Based on analysis of Magic formula which describes relationship of tire friction and slip rate,and making presumption according to its curve, a new simple approach was put forward using method of direct identification transfer function of second-order system. The model derived using new method is composed of exponential and hyperbolic functions,which can be used to describe relationship between friction force and slip rate correctly and conveniently.
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王仁广,刘昭度,齐志权,马岳峰.轮胎摩擦力与滑移率关系模型的建立方法[J].农业机械学报,2007,38(7):27-28.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(7):27-28.