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Wheels and Tyres
Published in G. K. Awari, V. S. Kumbhar, R. B. Tirpude, Automotive Systems, 2021
G. K. Awari, V. S. Kumbhar, R. B. Tirpude
Pneumatic trail is caused by the progressive build-up of lateral force along the length of the contact patch, such that lateral forces are greater towards the rear of the contact patch (though less so when the rear of the contact patch begins sliding) and this creates a torque on the tyre called the self aligning. Self aligning torque helps steered tyres to return to the original position after negotiating a turn on the road. Self-aligning torque (SAT) may be defined as the product of the cornering force and the pneumatic trail.
Modelling transient response using PAC 2002-based tyre model
Published in Vehicle System Dynamics, 2022
Aashish Shaju, Ashok Kumar Pandey
It is to be noted that the transient effects in the self aligning torque is approximated by including the lateral, and longitudinal, , forces and neglecting the possible changes in the pneumatic trail in the equation, where, , is the residual aligning torque which mainly comprise of PRAT (ply steer residual aligning torque). Here, one can see that both the Equations (7) and (9) depend upon the respective relaxation lengths and . In the subsequent section, we discuss about a reliable estimation of the relaxation lengths obtained based on Rill's work [41].
Energy-aware trajectory planning for planetary rovers
Published in Advanced Robotics, 2021
Furthermore, on the steering axle a torque is generated; this torque for the pneumatic tire on hard ground is called as the self-aligning torque (or, scrubbing torque) which makes the tire straight align. However, for a rigid wheel on deformable field, experimental results validated that self-aligning torque makes the wheel steer further than expected [12]. Due to this phenomenon a resistance torque will act on the steering axle, thus a certain amount of counter torque should be applied to maintain a desired steering angle. The steering torque is assumed as the following equation: where is the maximum normal stress angle.
A predictive control framework for torque-based steering assistance to improve safety in highway driving
Published in Vehicle System Dynamics, 2018
Ziya Ercan, Ashwin Carvalho, H. Eric Tseng, Metin Gökaşan, Francesco Borrelli
The equivalent self-aligning torque on the hand wheel is assumed to be linear with the front slip angle : where is the total gain as the self-aligning torque is transferred from the tyres to the hand wheel. This approximation holds if the slip angles stay in the linear region of tyre forces [10,16].