Development and verification of a mathematical model of the wheel mover interaction with deformable soil, based on the application of the method of discrete elements

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The vehicle cross-country power depends both on the mover type and its weight-and-dimensional parameters, and on the physico-mechanical soil properties. Research of the interaction between the mover and a deformable soil at the stage of research and development using mathematic simulation makes it possible predicting the vehicle cross-country power.

The main mechanical soil parameters are the angle of internal friction and cohesion, which affect the process of interaction of the wheel with the deformable soil, since both normal and shear forces in the contact area. In this paper, sandy soil mathematical model is proposed and verified, and its parameters are determined for further research.

The developed mathematical model of the interaction of the wheel mover with a deformable soil is based on the application of the method of discrete elements. In this paper, the wheel mover force factors when moving on cohesionless soil are analyzed and also forms the dependence of the specific traction force on the specific circumferential force for various wheel rolling modes was obtained. As a result of applying the method of discrete elements to study the interaction of a wheel mover with a deformable support base, it is possible to determine the traction characteristic. Thus, the application of this method will reduce the number and scale of field tests.

Using the developed mathematical model the planetary wheeled mover traction characteristic was obtained and the comparative analysis with the nature test results was carried out.

作者简介

Roman Pashkovsky

Bauman Moscow State Technical University

编辑信件的主要联系方式.
Email: pashkovsky@bmstu.ru
ORCID iD: 0000-0003-0974-4164
SPIN 代码: 6519-4034

Student of the Wheeled Vehicles Department

俄罗斯联邦, Moscow

Kirill Evseev

Bauman Moscow State Technical University

Email: kb_evseev@bmstu.ru
ORCID iD: 0000-0001-7193-487X
SPIN 代码: 7753-2047

Associate Professor, Cand. Sci. (Tech.), Associate Professor of the Wheeled Vehicles Department

俄罗斯联邦, Moscow

参考

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  3. Agejkin YA.S., Vol'skaya N.S. Modelirovanie dvizheniya avtomobilya po myagkim grun-tam: problemy i resheniya [Modeling the movement of a car on soft soils: problems and solutions]. Mashinostroenie Publ., 2004. № 10. S. 24–25 (in Russ.).
  4. Larin V.V., Teoriya dvizheniya polnoprivodnyh kolesnyh mashin [The theory of movement of all-wheel drive vehicles]. Moscow, Bauman MSTU Publ., 2010 (in Russ.).
  5. Volskaya N.S., Ocenka prohodimosti kolesnyh mashin pri dvizhenii po nerovnoj gruntovoj poverhnosti [Assessment of the patency of wheeled vehicles when driving on an uneven ground sur-face]. Moscow: MSIU, 2007 (in Russ.).
  6. Ageikin Ya.S., Prohodimost avtomobilej [Vehicles cross-country power]. Moscow, Mashi-nostroenie Publ, 1981 (in Russ.).
  7. Bekker M. G. Vvedenie v teoriyu sistem mestnost' – mashina [Introduction to Systems Theory: The Terrain – the Machine]. Moscow, Mashinostroenie Publ., 1973 (in Russ.).
  8. Belyakov V.V. [i dr.] Vezdekhodnye transportno-tekhnologicheskie mashiny. Osnovy teorii dvizheniya [All-terrain transport and technological machines. Fundamentals of the theory of motion] / N. Novgorod: Talam, 2004 (in Russ.).
  9. Rozhdestvensky Yu.L. Analiz i prognozirovaniye tyagovykh kharakteristik kolesnykh dvigateley planetokhodov [Analysis and prediction of wheeled movers traction characteristic of planetary rovers] // Dissertation for the PhD in Engineering Science: 05.05.03 / Bauman MSTU, Moscow, 1982.
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  11. Pashkovsky R.R. Analysis of the existing approaches to the determination of the physi-comechanical parameters of the unbound soil and the modeling of the its particles dynamics. Politekhnicheskiy molodezhnyy zhurnal [Politechnical student journal], 2023, no. 01(78). http://dx.doi.org/10.18698/2541-8009-2023-01-853.html (in Russ.).
  12. EDEM help. URL: https://altairuniversity.com/learning-library/edem-tutorials/ (accessed: 06.04.2023).
  13. Linxuan Zhou, Jingwei Gao, Cheng Hu, Qiao Li. Numerical simulation and testing verifi-cation of the interaction between track and sandy ground based on discrete element method. Vol-ume 95, June 2021, Pages 73-88. https://doi.org/10.1016/j.jterra.2021.03.002.

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2. Fig. 1. Analytical model of soil testing.

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3. Fig. 2. A virtual test rig.

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4. Fig. 3. Simulation results for #6 variant of soil.

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5. Fig. 4. Dependence of the maximum shear stresses on pressure.

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6. Fig. 5. The Lunar rover wheel and its simplified solid model.

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7. Fig. 6. Analytical model of wheel rolling.

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8. Fig. 7. The soil box in the EDEM software.

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9. Fig. 8. Dependence of the specific traction force on the specific circumferential force.

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10. Fig. 9. Traction curves.

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