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The behaviour of the creep forces between a air-filled rubber tire and ground is more complex than the creep forces between wheel and rail.
The behaviour of a rubber tire is different than a steel tire.
A road vehicle can steer freely, it doesn't need to follow a certain track.
A wheel made of steel is very stiff in all directions.
In an air-filled rubber tire, the flexibility in the rubber walls must be taken into account.
However, the properties of a rubber tire can measured in a test rig, and the data can be used as input data to the Magic Formula tire models
The model describes a car standing in 4 wheels. The two leading wheels steers in a sinusoidal motion. The frequency of the steering wheels motions is varied from 0.05[Hz] up to 2.0[Hz].
All cases can be run with script ./RunAll.bat.
Animate the simulations in program Glplot.
The steering wheel moves in a sinusoidal motion of 0.10[Hz]:
As can be seen in the video above, the vehicle follows the steering motion of the front wheels.
The steering wheel moves in a sinusoidal motion of 2.00[Hz]:
In this video the steering motion is too fast. The vehicle is not able to follow the steering motion of the wheels.