Abstract
In this investigation, a numerical procedure for parameter identification of LuGre tire force model is developed. To this end, the steady state LuGre tire force model is used for the parameter identification. The parameters of the LuGre model are identified such that the error function of tire forces obtained using the model and experiment can be minimized. However, reliable solutions to the nonlinear optimization problem require providing appropriate initial estimates for iterative solution procedures since there are many local minima. For this reason, several friction parameters used in the LuGre tire force model are estimated using the characteristics curve of the friction coefficient as a function of the slip velocity, while the adhesion parameter is estimated using the slope around the zero slip ratio. Iterative solution procedures are then employed to identify the model parameters using the initial estimates provided. It is demonstrated that use of the proposed numerical procedure leads to accurate identifications of the LuGre model parameters for various loading and speed conditions. Furthermore, the phenomenon that the peak value of friction coefficient decrease as the running speed increases can be well predicted using the transient LuGre tire force model.
