For all , the paper ' s studying is a very important development of tire engineering . so it has an important theory significance and practical value 总之，本论文研究轮胎侧偏特性的有限元分析是轮胎研究的一个重要发展，因此具有重要的理论意义和实用价值
The nonlinear controller is gained 2 ) the analysis of 4ws system by nonlinear dynamics combined the nonlinear tyre model with a driver model , a nonlinear 4ws model is put forward . its stability is analyzed and the result is verified by simulation （ 2 ）用现代非线性动力学理论，结合非线性轮胎侧偏公式与司机模型，建立了4ws的非线性模型，研究了其稳定性，并进行了数值模拟。
Tyre wear power taken as the evaluation parameter , tyre wear is studied under the situation of tyre side slip , lengthways slip and side - lengthways slip respective , and the calculation model of tyre wear is built by use of the brush tyre model 以轮胎磨损能量作为评价指标，选取刷子轮胎模型，对轮胎在稳态纵滑状态下、稳态纵滑侧偏状态下和边界条件下的轮胎磨损进行了分析研究，确定了量化模型。
Based on neural network , the identification is made for a magic formula tyre model . furthermore , the simulation is done to validate the accuracy of the identification . a tyre cube nonlinear model is used in robust control of 4ws system 用神经网络辨识了基于magicformula轮胎侧偏公式的汽车四轮转向模型，并验证了辨识结果；对基于立方非线性轮胎侧偏公式的四轮转向模型，设计了非线性控制器，进行了仿真，验证了控制结果。
In this paper , based on the steady cornering model using tire modal parameters directly , a finding is illustrated by both theoretical derivation and computation that the effect of tread stiffness on the prediction accuracy of steady cornering model is larger than that for vertical model 文中以模态参数模型的稳态侧偏模型为基础，从理论推导和实际计算两方面说明胎面花纹刚度的重要性，其对侧偏模型计算结果的影响要大大高于对垂直模型的影响。
Those sensitive parameters making system have negative damping and occur self - excited shimmy are horizontal pulling lever rigidity , tire sideslip rigidity , steering gear rigidity and damping , kingpin equivalent damping , kingpin caster angle , tire drag . and wheel center distance , tire side rigidity , vehicle wheel unbalanced mass , tire vertical rigidity , and distance from kingpin center to the vertical central line plane of tire have great influence on shimmy , but they do n ' t make the system have negative damping . and horizontal pulling lever damping , suspension damping and rigidity have very small influence on shimmy 横拉杆刚度、轮胎的侧偏刚度、转向机刚度、转向机阻尼、绕主销当量阻尼、主销后倾角、轮胎拖距是影响摆振的敏感性参数，适当调节某一参数可引起系统的负阻尼，使系统产生自激摆振；轮距、轮胎侧向刚度、车轮上的不平衡质量、轮胎垂向刚度及主销延长线与地面交点至车轮平面的距离对摆振的影响也较大，但不会使系统出现负阻尼；而横拉杆阻尼、悬架阻尼与悬架刚度对摆振的影响很小。
The paper ' s main innovation is applying the finite element analysis into studying tire ' s side - drifting characteristic . the dual exploit of finite element calculation has three effects . the first is to provide theory gist for tire ' s engineering , the second is to make the base of studying tire ' s dynamic contact problem , and the third is to provide reference to automobile producer for analyzing the characteristic of whole automobile 本论文工作的主要创新在于将轮胎的有限元分析引入到侧偏特性研究，通过对有限元计算结果的二次开发可以为轮胎的结构设计提供理论依据，为进一步进行轮胎的动态接触问题奠定了基础，还为汽车厂家配备合适轮胎提供了参考。
