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A Steady State Model of the Contact Between a Deformable Tire and a Deformable Terrain

[+] Author Affiliations
Pravesh Sanghvi, Harry Dankowicz

University of Illinois at Urbana-Champaign, Urbana, IL

Bernard E. Romig

Moline Technology Innovation Center, Moline, IL

Paper No. DETC2010-28318, pp. 129-135; 7 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4412-0 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This paper presents a lumped-parameter, planar, physical model for capturing steady-state interactions between a deformable tire and a deformable terrain. The model includes effects due to tangential and normal compliance of the terrain surface as well as radial and circumferential compliance of the tire. In addition, shear failure and dry friction limits are introduced through a distinction between regions along the circumferential direction of the tire that are in local stick or slip, respectively. The time history of interactions between individual infinitesimal patches of the tire and the terrain is then described by a hybrid dynamical system, in which changes between individual phases of motion are triggered by characteristic events. The paper further illustrates the application of a non-linear regression technique for identification of the seven model parameters and, in selected cases additional unknown kinematic variables. Specifically, the model is fit to experimental load-deflection, gross-thrust, and net-pull data demonstrating good quantitative agreement.

Copyright © 2010 by ASME
Topics: Steady state , Tires



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