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International Journal of Automotive Technology > Volume 13(2); 2012 > Article
International Journal of Automotive Technology 2012;13(2): 215-222.
NON-SINGULAR SLIP (NSS) METHOD FOR LONGITUDINAL TIRE FORCE CALCULATIONS IN A SUDDEN BRAKING SIMULATION
J. H. LEE1, W. S. YOO2
1Pusna National University
2Pusan National University
ABSTRACT
In a dynamic vehicle simulation, longitudinal tire force is primarily based on the longitudinal slip (ratio). In the longitudinal slip formula, state variables are used in the denominator. This causes a divergence problem for numerical simulations of vehicle dynamics. To avoid this numerical singularity, a differential slip calculation method was developed for use in dynamic vehicle simulations. However, this method also causes a singularity when the wheel velocity approaches zero in a pure slip state, such as during sudden braking. In this paper, a new longitudinal slip calculation method, which can overcome singularities in all velocity conditions, is proposed. For this purpose, the Taylor series is adapted to the slip formula and the idea of virtual wheel rotation stiffness is introduced for the development of the slip equation. The physical phenomenon at the zero slip state is analyzed. Finally, the proposed slip formula is used to solve the numerical singularity problem, and the non-singular slip (NSS) calculation method is propo
Key Words: Vehicle dynamics, Tire model, Longitudinal slip, Singularity of tire slip, Virtual stiffness, MF-tire
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