LENZO, Basilio, ZINGONE, Salvatore Andrea and TIMPONE, Francesco (2020). On the estimation of tyre self-aligning moment through a physical model and the trick tool. International Journal of Mechanics and Control, 21 (2), 13-20.
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JoMaC_Lenzo_final.pdf - Accepted Version
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JoMaC_Lenzo_final.pdf - Accepted Version
Available under License All rights reserved.
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Abstract
The understanding of tyre-road interactions plays a fundamental role in the design of advanced
vehicle controllers for enhancing performance and safety. Although there are interesting
contributions in the literature that look at estimating tyre-road forces, little has been done on
estimating the self-aligning moment. This paper proposes a new method to estimate the selfaligning moment, based on a brush model and a tyre force estimator tool. The idea is that: i) the
parameters of a physical model (the brush model) can be optimised to match the lateral forces
obtained through a reliable tyre force estimator tool; ii) the optimised model can then be used
to compute the self-aligning moment, due to a key feature of the brush model, i.e. that it is a
physical model. Hence, unlike other contributions, this method does not require experimental
measurements of the self-aligning moment, nor the steering torque. A fitting function is also
proposed for the length and width of the contact patch of a tyre as a function of the vertical
load. Results show the satisfactory estimation of the lateral force and the consequent selfaligning moment trends, based on experimental manoeuvres carried out on a handling track
with a performance-oriented vehicle.
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