An EMR of Tire-Road Interaction Based-On "Magic Formula" for Modeling of Electric Vehicles

Energetic Macroscopic Representation (EMR) has become more and more powerful tool to model and control the multi-physical systems. In literature, the well-known "magic formula" of Pacejka seems to be not adequately presented in EMR due to the conflict of energy balance. In this paper, the authors propose an EMR of tire-road interaction using Pacejka´s model. The advantage of the proposed description is in two aspects: (i) the action - reaction principle of EMR based-on energy balance is preserved; and (ii) we use the "magic formula" of Pacejka´s model which is familiar with vehicle motion control engineers. The effectiveness of this representation is confirmed by simulation in MATLAB/SIMULINK environment.