Slip State Research Articles

Real-time seepage and instability of fractured granite subjected to hydro-shearing under different critical slip states

In this study, a high-confining pressure and real-time large-displacement shearing-flow setup was developed. The test setup can be used to analyze the injection pressure conditions that increase the hydro-shearing permeability and injection-induced seismicity during hot dry rock geothermal extraction. For optimizing injection strategies and improving engineering safety, real-time permeability, deformation, and energy release characteristics of fractured granite samples driven by injected water pressure under different critical sliding conditions were evaluated. The results indicated that: (1) A low injection water pressure induced intermittent small-deformation stick–slip behavior in fractures, and a high injection pressure primarily caused continuous high-speed large-deformation sliding in fractures. The optimal injection water pressure range was defined for enhancing hydraulic shear permeability and preventing large injection-induced earthquakes. (2) Under the same experimental conditions, fracture sliding was deemed as the major factor that enhanced the hydraulic shear–permeability enhancement and the maximum permeability increased by 36.54 and 41.59 times, respectively, in above two slip modes. (3) Based on the real-time transient evolution of water pressure during fracture sliding, the variation coefficients of slip rate, permeability, and water pressure were fitted, and the results were different from those measured under quasi-static conditions. (4) The maximum and minimum shear strength criteria for injection-induced fracture sliding were also determined (μ = 0.6665 and μ = 0.1645, respectively, μ is friction coefficient). Using the 3D (three-dimensional) fracture surface scanning technology, the weakening effect of injection pressure on fracture surface damage characteristics was determined, which provided evidence for the geological markers of fault sliding mode and sliding nature transitions under the fluid influence.

Characterizing and predicting the partial slip subjected to variable gradients of velocity and pressure in eccentric micro-scale Taylor–Couette flows

In the context of eccentric micro-scale Taylor–Couette flow, variations in localized flow scales result in a non-uniform fluid–solid interface slip state, distinct from the typically studied uniform slip velocity distribution. This study introduces a boundary condition definition method aimed at characterizing partial slip states, complemented by a coupled iterative analysis system tailored to address this complexity. Key contributions include the development of a method for calculating the limiting shear stress, which considers local velocity gradients and pressures. Validation demonstrates that the locally derived slip state aligns more closely with Knudsen number distributions of local flow scales compared to traditional uniform slip models, and exhibits greater consistency with experimentally measured pressure distributions. Additionally, the study reveals that eccentric Taylor–Couette flow, characterized by significant variations in local flow scales and strong self-induced pressure effects, leads to complex distributions of local pressure, velocity gradients, and differences in local slip velocities. Specifically, the non-uniform distribution of local pressure gradients due to eccentricity results in partial slip occurring predominantly on the rotor in regions with positive pressure gradients, and on the stator in regions with negative pressure gradients. Furthermore, the variation in gap height exerts a greater influence on local slip compared to rotational speed and eccentricity ratio. Under certain conditions influenced by pressure gradients, the slip velocity on the rotor may exceed its tangential speed.

An improved numerical model of high-speed friction stir welding using a new tool-workpiece slip ratio

The interface slip state of high-speed friction stir welding (HSFSW) is challenging to determine, and accurate boundary conditions cannot be obtained. First, this paper studies the effects of velocity and temperature on the interface slip state, and establishes a new slip coefficient equation. Then, this equation was used to modify the velocity boundary conditions and improve the numerical calculation method of HSFSW. A numerical model of HSFSW was established and validated through experimental data. Finally, the effects of traverse speed and rotational speed on the temperature and void defects of HSFSW were elaborated, and the applicable process parameter range was determined. Specifically, void defects were observed at a rotational speed of 6000 rpm with traverse speeds of 1000 mm/min and 2000 mm/min, while surface peeling occurred at a traverse speed of 3000 mm/min with a rotational speed of 7000 rpm. This study establishes the optimal parameter range for aluminum alloy HSFSW, providing valuable guidance for future industrial applications.

Object slip detection sensor based on triboelectric nanogenerator

Existing gripping devices limit the way of gripping the object, and the object may slide due to insufficient friction, when the manipulator grips the object, the object may slip phenomenon, which leads to the manipulator can not complete the gripping work normally. In order to solve this problem, this paper proposes a robotic slipping sensor to detect the slipping state of the object and its slipping distance, the sensor through the friction of two different materials and electrostatic induction phenomenon of triboelectricity and the peak voltage signal to determine whether the contact object produces the phenomenon of slipping and its slipping distance. This design integrates two rectangular copper foils and two polytetrafluoroethylene (PTFE) films together to form a triboelectricity nanogenerator in independent layer mode, which judges the slip distance of an object by the peak voltage signal generated by the object’s slip, which is flexible and can be combined with a robot to make the robot more flexible and convenient in its work. In order to verify the performance of this sensor, horizontal slip test and vertical slip test were conducted. In the horizontal slip test and vertical slip test, the peak voltage signal output from the TENG sensor has a linear relationship with the slip distance of the object. The sensor and the object contact slip process ends after 100 ms, the oscilloscope will output the peak voltage signal, so that according to the size of the peak voltage signal to determine the object in the range of 0–10 cm slip distance, for judging whether the object appears to slip phenomenon and the occurrence of the phenomenon of the slip distance it produces provides a flexible program.

Explicit frictional stick–slip dynamics of elastic contact problem incorporating the LuGre model

Dynamical contact problem with friction is of continuous concern and have been investigated over the years. The effective and accurate description of the development of the friction force is the key to this problem. However, the stick–slip phenomenon, as typical dynamical behaviour, has rarely been considered when developing contact algorithms for frictional contact problems of elastic bodies. The conventionally used Coulomb’s model, with differentiating the static and kinetic coefficient of friction, can lead to inaccurate results due to errors generated when switch between the stick or slip states. In this work, a three-dimensional mortar-based frictional contact algorithm is proposed in an explicit scheme. The proposed algorithm incorporates the LuGre model to account for dynamical frictional behaviours such as stick–slip. The effectiveness and accuracy of the proposed algorithm are validated through several simplified two-dimensional cases. The sticking time ratio and the evolution of the global coefficient of friction with time of a three-dimensional contact problem with a randomly rough contact interface are investigated as an application.

Development of a Smart Wearable Device for Fall and Slip Detection and Warning for the Elderly People

In the elderly, due to the degeneration of the muscles along with visual impairment, mobility becomes more difficult than in other ages. Upon moving, the elderly can be susceptible to several factors such as slips or obstacles which can cause unintended fall events and can lead to different degrees of injury, from minor trauma to more severe and even life-threatening injuries. In this work, the characteristics of movement and falling in the elderly are first studied, thereby finding thresholds for determining fall events for motion parameters to detect ahead of time the fall event. Therefore, necessary warnings can be promptly delivered to the users or caregivers, otherwise distress signal can be sent wirelessly to request assistance if the elderly is unable to stand up. This will help minimize the negative impact on the elderly caused by the fall event. The paper proposes to base the research on motion and fall features of the old people to build a wearable device which combines gyroscope accelerometer, a self-developed fall sensor and heart rate sensor for fall detection and warning. The device also employs parameter thresholds to detect forward and backward fall events as well as to provide accurate information about other familiar activities such as standing and sitting, lean forward, backward, left or right. The threshold-based method we used in determining the body states correctly identified the states: 93.33% steady state, 86.67% fallible state and 96.67% slip state. Moreover, the device can also achieve 90% accurate information about the user's heart rate.

Effect of Shock Absorber Friction on Vehicle Vertical Dynamics

<div>In order to efficiently predict and investigate a vehicle’s vertical dynamics, it is necessary to consider the suspension component properties holistically. Although the effects of suspension stiffness and damping characteristics on vertical dynamics are widely understood, the impact of suspension friction in various driving scenarios has rarely been studied in both simulation and road tests for several decades.</div> <div>The present study addresses this issue by performing driving tests using a special device that allows a modification of the shock absorber or damper friction, and thus the suspension friction to be modified independently of other suspension parameters. Initially, its correct functioning is verified on a shock absorber test rig. A calibration and application routine is established in order to assign definite additional friction forces at high reproducibility levels.</div> <div>The device is equipped in a medium-class passenger vehicle, which is driven on various irregular road sections as well as over single obstacles. For all tested road sections, a linear decrease of ride comfort in terms of specific relevant vertical objective values is found by increasing the friction force. This emphasizes a definite link between suspension friction and vertical vehicle body vibration, resulting in a negative impact on vertical ride comfort. However, the longitudinal vehicle body vibration is not significantly affected.</div> <div>The relevance of friction in terms of transmitting the energy associated with road unevenness to the chassis in the frequency range of the chassis’ natural frequency is found to be remarkably high on smooth roads, and still considerably high on bumpy roads. The chassis and wheel resonance frequencies are significantly friction-dependent due to the damper’s slip or stick states. The results obtained from smooth road tests demonstrate the practical relevance of accurately considering friction for the given suspension type in terms of vertical ride comfort prediction.</div>

Granular behaviour under bi-directional shear with constant vertical stress and constant volume

This paper aims to investigate the role of bi-directional shear in the mechanical behaviour of granular materials and macro-micro relations by conducting experiments and discrete element method (DEM) modelling. The bi-directional shear consists of a static shear consolidation and subsequent shear under constant vertical stress and constant volume conditions. A side wall node loading method is used to exert bi-directional shear of various angles. The results show that bi-directional shear can significantly influence the mechanical behaviour of granular materials. However, the relationship between bi-directional shear and mechanical responses relies on loading conditions, i.e. constant vertical stress or constant volume conditions. The stress states induced by static shear consolidation are affected by loading angles, which are enlarged by subsequent shear, consistent with the relationship between bi-directional shear and principal stresses. It provides evidence for the dissipation of stresses accompanying static liquefaction of granular materials. The presence of bi-directional principal stress rotation (PSR) is demonstrated, which evidences why the bi-directional shear of loading angles with components in two directions results in faster dissipations of stresses with static liquefaction. Contant volume shearing leads to cross-anisotropic stress and fabric at micro-contacts, but constant vertical stress shearing leads to complete anisotropic stress and fabric at micro-contacts. It explains the differentiating relationship between stress-strain responses and fabric anisotropy under these two conditions. Micromechanical signatures such as the slip state of micro-contacts and coordination number are also examined, providing further insights into understanding granular behaviour under bi-directional shear.

Mechanism characterization and sensitivity analysis of parameters of track corrugation in the metro small curve

ABSTRACT For investigating corrugation mechanisms and characterizing sensitive parameters in the metro small curve, a numerical model was established, and the transient dynamics analysis was performed employing the numerical model. Meantime, probability calculations were carried out using Direct Monte Carlo Simulation and Latin Hypercube Sampling, and the sensitivities of random input parameters were analyzed. The results show that the outside wheel-rail contact is in the gauge angle position, while the inside one is in the top-of-rail position. The outside stick-slip distribution is always in the slip state and exhibits multi-point contact; the inside stick-slip distribution exhibits alternating stick-slip and slip states and is all in single-point contact. The formation mechanism of inner rail corrugation can be summarized as the generation of corrugation due to the contact state variation induced by the system instability. The friction coefficient, longitudinal relative slip and modulus of elasticity of the baseplate have greater influence, while the remaining parameters have less effect. Appropriately reducing the friction coefficient, longitudinal relative slip, primary suspension vertical and transverse forces, wheelset transverse displacement and wheel-rail contact angle, increasing the moduli of elasticity and densities of rail pad, baseplate and baseplate pad can make a proactive difference in the corrugation control.

The present-day stress field and paleo tectonics in offshore Brunei Darussalam

Present-day maximum horizontal stress orientation is one of the fundamental inputs for well design and stability analysis. Since the previous stress orientation map in Brunei Darussalam published in 2005, more borehole image data have been acquired to evaluate both reservoir geology and hole damages of different causes. The image-based breakout orientations in recent wells not only filled critical data gaps but also replaced the low-confident stress orientations from dipmeter data on the previous map. Integration with seismic interpretation also gives new insights into the present-day stress variations in relations to the tectonic evolution.The new map suggests three main stress domains transitioning to each other. Domain A in the deepwater to shelf slope region is compressional, characterized by northwest-southeast maximum horizontal stress, consistently perpendicular to the associated delta toe thrust structures near the well locations. The shelf to onshore region is divided into domain B in the east and domain C in the west as result of different evolutions and interactions between shallow deltaic and deep plate tectonics. This contrasts with the 2005 stress map, which divided the region into inversed inner shelf and extensional outer shelf provinces. The domain B is possibly in strike slip state with margin normal maximum horizontal stress, which is a reversal from the paleo extensions expressed by collapse faults and a large counter regional normal fault. The counter regional normal fault is interpreted as the result of rapid sediment load over thick ductile shales prior to the toe thrust system. The domain C in the west exhibits extension with east-west maximum horizontal stress, parallel to the normal faults but oblique to the thrust faults and the coastline. It is reversed from the latest compressional episode. Restoration of the structural deformation history suggests that tectonic reversals occurred several times in the domain C. Between the two shelf domains, where two sets of structural lineaments intersect, the maximum horizontal stress rotates across the two systems.

A novel tactile sensor with multimodal vision and tactile units for multifunctional robot interaction

AbstractRobots with multi-sensors always have a problem of weak pairing among different modals of the collected information produced by multi-sensors, which leads to a bad perception performance during robot interaction. To solve this problem, this paper proposes a Force Vision Sight (FVSight) sensor, which utilizes a distributed flexible tactile sensing array integrated with a vision unit. This innovative approach aims to enhance the overall perceptual capabilities for object recognition. The core idea is using one perceptual layer to trigger both tactile images and force-tactile arrays. It allows the two heterogeneous tactile modal information to be consistent in the temporal and spatial dimensions, thus solving the problem of weak pairing between visual and tactile data. Two experiments are specially designed, namely object classification and slip detection. A dataset containing 27 objects with deep presses and shallow presses is collected for classification, and then 20 slip experiments on three objects are conducted. The determination of slip and stationary state is accurately obtained by covariance operation on the tactile data. The experimental results show the reliability of generated multimodal data and the effectiveness of our proposed FVSight sensor.

Tire Performance and Testing under Longitudinal and Combined Slip States: Induced vs Resultant Wheel-Related Slip

ABSTRACT Tires influence many overall vehicle characteristics, including safety, performance, comfort, and handling. Testing is needed to characterize tires for the selection of original equipment manufacturers submissions as well as for the development of other suspension and chassis components. The reality that tire responses are highly nonlinear and change significantly with temperature, wear, and surface pairing makes testing to adequately characterize tires for vehicle development difficult. Furthermore, achieving robust, repeatable braking and driving measurements is particularly challenging. Unlike cornering tests, the test rig input is directly opposed to the tire response vector. Moreover, using an estimated parameter (e.g., slip ratio) as a control value prohibits a clear distinction between the linear test rig input and the nonlinear tire response. In this paper, the influence of the wheel-related slip control on tire performance under longitudinal and combined slip conditions is investigated. Two different tire types are measured in a laboratory environment on an MTS Flat-Trac CT+ tire test rig. A variety of test procedures are used to consider the influence of slip and torque rates under different operating conditions (e.g., wheel loads). A recommendation is given for a low-wear and cost-efficient testing methodology for an improved assessment of tire longitudinal and combined slip characteristics by using a linear test rig input.

An effective model for bolted flange joints and its application in vibrations of bolted flange joint multiple-plate structures: Theory with experiment verification

Bolted flange joints are widely used in various engineering structures to combine two or more substructures together. However, the understanding of mechanical mechanism of bolted flange joints is still insufficient due to the lack of efficient mathematical models. This paper proposes an effective mathematical model for bolted flange joints, which is then employed to conduct vibration analysis on bolted flange joint multiple-plate structures. During the modeling process, the flange is modeled by the Kirchhoff plate theory, and the bolted joints are modeled by the two-dimensional face constraint in bolted joint affected region (BJAR). The artificial spring technique is adopted to simulate the face constraint. The friction contact model and equivalent linearization technique are adopted to analyze the stick and slip states of bolted joints. By adopting the Chebyshev orthogonal polynomials as admissible functions, governing equations are derived. Then, the Rayleigh-Ritz method is applied to study the free vibration characteristics, and the Newmark-beta method is employed to study the vibration response under base excitation. The experimental studies are performed on the bolted flange joint two-plate structure (BFJTPS) to illustrate the effectiveness of the proposed theoretical model. The results indicate that the proposed mathematical model can well predict the vibration characteristics of multiple-plate structures under both bolt looseness and no-looseness conditions. The soft nonlinearity phenomenon under bolt looseness condition can be successfully revealed by the model.

Analysis of Flow and Fluctuation Characteristics in Coated Slag Using a 2D Model in the Meniscus Region of Mold

Steel is mainly produced through continuous casting; molten steel flows into the mold from the tundish, where it cools and then enters the secondary cooling zone, ultimately solidifying into a billet. During the continuous casting production process, the quality of the casting billet is mainly related to the lubrication state of the coated slag. In the upper part of the mold, the consumption of liquid protective slag directly affects the friction state of the initial solidified billet shell. Therefore, the flow and fluctuation characteristics of coated slag in the meniscus area are very important. There is limited research on the flow and fluctuation characteristics of coated slag in the meniscus area, and little consideration has been given to the shape of the meniscus. In this work, a two-dimensional numerical model for the flow and fluctuation of coated slag in the meniscus region was established, and the transient flow velocity of protective slag and molten steel at each moment of the vibration cycle was obtained, as well as the fluctuation of the slag/steel interface in the meniscus region. The results show that when the surface mold vibrated upwards, the protective slag in the meniscus area flowed clockwise. When the mold moved downwards, the protective slag in the slag pool generated a counterclockwise flow vortex. When the mold was in a positive slip state, the negative pressure formed by the upward flow of the protective slag on the meniscus and the inertia force of steel liquid pushed the meniscus toward the inner wall of the mold. During negative slip, the flow of coated slag generated positive pressure on the slag/steel interface, pushing the meniscus toward the steel liquid, and at the initial moment of negative slip, the steel liquid overflowed into the slag channel. This model could provide a theoretical basis for the flow control of protective slag.

Transition between the stick and slip states in a simplified model of magnetic friction.

We introduce a simplified model of magnetic friction and investigate its behavior using both numerical and analytical methods. When resistance coefficient γ is large, the movement of the system obeys the thermally activated process. In contrast, when γ is sufficiently small, the slip and stick states behave as separate metastable states, and the lattice velocity depends on the probability that the slip state appears. We evaluate the velocities in both cases using several approximations and compare the results with those of numerical simulations.

Slip Estimation Using Variation Data of Strain of the Chassis of Lunar Rovers Traveling on Loose Soil

The surface of the Moon and planets have been covered with loose soil called regolith, and there is a risk that the rovers may stack, so it is necessary for them to recognize the traveling state such as its posture, slip behavior, and sinkage. There are several methods for recognizing the traveling state such as a system using cameras and Lidar, and they are used in real exploration missions like Mars Exploration Rovers of NASA/JPL. When a rover travels and travels across loose soil with steep slopes like a side wall of a crater on the lunar surface, the rover has side slipping. It means that its behavior makes the rover slip down to the valley direction. Even if this detection uses sensors like a camera and Lidar or other controlling systems like SLAM (Simultaneous Localization and Mapping), it would be too difficult for the rover to avoid slipping down to valley direction, because it is not able to detect the traction or resistance given from ground by individual wheel of the rover, as the traction of individual wheel of the rover is not clear. This means that the movement of the rover appeared by integrating the traction of all wheels mounted on the rover. Even if the localization by sensors is carried out, the location would be the location after slipping down. This is because when traveling on unstable ground, the driving force of each individual wheel cannot be accurately predicted, and the sum of the driving force of all wheels is the motion of the rover, which is detected after the position changes. Therefore, if the rover obtains information on the traction of each wheel, its maneuver to change its posture would work sooner and it would be able to travel more efficiently than in a state without that information. Because the onboard computer of rovers can identify their location and state from the information of the traction of each wheel, they can decide the next work carefully and in detail. From these tasks, we focused on the intrinsic sensation of a biological function like a human body and aimed to develop a system that recognizes the traveling state (slip condition) from the shape deformation of the chassis. In this study, we experimentally verified the relationship between the change in strain, which is the amount of deformation acting on the chassis, and the traveling state while the wheel is traveling. From the experimental results, we confirmed that the strain in the chassis was displaced dynamically and that the strain changed oscillatory while the wheel was traveling. In addition, based on the function of muscle spindles as mechanoreceptors, we discussed two methods of analyzing strain change: nuclear chain fiber analysis and nuclear bag fiber analysis. These analyses mean that the raw data of the strain are updated to detect the characteristic strain elements of a chassis while the wheel is traveling through loose soil. Eventually, the slipping state could be estimated by updating the data of a lot of strain raw data, and it was confirmed that the traveling state could be detected.

A self-powered sensor for detecting slip state and pressure of underwater actuators based on triboelectric nanogenerator

In challenging underwater environments, mechanical actuators must conquer diverse hurdles and guarantee meticulous and steadfast command while engaging with delicate and pliant targets. To address these issues, a novel pressure and slip state monitoring sensor (PS-TENG) based on the triboelectric nanogenerator principle was proposed to establish a haptic sensing system for underwater actuators. This sensor can detect pressure at the actuator during gripping and the relative slipping speed between the actuator and the target, allowing for precise control based on feedback signals from the perception system. In this study, we established a theoretical framework connecting pressure and electrical signals, explored material preparation methods and manufacturing steps, conducted performance optimization experiments after producing the prototype. Furthermore, we presented a signal processing technique for the sensor's output. Results demonstrated that the sensor can generate an open-circuit voltage signal of up to 45 V at a maximum operating pressure of 13 N. Moreover, within the operating pressure range, the sensor exhibited high sensitivity, reaching up to 4.5 V/N. By analyzing and processing the sensor signals, the actuator can obtain both pressure and relative slipping speed information simultaneously, essential for addressing complex underwater grasping tasks. Our research indicates that the PS-TENG sensor can serve as a reliable and efficient solution for establishing haptic sensing systems in underwater applications. With its excellent performance, this sensor holds broad potential for use in underwater robotics and electronic devices, thereby facilitating the advent of more versatile and dependable equipment in the days to come.

Competitive fretting fatigue failure analysis of Al alloy–CFRP riveted and adhesive–riveted single-shear lap joints

Fatigue tests on Al alloy–carbon fibre reinforced plastic (CFRP) single-shear lap riveted joints and adhesive–riveted hybrid joints are conducted to reveal the failure mechanisms of joints under different loads. The novelty of this study is that the effect of heat accumulation caused by interfacial friction on joint competitive failure is considered. Results show that the Al–CFRP joint is a typical competitive fretting fatigue, and the failure modes of heterogeneous joints are affected by the sensitivity of the mechanical properties of materials due to the external environment change. The failure location of the joint under low load is the Al plate. As the load increases, the joint enters a gross slip state accompanied by a temperature rise. In addition, the performance of the CFRP decreases significantly, leading to the fracture of the CFRP plate. The existence of the adhesive slows down the interfacial wear, which can improve the service life by 500% under lower loads, but it cannot prevent the temperature rise under higher loads and only improves the life by 80%. When selecting life-enhancing methods in engineering applications, the hybrid joint can be considered under low loads, and high-temperature-resistant composites are recommended under high loads.

Surface Effect in Nano-Scale Fretting Contact Problems

Abstract The fretting contact behavior of nanostructured materials is significantly influenced by the surface effect. A model of fretting contact between a nano-sized rigid cylindrical indenter and an elastic half-plane is established based on Gurtin–Murdoch (G–M) surface elasticity theory, with which the surface effects on the stress and displacement distributions and the size of stick region (no-slip region) in the contact zone are systematically studied. It is found that the surface effect induces an additional traction besides the external force applied by punch, which could help to smoothen the stress and displacement distributions. The normal surface-induced traction related to the residual surface stress is opposite to the externally applied compression, which results in a material stiffening in the contact zone so that the contact radius, normal displacement, and normal stress decrease compared with their classical counterparts. The tangential surface-induced traction is also opposite to the externally applied frictional stress, consequently leading to reductions of the shear stress and tangential displacement induced by friction in the contact zone. More interestingly, the surface effect leads to three possible states in the contact zone, including complete slip, partial slip, and complete stick, instead of the solely partial slip state in classical fretting contact models without surface effect. Among them, the complete stick due to the action of surface residual stress is more beneficial for inhibiting the wear of contact devices, which can be realized by reducing the indenter size. The present research does not only help one to better understand the physical mechanism in nano-scale fretting contact problems, but should also guide the anti-wear design in nano-electro-mechanical (NEMs) systems.

Using Inverse Dynamics Technique in Planning Autonomous Vehicle Speed Mode Considering Physical Constraints

The study aims at improving the technique of planning the autonomous vehicles’ (AV) speed mode based on a kinematic model with physical restrictions. A mathematical model relates the derivatives of kinematic parameters with ones of the trajectory’s curvature. The inverse approach uses an expanded vehicle model considering the distribution of vertical reactions, wheels’ longitudinal reactions according to a drive type, and lateral forces ensuring motion stability. For analysis of the drive type, four options are proposed: front-wheel drive (FWD), rear-wheel drive (RWD), permanent engaged all-wheel drive (AWD), and 4-wheel drive with torque vectoring (4WD-TV). The optimization model is also built by the inverse scheme. The longitudinal speed’s higher derivatives are modeled by the finite element (FE) functions with nodal unknowns. The sequential integrations ensure the optimality and smoothness of the third derivative. The kinematic restrictions are supplemented by the tire-road critical slip states. Sequential quadratic programming (SQP) and the Gaussian N-point scheme for quadrature integration are used to minimize the objective function. The simulation results show a significant difference in the mode forecasts between four types of AV drives at the same initial conditions. This technique allows redistributing the traction forces strictly according to the wheels’ adhesion potentials and increases the optimization performance by about 40% compared to using the kinematic model based on the same technique without physical constrains.