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In (automotive) vehicle dynamics, slip is the relative motion between a tire and the road surface it is moving on. This slip can be generated either by the tire's rotational speed being greater or less than the free-rolling speed (usually described as percent slip), or by the tire's plane of rotation being at an angle to its direction of motion (referred to as slip angle).
Slip ratio is a means of calculating and expressing the slipping behavior of the wheel of an automobile.It is of fundamental importance in the field of vehicle dynamics, as it allows to understand the relationship between the deformation of the tire and the longitudinal forces (i.e. the forces responsible for forward acceleration and braking) acting upon it.
Cornering force is generated by tire slip and is proportional to slip angle at low slip angles. The rate at which cornering force builds up is described by relaxation length. [2] Slip angle describes the deformation of the tire contact patch, and this deflection of the contact patch deforms the tire in a fashion akin to a spring.
The slipping velocity (difference between the velocity of the car and the velocity of the tire in the contact point) will change very quickly and the model becomes a stiff system (a system whose eigenvalues differ a lot), which may require a special solver. The general form of the Magic Formula, given by Pacejka, is: [8]
Self aligning torque , slip angle , and camber angle are also shown. Self aligning torque ( SAT ), also known as aligning torque or aligning moment ( Mz , moment about the z direction ), is the torque that a tire creates as it rolls along, which tends to steer it, i.e. rotate it around its vertical axis.
The stiffness, , of a body is a measure of the resistance offered by an elastic body to deformation. For an elastic body with a single degree of freedom (DOF) (for example, stretching or compression of a rod), the stiffness is defined as k = F δ {\displaystyle k={\frac {F}{\delta }}} where,
Tire load sensitivity. Tire load sensitivity describes the behaviour of tires under load. Conventional pneumatic tires do not behave as classical friction theory would suggest. . The load sensitivity of most real tires in their typical operating range is such that the coefficient of friction decreases as the vertical load, Fz, increas
Plot showing lateral force building up as a bicycle tire rolls forward at a 2.4º slip angle. The results from three separate test runs are superimposed. Relaxation length is a property of pneumatic tires that describes the delay between when a slip angle is introduced and when the cornering force reaches its steady-state value. [1]