Real-time models for wheels and tyres in an object-oriented modelling framework

This article presents models for wheels and tyres in the application field of real-time multi-body systems. For this rather broad class of applications it is difficult to foresee the right level of model complexity that is affordable in a specific simulation. Therefore we developed a tyre model that is adjustable in its degree of complexity. It consists of a list of stepwise developed sub-models, each at a higher level of complexity. These models include semi-empirical equations. The stepwise development process is also reflected in the corresponding implementation with the modelling language Modelica. The final wheel model represents a supermodel and enables users to select the right level of complexity in an unambiguous way.