关键词: 车轮模型；气胎弹性；动静摩擦分离建模；原地转向；转向小干扰

Abstract:

Aiming to the lack of tire model in application, this paper presented a vehicle wheel model considering the elasticity of pneumatic tire. Six spring-dampers were used in the model to simulate the elasticity of pneumatic tire and to calculate the outside forces of contact patch.Stick-slip
friction model was used to calculate the friction between contact patch and road, so that the force of vehicle was truly calculated at zero speed.By simulating the zero speed, parking steering, little steering disturb，and handling,the conclusion is drawn,that the model is correct and the model can simulate zero speed and stability of the vehicle.

Key words: wheel model；elasticity of pneumatic tire；stick-slip friction model;parking steering;little steering disturb