LAUSR

This paper proposes a brush-type tire model with a new mathematical representation. The presented model can be seen as a generic model that describes the distributed viscoelastic force and Coulomb-like friction force, which are balancing each other at each point, in the contact patch. The model is described as a partial differential algebraic inclusion (PDAI), which involves the set-valuedness to represent the static friction. A numerical integration algorithm for this PDAI is derived through the implicit Euler discretization along both space and time. Some numerical comparisons with Magic Formula and a LuGre-based tire model are presented. The results show that, with appropriate choice of parameters, the proposed model is capable of producing steady-state characteristics similar to those of Magic Formula. It is also shown that the proposed model realizes a proper static friction state, which is not realized with a LuGre-based tire model.