Analytical model of pneumatic tyres for vehicle dynamic simulations. Part 1. Pure slips

This study presents an analytical approach for determining tyre dynamic properties in a sequence of three papers. Most of the necessary parameters are determined using tyre geometry, orientation and some experimental data. Explicit formulations are derived analytically for the tyre dynamic properties as functions of the slip ratio, slip angle, camber angle and other tyre dynamic parameters. These formulations can be used for the general vehicle simulations in braking/traction and steering manoeuvres with a varying camber angle on regular or irregular terrains. In the first paper a brief review of some previous studies is given. Tyre modelling, contact, slip and friction properties are also studied. Tyre forces and moments due to pure slips are investigated. An algorithmic procedure is provided, in the summary. for computational purposes. In the second paper, tyre forces and moments due to comprehensive slips are studied. Finally, in the third paper these analytical models are validated against some experimental data.