Comparison Results ◽  
Testing Data ◽  
Road Friction ◽  
Vehicle Maneuver

We present a dynamic stability and agility study of a pendulum-turn aggressive vehicle maneuver. Instead of optimizing the controlled inputs to mimic the human performance profile during a pendulum-turn agile maneuver, we focus on studying the stability regions and agility performance of the vehicle motion using professional racing car driver testing data. A hybrid physical/dynamic tire/road friction model is used to capture the dynamic friction force characteristics in analysis and simulation and to compare with testing data. We also introduce the use of vehicle lateral jerk information as the agility metric to compare vehicle maneuvering performance. The analysis and testing results show that during the pendulum-turn maneuvers, the professional driver operates the vehicle outside the stable regions of the vehicle dynamics to achieve superior agility performance than that under a typical human driver model. Comparison results with a typical human driver model also show that the racing car driver outperforms in both the traveling time and the newly defined agility metric. Designing a control strategy for autonomous pendulum-turn-like safe vehicle agile maneuvers is ongoing work.

Dynamic Friction Model-Based Tire-Road Friction Estimation and Emergency Braking Control

2004 ◽  
Vol 127 (1) ◽  
pp. 22-32 ◽  
Author(s):  
Luis Alvarez ◽  
Jingang Yi ◽  
Roberto Horowitz ◽  
Luis Olmos
Keyword(s):  
Internal State ◽  
Angular Speed ◽  
Friction Model ◽  
Dynamic Friction ◽  
Unknown Parameters ◽  
Emergency Braking ◽  
Road Friction ◽  
Braking Control ◽  
Friction Parameters ◽  
Adaptation Law

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimated through a parameter adaptation law. A Lyapunov-based state estimator and a stabilizing braking controller are designed to achieve near to maximum braking capability of the vehicle. Underestimation of the maximum friction coefficient, a very desirable feature from the perspective of safety, is guaranteed by a proper choice of adaptation gains and initial values of the estimated friction parameters.

Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids

2020 ◽  
Vol 5 (3) ◽  
pp. 4273-4280
Author(s):  
Kento Kawaharazuka ◽  
Naoki Hiraoka ◽  
Kei Tsuzuki ◽  
Moritaka Onitsuka ◽  
Yuki Asano ◽  
...  
Keyword(s):  
Online Learning ◽  
Core Temperature ◽  
Thermal Model ◽  
Model Parameters ◽  
Estimation And Control ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document