Vehicle Shimmy Modeling With Pacejka's Magic Formula and the Delayed Tire Model

Abstract

This paper investigates a three-degrees-of-freedom (DoF) shimmy model of vehicle front wheels with steering system and dependent suspension. The contact models of rigid ground and elastic tire are analyzed from the viewpoint of predicting shimmy. Pacejka's magic formula and the delayed tire model are compared by means of stability charts in various parameter domains. Conclusions are obtained regarding the advantages and disadvantages of the use of the delayed tire model.