Conference article

An Interface to the FTire Tire Model

Volker Beuter
Kämmerer AG, Germany

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Published in: Proceedings of the 8th International Modelica Conference; March 20th-22nd; Technical Univeristy; Dresden; Germany

Linköping Electronic Conference Proceedings 63:34, p. 304-314

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Published: 2011-06-30

ISBN: 978-91-7393-096-3

ISSN: 1650-3686 (print), 1650-3740 (online)


The FTire tire model is a well established model for calculating tire forces and torques; especially if the internal dynamics of the tire and higher frequencies have to be considered. This tire model is available for most multi-body simulation programs like ADAMS; Sim-Pack; RecurDyn and for MATLAB. But up to now it was not available in the odelica world. As the Ftire model is only available as binary libraries it could not be ported to a pure Modelica code; but an interface to the existing implementation had to be written. This paper describes the implementation of FTire package making FTire tires available in Modelica (so this paper is rather about interfacing than about tire modeling). The interface involves much more than just a set of Modelica wrappers to C functions: Most callable FTire functions are impure; some having only side effects; no return values. Some considerations have to be taken to ensure the FTire functions are called just often enough. Above this basic Modelica interface layer there is an embedding into the Modelica.Mechanics.MultiBody framework with some features beyond FTire itself like non-standard orientation or common definitions for several tires.

The moreover there are some related packages for special interests: The FTireVDL demonstrates the compatibility of the FTire interface to the Vehicle-Dynamics package from Modelon. Users of the Visualization package from DLR-RM can apply the FTireSimVis package to animate multi-body models with FTire wheels with the SimVis program; exceeding the animation capabilities of Dymola.


FTire tire model; interface; MultiBody; visualization


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[2] The FTire homepage:

[3] The CTI reference document:

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[6] DRENTH; Edo; GÄFVERT; Magnus: Modelica Delft-Tyre Interface. Proceedings of the 8th Modelica Conference; Dresden; Germany; 2011

[7] BELLMANN; Tobias: Interactive Simulations and Advanced Visualizazion with Modelica. Proceedings of the 7th Modelica Conference; Como; Italy; 2009

[8] Modelica 3.2 Language Specification; 12.4.2; Modelica Association; March 2010; ModelicaSpec32.pdf

[9] Functional Mock-Up Interface for Co-Simulation. Modelisar (07006). Document version 1.0; October 12th; 2010

[10] ZAPF; Stefan: Aufbau und Validierung des Gesamtfahrzeug-Mehrkörpersimulationsmodells mit einem Hochfrequenzreifenmodell im Programmsystem Dymola; diploma thesis; Amberg; Germany; 2009.

[11] The "mython" at Kämmerer’s homepage:

[12] THOMAS; Eric and LAPEYRE; Arnaud: DTG 121069 FTire Model-Evaluation Report (unpublished); 2010


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