Samenvatting
The equations of motion are derived for a single wheel steerable pneumatic tyre system. Included in this system are a built-in wheel wobble and wheel-tyre irregularities which produce oscillation of the normal load. Special emphasis is laid on the dynamic characterization of the tyre cornering force and aligning torque. The results show that the built-in wheel wobble causes a steady shimmy which is large when the wheel rotation frequency is close to the natural shimmy frequency.