Identification of Tire Force Model Using Experimental Data of a New Scaled Test Rig for Design of Nonlinear Slip Controller

In this paper, three models for tire friction force are identified using experimental data of scaled test rig. In this setup, a scaled tire is forced to be in contact with a high inertia disk and the friction force between the tire and disk is measured in terms of the slip during braking. For identification of the models, tire’s rotational speed, tire’s slip and tire’s normal force are used as the inputs and the tire’s longitudinal force is considered as the output. The experimental data required for identification are collected by force and rotational displacement sensors. By using the measured data, the parameters of tire friction force models are calculated using nonlinear least square method. The identified models are evaluated by data not used in the identification process. The results show that the identified models follow the system outputs with acceptable errors. Among the identified models, the Dugoff model has the better accuracy compared with the Fiala and semi-linear models. As an application, a nonlinear dynamic model of the setup including the identified friction force model is employed to design a nonlinear controller for anti-lock braking system.