A novel tire-soil interaction model for simulation of off-road vehicles

B. J. Chan, N. Thompson, C. Sandu, H. Dankowicz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel tire-soil interaction model that is based on compliant multibody dynamics and soil dynamics theory is presented in this study. This new method models the wheel assembly as a rigid body, and the compliance of the tire and the soil as combinations of springs and dashpots. The two dimensional tire model includes straight lugs, since their presence has a significant impact on traction performance. Tire pressure acting on the soil is calculated and used to determine the soil thrust. The soil stiffness and damping are modeled using a soil dynamics formulation adapted from geotechnical applications. A combination of Coulomb friction at tire-soil interface and earth pressure theory is used to calculate the traction generated by the rolling of the wheel-tire assembly, and determine the occurrence of slip. The methodology presented in this study takes into account the friction between the soil and the tread material and the carcass-soil contact, in addition to the traction provided by the interaction between the lug and the soil. This is different than the traditional Bekker's methodology where the traction generated by the tires is considered to be solely dependent on the static shear strength of the soil. The tire-soil interaction model is implemented in MATLAB. The derivation of the kinematic equations of the wheel-tire assembly is done via MAMBOtoolbox, a Maple-based symbolic manipulation toolbox. The visualization of the results is achieved through the use of MAMBO, a freeware multibody dynamics simulation package. Results of initial 2-D simulations are given for a case study involving an agricultural tire. The methodology is promising in terms of computational efficiency and simulation accuracy. The results illustrate that the model performs reasonably well for traction simulation of off-road vehicles. The key characteristic of the model is the fact that the tire-soil interaction model was developed to be insensitive to the homogeneity of the terrain.

Original languageEnglish (US)
Title of host publication15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005
Pages176-190
Number of pages15
StatePublished - Dec 1 2005
Externally publishedYes
Event15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005 - Hayama, Japan
Duration: Sep 25 2005Sep 29 2005

Publication series

Name15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005

Other

Other15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005
CountryJapan
CityHayama
Period9/25/059/29/05

    Fingerprint

Keywords

  • Multibody dynamics
  • Soil
  • Terramechanics
  • Tire

ASJC Scopus subject areas

  • Automotive Engineering

Cite this

Chan, B. J., Thompson, N., Sandu, C., & Dankowicz, H. (2005). A novel tire-soil interaction model for simulation of off-road vehicles. In 15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005 (pp. 176-190). (15th International Conference of the International Society for Terrain Vehicle Systems 2005, ISTVS 2005).