In this study a tyre model is developed for multibody dynamics software. Vibrations
of a towed wheel excited by the lateral deformation of the tyre are analysed with
the help of numerical simulations. In our calculations the time delay in the tyre-ground
contact as well as the partial side slip are considered making it possible to capture
the dynamic deformation of the contact-patch centre-line with relatively low number
of parameters and computation time. As a result the hysteresis effect in the stability
of the rectilinear motion can be identified, which would be undetectable by simpler,
quasi-steady-state tyre models. Thus, bistable parameter regions appear in the stability
charts where for the same set of system parameters a stable equilibrium and a periodic
orbit coexist. The simulations are compared with measurements carried out on an experimental
rig consisting of a wheel and a caster running on a conveyor belt.
