Editorial Type:
Article Category: Research Article
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Online Publication Date: 14 Jan 2020

Tire Rolling Kinematics Model for an Intelligent Tire Based on an Accelerometer

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Page Range: 287 – 314
DOI: 10.2346/tire.20.190211
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ABSTRACT

The idea of intelligent tires is to develop a tire into an active perception component or a force sensor with an embedded microsensor, such as an accelerometer. A tire rolling kinematics model is necessary to link the acceleration measured with the tire body elastic deformation, based on which the tire forces can be identified. Although intelligent tires have attracted wide interest in recent years, a theoretical model for the rolling kinematics of acceleration fields is still lacking. Therefore, this paper focuses on an explicit formulation for the tire rolling kinematics of acceleration, thereby providing a foundation for the force identification algorithms for an accelerometer-based intelligent tire. The Lagrange–Euler method is used to describe the acceleration field and contact deformation of rolling contact structures. Then, the three-axis acceleration vectors can be expressed by coupling rigid body motion and elastic deformation. To obtain an analytical expression of the full tire deformation, a three-dimensional tire ring model is solved with the tire–road deformation as boundary conditions. After parameterizing the ring model for a radial tire, the developed method is applied and validated by comparing the calculated three-axis accelerations with those measured by the accelerometer. Based on the features of acceleration, especially the distinct peak values corresponding to the tire leading and trailing edges, an intelligent tire identification algorithm is established to predict the tire–road contact length and tire vertical load. A simulation and experiments are conducted to verify the accuracy of the estimation algorithm, the results of which demonstrate good agreement. The proposed model provides a solid theoretical foundation for an acceleration-based intelligent tire.

Keywords: intelligent tire; accelerometer; rolling kinematics model; Lagrange–Euler method; tire ring model; tire vertical load estimation
FIG. 1 —
FIG. 1 —

Framework of the intelligent tire system.

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FIG. 2 —

Intelligent tire system. (a) multisensors attached to the middle of the tire innerliner; (b) collector and battery fixed on the hub; (c) controller and data acquisition; (d) test vehicle equipped with an intelligent tire.

FIG. 3 —
FIG. 3 —

Three-directional acceleration under steady-state straight-line driving.

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FIG. 4 —

Mixed Lagrange–Euler method for decomposing the tire rolling contact.

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FIG. 5 —

Definition of the reference coordinate system.

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FIG. 6—

Tire three-dimensional ring model.

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FIG. 7—

Tire parameters applied in the Hamilton equation.

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FIG. 8—

In-plane tire–road contact model.

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FIG. 9 —

Relations between the different coordinate systems.

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FIG. 10 —

Tire whole-circle deformation.

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FIG. 11 —

Acceleration based on the tire rolling kinematics model. (a) Radial; (b) longitudinal.

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FIG. 12 —

Sensor position. (a) Location; (b) corresponding radial acceleration.

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FIG. 13 —

Tire contact area simulation results: (a) simulation model; (b) static state; (c) one moment of rolling state.

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FIG. 14 —

Factors influencing the contact length.

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FIG. 15 —

Intelligent tire experiments: (a) bench test; (b) field test.

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FIG. 16 —

Fitting precision of bench test results.

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FIG. 17 —

Comparison between predicted vertical load obtained with the intelligent tire and real load.

Contributor Notes

1 State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Lee Shau Kee Science and Technology Building, A539, Beijing, 100084, China
2 Vibro-Acoustics of Vehicles and Machines, Department of Mechanical Engineering, Technical University of Munich, Boltzmannstr. 15, 85748, Garching, Germany
3 Institute for Structural Analysis, Technische Universität Dresden, 01062, Dresden, Germany
4 Corresponding author. Email: weiyt@tsinghua.edu.cn
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