Identification of a piecewise affine model for the tire cornering characteristics based on experimental data
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ORIGINAL PAPER
Identification of a piecewise affine model for the tire cornering characteristics based on experimental data Xiaoqiang Sun Long Chen
. Weiwei Hu . Yingfeng Cai . Pak Kin Wong .
Received: 30 March 2020 / Accepted: 25 July 2020 Springer Nature B.V. 2020
Abstract Tire cornering characteristics have significant influence on vehicle lateral dynamics control. Unlike traditional tire mechanics models which are established based on the research experience or the mechanics mechanism, in this study, a novel experimental data-driven modeling approach is presented to model the tire cornering characteristics based on piecewise affine (PWA) identification method. In this approach, the highly nonlinear dynamic of the tire cornering characteristics is well approximated by several affine submodels acting on different regions. To obtain the experimental data which can accurately reflect the tire cornering characteristics, the tire tests are firstly carried out through a high-performance flatplate test bench. On this basis, the PWA identification of the tire cornering characteristics is composed of the data clustering, the parameter estimation of the affine submodels and the calculation of the hyperplane X. Sun (&) W. Hu Y. Cai L. Chen Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China e-mail: [email protected] X. Sun W. Hu Key Laboratory of Advanced Manufacture Technology for Automobile Parts, Chongqing University of Technology, Ministry of Education, Chongqing 400054, China X. Sun P. K. Wong Department of Electromechanical Engineering, University of Macau, Taipa, Macau
coefficient matrices. The simulation results of the PWA identification model are finally compared with the experimental data to illustrate that the identified model has high accuracy in approximating the tire nonlinear cornering characteristics under wide range driving conditions. Keywords Tire Cornering characteristics Modeling Piecewise affine identification Experimental data
1 Introduction The only part of the vehicle in contact with the ground is the tire [1]. In addition to the air resistance, all the external forces acted on the vehicle are transmitted by the tires. Thus, the tire mechanical characteristics are very crucial for vehicle system dynamics analysis and control design [2–4]. Tire cornering characteristics model can effectively reflect the relationship between the tire lateral force transmitted from the ground and the tire operating parameters, which plays an important role in the design and analysis of vehicle lateral dynamics control system [5]. However, due to the complexity of the contact between tire and ground and the time-varying characteristics of the tire operating parameters, the tire cornering characteristics show obvious nonlinearity [6]. In the previous research on vehicle lateral dynamics control, the tire nonlinear
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cornering characteristics have not received enough attention [7, 8]. This treatm
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