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Analysis of Wheel-Soil Interaction Under Combined Slip Condition

机译：混合条件下轮壤相互作用分析

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The understanding of wheel-soil interaction under longitudinal and lateral slip conditions is very important for off-road vehicle dynamics. However, understanding the physics of wheel-soil interaction is not easy, especially with uncertain operational environment and with the limitation of current measuring technique and hardware. This paper explores important aspects of off-road vehicle mobility using as a case study a 7-degree-of-freedom (DOF) vehicle model under steady-state cornering. In the evaluation of the vehicle response over a two-dimensional (2-D) terrain profile the load transfer due to cornering was taken into account. The tractive and the cornering vehicle capabilities were predicted using an algorithm that chooses the appropriate tire model (rigid or flexible) and finds the optimal geometry of the contact patch. The parameters of the wheel-soil interaction, such as the sinkage, the entry and exit angles, the relaxation length, the slip angle, the normal pressure, the longitudinal shear stress and displacement, and the lateral shear stress and displacement, were determined.
机译：在纵向和横向滑动条件下对轮状互动的理解对于越野车辆动态非常重要。然而，了解轮式土相互作用的物理并不容易，特别是在不确定的操作环境和电流测量技术和硬件的限制。本文探讨了越野车辆流动性的重要方面，以便在稳态转弯下进行7级自由度（DOF）车型。在评估二维（2-D）地形轮廓上的车辆响应的评估中，考虑了由于转弯引起的负载传递。使用选择适当的轮胎模型（刚性或柔性）的算法预测了牵引力和转换车辆能力，并找到接触贴片的最佳几何形状。确定轮污水相互作用的参数，如沉陷，进入和出口角，弛豫长度，滑移角，常压，纵向剪切应力和位移，以及横向剪切应力和位移。

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