A terramechanics model for high slip angle and skid with prediction of wheel-soil interaction geometry

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Catherine Pavlov, Aaron M. Johnson
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引用次数: 0

Abstract

Previously developed terramechanics models of wheel-soil interaction forces do not cover the full span of possible wheel states, including large slip angles and ratios. This paper synthesizes a model that covers the full range of slip and skid ratios and slip angles by building on classic terramechanics and soil failure models. The need for wheel and soil specific tuning is reduced through use of a closed-form model of soil flow around the wheel to determine the wheel-soil contact geometry. The terramechanics model is validated both with and without the soil flow model on two wheels in sand for slip ratios from −1 to 0.9 and slip angles from 0° to 60°, showing good prediction of tractive forces, sidewall forces, and sinkage over a wide variety of states. The data from these experiments is also presented, as the only open source data set to cover both a high range of slip angles and slip ratios.

基于轮-土相互作用几何预测的大滑移角和滑移的地球力学模型
以前开发的车轮-土壤相互作用力的地形力学模型不能涵盖车轮可能状态的全部跨度,包括大的滑移角和比率。本文在经典的地形力学和土体破坏模型的基础上,综合了一个涵盖滑移比和滑移角全范围的模型。通过使用封闭形式的车轮周围土壤流动模型来确定车轮-土壤接触几何形状,减少了车轮和土壤特定调谐的需要。地形力学模型在两个车轮上进行了验证,在滑移比为- 1至0.9,滑移角为0°至60°的情况下,在有土流模型的情况下和没有土流模型的情况下,都能很好地预测各种状态下的牵引力、侧壁力和下沉。这些实验的数据也作为唯一涵盖高范围滑移角和滑移比的开源数据集。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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