A Novel Wheel-Soil Interaction Model for Off-Road Vehicle Dynamics Simulation

2007 ◽  
Author(s):  
Brendan J. Chan ◽  
Corina Sandu
Keyword(s):  
Vehicle Dynamics ◽  
Three Dimensional ◽  
Interaction Model ◽  
Equilibrium Analysis ◽  
Dynamics Simulation ◽  
Tire Model ◽  
Wheel Load ◽  
Surface Shear ◽  
Modeling Methodology ◽  
Semi Empirical

This work establishes a semi-empirical wheel-soil interaction model, developed in the framework of plasticity theory and equilibrium analysis, to be used in vehicle dynamics simulations. Vehicle-terrain interaction is a complex phenomena governed by soil mechanical behavior and tire deformation. The application of soil load bearing capacity theory is used in this study to determine the tangential and radial stresses on the soil-wheel interface. Using semi-empirical data, the tire deformation geometry is determined to establish the drawbar pull, tractive force, and wheel load. To illustrate the theory developed, two important case studies are presented: a rigid wheel and a flexible tire on deformable terrain; the differences between the two implementations are discussed. The outcome of this work shows promising results which indicate that the modeling methodology presented could form the basis of a three-dimensional off-road tire model. In an off-road three-dimensional tire model, the traction behavior should include shear forces arising from the surface shear with the soil as well as the bulldozing effect during turning maneuvers.

Construction of a Rational Tire Model for High Fidelity Vehicle Dynamics Simulation Under Extreme Driving and Environmental Conditions

2010 ◽  
Author(s):  
S. C¸ag˘lar Bas¸lamıs¸lı ◽  
Selim Solmaz
Keyword(s):  
Vehicle Dynamics ◽  
Dynamics Simulation ◽  
High Fidelity ◽  
Tire Model ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Prospective Design ◽  
Magic Formula ◽  
Rational Models ◽  
Simulation Results

In this paper, a control oriented rational tire model is developed and incorporated in a two-track vehicle dynamics model for the prospective design of vehicle dynamics controllers. The tire model proposed in this paper is an enhancement over previous rational models which have taken into account only the peaking and saturation behavior disregarding all other force generation characteristics. Simulation results have been conducted to compare the dynamics of a vehicle model equipped with a Magic Formula tire model, a rational tire model available in the literature and the present rational tire model. It has been observed that the proposed tire model results in vehicle responses that closely follow those obtained with the Magic Formula even for extreme driving scenarios conducted on roads with low adhesion coefficient.

Off-Road Vehicle Dynamics Mobility Simulation With a Compaction Based Deformable Terrain Model

2013 ◽  
Author(s):  
Justin Madsen ◽  
Andrew Seidl ◽  
Dan Negrut
Keyword(s):  
Vehicle Dynamics ◽  
Transfer Functions ◽  
Soil Mechanics ◽  
Three Dimensional ◽  
Interaction Model ◽  
Simulation Software ◽  
Repeated Loading ◽  
Model Parameters ◽  
Vehicle Simulation ◽  
Terrain Model

This paper discusses the terramechanics models developed to incorporate a physics-based, three dimensional deformable terrain database model with vehicle dynamics mobility simulation software. The vehicle model is contained in Chrono, a research-grade C++ based Application Programming Interface (API) that enables accurate multibody simulations. The terrain database is also contained in a C++ based API, and includes a general tire-terrain interaction model which is modular to allow for any tire model that supports the Standard Tire Interface (STI) to operate on the terrain. Furthermore, the ability to handle arbitrary, three dimensional traction element geometry allows for tracked vehicles (or vehicle hulls) to also interact with the deformable terrain. The governing equations of the terrain are based on a soil compaction model that includes both the propagation of subsoil stresses due to vehicular loads, and the resulting visco-elastic-plastic stress/strain on the affected soil volume. Non-flat, non-homogenous and non-uniform soil densities, rutting, repeated loading and strain hardening effects are all captured in the vehicle mobility response as a result of the general 3-D tire/terrain model developed. Pedo-transfer functions allow for the calculation of the soil mechanics model parameters from existing soil measurements. This terrain model runs at near real-time speed, due to parallel CPU and GPU implementation. Results that exercise the force models developed with the 3-D tire geometry are presented and discussed for a kinematically driven tire and a full vehicle simulation.

scholarly journals A Novel Dynamic Data Driven Tire Model

2021 ◽  
Author(s):  
Junning Zhang ◽  
Shaopu YANG ◽  
Yongjie LU
Keyword(s):  
Experimental Data ◽  
Knowledge Base ◽  
Vehicle Dynamics ◽  
Mechanical Characteristics ◽  
Slip Rate ◽  
Lateral Force ◽  
Longitudinal Force ◽  
Dynamics Simulation ◽  
Slip Angle ◽  
Tire Model

Abstract In the study of vehicle dynamics, the accurate description of tire mechanical characteristics is the basis and key of vehicle dynamics simulation. An innovative tire model is proposed based on fuzzy algorithm and a sinusoidal membership function is used to design fuzzy rules. In order to ensure the accuracy of tire behavior calculation, this model is driven by a small amount of experimental data of tire mechanical characteristics. This tire model consists of four layers of fuzzy systems, each of which has a knowledge base. The data in knowledge base I is obtained by experiments, and the data of knowledge base II is computed by the upper system, and so is the later system. Then, the input signal, the change rate of side slip angle and slip rate, is considered to improve the calculation accuracy of the model. The proposed fuzzy tire model can accurately predict the longitudinal force, lateral force and self-aligning torque of the tire under unknown conditions. Finally, by comparing the fuzzy tire model with the experimental data, it is found that the maximum RRMSE (Relative Root Mean Square Error) value is not more than 0.14. It is proved that the model can accurately describe the tire
mechanical characteristics under combined conditions.

An Efficient Three-Dimensional Tire Model for Vehicle Dynamics Simulations*

1997 ◽  
Vol 25 (1) ◽  
pp. 1-19 ◽  
Author(s):  
Ian Darnell ◽  
Gregory M. Hulbert ◽  
Cedric w. mousseau
Keyword(s):  
Vehicle Dynamics ◽  
Three Dimensional ◽  
Tire Model ◽  
Dynamics Simulations

Analysis of Tire Models for Rolling on a Deformable Substrate

2002 ◽  
Vol 30 (3) ◽  
pp. 180-197 ◽  
Author(s):  
S. Shoop ◽  
I. Darnell ◽  
K. Kestler
Keyword(s):  
Finite Element ◽  
Vehicle Dynamics ◽  
Three Dimensional ◽  
Element Model ◽  
Tire Model ◽  
Terrain Model ◽  
Vehicle Mobility ◽  
Conventional Models ◽  
Dynamics Simulations ◽  
Tire Models

Abstract The objective of this research is to produce a finite element model of tire-terrain interaction that can be used to explore the effects of tire and terrain variables on vehicle mobility and terrain deformation. Such a model would need to account for the deformable nature of both the tire and the terrain and be fully three-dimensional. Thus, it is important that the tire model be very efficient at rolling yet retain realistic surface contact and deformation related to contact. A promising methodology was developed by Darnell for efficiently modeling a tire for vehicle dynamics simulations. The performance of the Darnell model was examined with respect to measured tire deformation as well as to conventional models of the same tire. The Darnell tire model was then rolled across a soil simulating the sand used in off-road vehicle experiments. The combined tire-terrain model presented is fully operational, but optimization and validation are in progress.

Terramechanics-based wheel–terrain interaction model and its applications to off-road wheeled mobile robots

Robotica ◽  
2011 ◽  
Vol 30 (3) ◽  
pp. 491-503 ◽  
Author(s):  
Zhenzhong Jia ◽  
William Smith ◽  
Huei Peng
Keyword(s):  
Mobile Robots ◽  
Soft Soil ◽  
Three Dimensional ◽  
Interaction Model ◽  
Dynamics Simulation ◽  
Shear Stresses ◽  
Stress Distributions ◽  
Wheeled Mobile Robots ◽  
Modular Model ◽  
Reaction Forces

SUMMARYThis paper presents a wheel–terrain interaction model, which enables efficient modeling of wheeled locomotion in soft soil and numerical simulations of off-road mobile robots. This modular model is derived based on wheel kinematics and terramechanics and the main focus is on describing the stress distributions along the wheel–terrain interface and the reaction forces exerted on the wheel by the soil. When the wheels are steered, the shear stresses underneath the wheel were modeled based on isotropic assumptions. The forces and torques contributed by the bulldozing effect of the side surfaces is also considered in the proposed model. Furthermore, the influence of grousers, commonly used on smaller mobile robots, was modeled by (1) averaging the normal pressures contributed by the grousers and the wheel concave portion, and (2) assuming that the shear phenomenon takes places along the grouser tips. By integrating the model with multibody system code for vehicle dynamics, simulation studies of various off-road conditions in three-dimensional environments can be conducted. The model was verified by using field experiment data, both for a single-wheel vehicle and a whole vehicle.

A three-dimensional multibody tire model for research comfort and handling analysis as a structural framework for a multi-physical integrated system

2018 ◽  
Vol 233 (1) ◽  
pp. 136-146 ◽  
Author(s):  
Flavio Farroni ◽  
Aleksandr Sakhnevych ◽  
Francesco Timpone
Keyword(s):  
Test Procedure ◽  
Three Dimensional ◽  
Interaction Model ◽  
Point Of View ◽  
Integrated System ◽  
Rubber Matrix ◽  
Tire Model ◽  
Test Procedures ◽  
Static Test ◽  
Contact Patch

A tire is an extremely integrated and multi-physical system. From only a mechanical point of view, tires are represented by highly composite multi-layered structures, consisting of a multitude of different materials, synthesized in peculiar rubber matrices, to optimize both the performance and the life cycle. During the tire motion, due to the multi-material thermodynamic interaction within the viscoelastic tire rubber matrix, the dynamic characteristics of a tire may alter considerably. In the following paper, the multibody research comfort and handling tire model is presented. The main purpose of the research comfort and handling tire is to constitute a completely physical carcass infrastructure to correctly transmit the generalized forces and torques from the wheel spindle to the contact patch. The physical model structure is represented by a three-dimensional array of interconnected nodes by means of tension and rotational stiffness and damper elements, attached to the rim modeled as a rigid body. Research comfort and handling tire model purpose is to constitute a structural physical infrastructure for the co-implementation of additional physical modules taking into account the modification of the tire structural properties with temperature, tread viscoelastic compound characteristics, and wear degradation. At the stage, the research comfort and handling tire discrete model has been validated through both static and dynamic shaker test procedures. Static test procedure adopts contact sensitive films for the contact patch estimation at different load and internal pressure conditions, meanwhile the specifically developed sel test regards the tire dynamic characterization purpose at the current stage. The validation of the tire normal interaction in both static and dynamic conditions provided constitutes a necessary development step to the integration of the tangential brush interaction model for studying the handling dynamics and to the analysis of the model response on the uneven surfaces.

A Modified Dugoff Tire Model for Combined-slip Forces

2010 ◽  
Vol 38 (3) ◽  
pp. 228-244 ◽  
Author(s):  
Nenggen Ding ◽  
Saied Taheri
Keyword(s):  
Vehicle Dynamics ◽  
Tire Model ◽  
Magic Formula ◽  
Model Based ◽  
Proposed Model ◽  
Road Friction ◽  
On Line ◽  
Double Lane Change ◽  
Tire Forces ◽  
Tire Models

Abstract Easy-to-use tire models for vehicle dynamics have been persistently studied for such applications as control design and model-based on-line estimation. This paper proposes a modified combined-slip tire model based on Dugoff tire. The proposed model takes emphasis on less time consumption for calculation and uses a minimum set of parameters to express tire forces. Modification of Dugoff tire model is made on two aspects: one is taking different tire/road friction coefficients for different magnitudes of slip and the other is employing the concept of friction ellipse. The proposed model is evaluated by comparison with the LuGre tire model. Although there are some discrepancies between the two models, the proposed combined-slip model is generally acceptable due to its simplicity and easiness to use. Extracting parameters from the coefficients of a Magic Formula tire model based on measured tire data, the proposed model is further evaluated by conducting a double lane change maneuver, and simulation results show that the trajectory using the proposed tire model is closer to that using the Magic Formula tire model than Dugoff tire model.

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