Modelling and Estimation for Tire-Road System using Bond Graph Approch

Tire-road is heterogeneous, complex and variable system due to the interaction of several physical phenomenon (mechanical, thermal, hydrodynamic,...). Modelling of such system needs a unified approach using one representation to provide in generic and systematic way the dynamic nonlinear model. The bond graph tool is well suited for this task allowing to estimate the longitudinal impact efforts through the tire-road contact, and to represent overall deformation of the tire in interaction with its environment relating to the longitudinal slip velocity. A practical tool for simulation in modular form is developed under appropriate software allowing the primary validation of the model. Finally, a comparison with experimental results is presented