A Novel Wheel-Soil Interaction Model for Off-Road Vehicle Dynamics Simulation

Chan, Brendan J.; Sandu, Corina

doi:10.1115/detc2007-34602

Cited by 7 publications

(4 citation statements)

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“…The contact forces are modeled as external forces acting on the mapped points upon contact with the ground, similar to [3]. These forces are a combination of springs and dashpot forces which are depend on the structure and material properties of the landing gear.…”

Section: Uav Mathematical Modeling: Ringed and Three-legged Designmentioning

confidence: 99%

Modeling and simulation of a VTOL UAV for landing gear performance evaluation

Chan

Sandu

et al. 2007

SPIE Proceedings

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A multibody dynamics model of a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) is presented in this study. The scope of the project was to investigate a lightweight landing gear which has a stable and robust landing performance. Two original designs of the landing gear for the module of interest have been modeled and analyzed in this study. Two new designs have also been developed, modeled, and analyzed. A limited analysis of the forces that occur in the legs/struts has also been performed, to account for possible failure of the members due to buckling.The model incorporates a sloped surface of deformable terrain for stability analysis of the landing scenarios, and unilateral constraints to model the ground reaction forces upon contact. The lift forces on the UAV are modeled as mathematical relations dependent on the speed of the ducted fan to enable the variation of the impact velocities and the different landing scenarios.The simulations conducted illustrate that initial conditions at landing have a big impact on the stability of the module. The two new designs account for the worst possible scenario, and, for the material properties given, end with a larger weight than the one of the original design with three legs and a ring. Simulation data from several landing scenarios are presented in this paper, with analysis of the difference in performance among the different designs.

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Section: Uav Mathematical Modeling: Ringed and Three-legged Designmentioning

confidence: 99%

Modeling and simulation of a VTOL UAV for landing gear performance evaluation

Chan

Sandu

et al. 2007

SPIE Proceedings

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“…In particular, formulations for the last two phenomena were more recently provided by Ding et al. [16] and Chan and Sandu [17], respectively.…”

Section: Introductionmentioning

confidence: 99%

“…Modern models stem from the foundational works-Bekker [9][10][11], Wong and Reece [12,13], Janosi and Hanamoto [14], and Holm [15]-on the multiple facets of the complex interaction between rigid/flexible wheels and hard/ deformable terrains, such as normal and shear stress, multipass effect, slip-sinkage and effective rolling radius. In particular, formulations for the last two phenomena were more recently provided by Ding et al [16] and Chan and Sandu [17], respectively.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive lumped parameter and multibody approach for the dynamic simulation of agricultural tractors with tyre–soil interaction

Martelli

Chiarabelli

Gessi

et al. 2023

IET Cyber-Syst and Robotics

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Modern agricultural tractors are complex systems, in which multiple physical (and technological) domains interact to reach a wide set of competing goals, including work operational performance and energy efficiency. This complexity translates to the dynamic, multi‐domain simulation models implemented to serve as digital twins, for rapid prototyping and effective pre‐tuning, prior to bench and on‐field testing. Consequently, a suitable simulation framework should have the capability to focus both on the vehicle as a whole and on individual subsystems. For each of the latter, multiple options should be available, with different levels of detail, to properly address the relevant phenomena, depending on the specific focus, for an optimal balance between accuracy and computation time. The methodology proposed here by the authors is based on the lumped parameter approach and integrates the models for the following subsystems in a modular context: internal combustion engine, hydromechanical transmission, vehicle body, and tyre–soil interaction. The model is completed by a load cycle module that generates stimulus time histories to reproduce the work load under real operating conditions. Traction capability is affected by vertical load on the wheels, which is even more relevant if the vehicle is travelling on an uncompacted soil and subject to a variable drawbar pull force as it is when ploughing. The vertical load is, in turn, heavily affected by vehicle dynamics, which can be accurately modelled via a full multibody implementation. The presented lumped parameter model is intended as a powerful simulation tool to evaluate tractor performance, both in terms of fuel consumption and traction dynamics, by considering the cascade phenomena from the wheel–ground interaction to the engine, passing through the dynamics of vehicle bodies and their mass transfer. Its capabilities and numerical results are presented for the simulation of a realistic ploughing operation.

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“…Small misalignment between the scanning laser and the IMU will compound the error that can be anticipated from any Differential GPS (DGPS) [16]. This work exclusively considers the topology of the terrain; however, a similar host vehicle equipped with supplementary instrumentation could be utilized for sinkage [17] and other terramechanics studies [18].…”

Section: Introductionmentioning

confidence: 99%