Using the Soft-Soil tire model

Using the Soft-Soil tire model
Elastic-plastic tire-soil contact
7
Figure 6
Wheel entry and exit angle when rolling on soil
Assume a wheel soil contact with entry angle f and exit angle r , see also [2], then these angles
can be written as a function of the total sinkage h and the exit penetration h e as follows:
f
r
acos( 1
h / R )
acos( 1
h
e
/ R )
The exit penetration h e depends on the elastic stiffness C s of the soil.
(12)