Analysis of the tyre–road interaction with a non-smooth delayed contact model

Abstract

In this study a tyre model is developed for multibody dynamics software. Vibrations of a towed wheel excited by the lateral deformation of the tyre are analysed with the help of numerical simulations. In our calculations the time delay in the tyre–ground contact as well as the partial side slip are considered making it possible to capture the dynamic deformation of the contact-patch centre-line with relatively low number of parameters and computation time. As a result the hysteresis effect in the stability of the rectilinear motion can be identified, which would be undetectable by simpler, quasi-steady-state tyre models. Thus, bistable parameter regions appear in the stability charts where for the same set of system parameters a stable equilibrium and a periodic orbit coexist. The simulations are compared with measurements carried out on an experimental rig consisting of a wheel and a caster running on a conveyor belt.