A novel wheel/tyre dynamics model and derivation of a generalized friction law

Based on the fundamentals of differential calculus, and the basic concept of finite element analysis, as well as the principles of linear decomposition and superposition, this research presents a novel wheel/tyre dynamics model. It provides a closed-form solution over an infinitesimal time interval to resolve the wheel—tyre transient process by making the non-linear wheel/tyre dynamics linear and holding the wheel slip constant. Important issues, such as the force transmission, motion generation, and energy dissipation, can therefore be predicted step by step throughout the entire wheel transient process. With the analysis of the wheel/tyre dynamics model in a longitudinal braking process, it allows derivation of a generalized friction law, which has given a more comprehensive description of the physical phenomenon of friction in general.