Using the Soft-Soil tire model

More documents

Recommendations

Info

16 Adams/Tire Using the Soft-Soil tire model V x is the forward velocity of the tire G 1 is the first elastic modulus G 2 is the second elastic modulus The longitudinal and lateral shear stresses are calculated using the equations 15 until and including 19 as used for the elastic-plastic tire-soil model. Similar for the tire-ground interaction forces equation (20 - 24) are used. For the multi-pass effect, the road deformation at the exit of the tire-soil contact (point B) and the time of deformation occurrence is stored. When a second tire passes the same spot, the road deformation corrected with the relaxation effect is taken to correct the road height input. References: 1. Bekker, M.G., Off-the-road-locomotion, Ann Arbor, The University of Michigan Press, 1960. 2. G. Ishigami, A. Miwa, K. Nagatani, K. Yoshida, Terramechanics - Based Model for Steering Maneuver of Planetary Exploration Rovers on Loose Soil, Journal of Field robotics 24(3), 233- 250 (2007), Wiley Periodicals, Inc. 3. Yoshida, K., Watanabe, T., Mizuna, N., Ishigami, G., Terramechanics - based analysis and traction control of a lunar/planetary rover. In Proceedings of the Int. Conf. Of Field and Service Robotics (FSR '03), Yamanashi, Japan. 4. Wong, J.Y., Reece, A., Prediction of rigid wheel performance based on the analysis of soil-wheel stresses part I, performance driving rigid wheels, Journal of Terramechanics, 4, 81-98. 5. Janosi, Z. Hanamoto, B., The analytical determination of drawbar pull as a function of slip for tracked vehicle in deformable soils, In proceedings of the 1 st Int. conf. on Terrain-Vehicle systems, Torino, Italy. 6. Wong, J.Y., Theory of Ground Vehicles, John Wiley & Sons, Inc., second edition, 1993. 7. Bekker, M.G., Introduction to terrain-vehicle systems, Ann Arbor, The University of Michigan Press, 1969. 8. AS 2 TM User's Guide, version 1.12, AESCO GbR, Hamburg. 9. S. Wanjii, T. Hiroma, Y. Ota, T. Kataoka, Predicition of Wheel Performance by Analysis of Normal and Tangential Stress Distributions under the Wheel-Soil Interface, Journal of Terramechanics, Vol. 34, No. 3, pp. 165-186, 1997. 10. Schmid, I.C., Interaction of Vehicle and Terrain Results from 10 Years Research at IKK, Journal of Terramechanics, Vol. 32, No. 1, pp. 3-26, 1995. 11. Schmid, I.C., Aubel, Th., Der elastische Reifen auf nachgiebiger Fahrbahn - Rechenmodell im Hinblick auf Reifendruckregelung, VDI Berichte nr. 916, 1991. 12. Faßbender, F., Simulation der Vertikaldynamik von Fahrzeugen auf Geländeböden mit STINA - SOIL TIRE INTERFACE TO ADAMS einem Zusatzmodul für das Mehrkörperprogramm ADAMS. Number 521 in Fortschritt-Berichte VDI Reihe 12. VDI Verlag, Düsseldorf, 2002. Dissertation Universität der Bundeswehr Hamburg.
Using the Soft-Soil tire model Feature and property overview of the Adams/Tire Soft Soil Tire model 17 Feature and property overview of the Adams/Tire Soft Soil Tire model • Two tire-road contact models: • Elastic-plastic contact model elastic tire: tire deflection is taken into account multi-pass effect: road plastic deformation history is stored and taken into account when another tire passes the same spot • Visco-elastic contact model rigid tire: no tire deflection multi-pass effect: road viscous deformation is stored. The stored deformation reduced by the relaxation effect is taken into account when another tire passes the same spot • Tire effective rolling radius is defined similar to pac2002 tire model • Tire properties are very basic (tire vertical stiffness and damping, unloaded radius, width and effective rolling radius parameters) • The existing Adams/Tire roads can be used, just an additional section with the soil properties is required. These soil properties are valid for the whole road. • Linearization of - F x characteristic during q-statics to ensure robust q-statics • Linear vertical tire stiffness can be replaced by a (non-linear) deflection-load curve • Scaling factors of road friction, tire cornering and longitudinal stiffness' are supported • SMP (multi-thread, C++ solver) is supported • Tire-road contact is a one-point contact • Camber effects are not taken into account • Overturning moment is not calculated • No bulldozing effects Example of the tire property file for the Soft-Soil Tire model: $----------------------------------------------------------MDI_HEADER [MDI_HEADER] FILE_TYPE = 'tir' FILE_VERSION = 2.0 FILE_FORMAT = 'ASCII' (COMMENTS) {comment_string} 'Tire - XXXXXX' 'Pressure - XXXXXX' 'Test Date - XXXXXX' 'Test tire' 'New File Format v2.1' $---------------------------------------------------------------units
Page 1 and 2: Using the Soft-Soil tire model The
Page 3 and 4: Using the Soft-Soil tire model Defi
Page 5 and 6: Using the Soft-Soil tire model Elas
Page 15: Using the Soft-Soil tire model Visc
Page 19 and 20: Using the Soft-Soil tire model Exam
Page 21 and 22: Using the Soft-Soil tire model Symb

Using the Soft-Soil tire model

Create successful ePaper yourself

Delete template?

Save as template?