In this study we presented a thorough methodology to develop comprehensive 3-D rigid wheel-soil and flexible tiresoil interaction models, based on the plasticity theory. While this methodology builds upon existing studies in the area of tire modeling, its main contribution to the state of the art is that it proposes innovative solutions to key modeling aspects of pneumatic tires on deformable terrain. The development of the models presented in this paper is promising for vehicle dynamics simulation and control development purposes. The methods proposed combine the advantages of the plasticity theory for calculating the stresses with empirical data, such as that obtained from a tire testing rig and a cone penetrometer. They also provide a unifying framework for integrating vehicle dynamics and terramechanics analysis. The tire-soil modeling approach developed in this study represents the basis upon which more general threedimensional models for vehicle simulations could be extrapolated. Future work will focus on expending the analysis and development of the flexible tire model in order to include transient effects. A more accurate model of the tire dynamic lag for soft soil interaction which uses experimentally collected data will increase the accuracy of this model for flexible tires, as well as the development of a more rigorous method of characterizing the combined traction/cornering and braking/cornering behavior. Future work will also be performed to adapt the model for various unilateral contact conditions, thus facilitating its application to off-road vehicle dynamics and possible robotics simulations.
A novel wheel-soil interaction model for off-road vehicle dynamics simulation
2007
11 Seiten, 12 Bilder, 23 Quellen
Conference paper
English
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