This paper introduces a hierarchical sequential arbitrary Lagrangian-Eulerian (ALE) model for predicting the tire-soil-water interaction at finite deformations. Using the ALE framework, the interaction between a rolling pneumatic tire and the fluid-infiltrated soil underneath will be captured numerically. The road is assumed to be a fully saturated two-phase porous medium. The constitutive response of the tire and the solid skeleton of the porous medium is idealized as hyperelastic. Meanwhile, the interaction between tire, soil, and water will be simulated via a hierarchical operator-split algorithm. A salient feature of the proposed framework is the steady state rolling framework. While the finite element mesh of the soil is fixed to a reference frame and moves with the tire, the solid and fluid constituents of the soil are flowing through the mesh in the ALE model according to the rolling speed of the tire. This treatment leads to an elegant and computationally efficient formulation to investigate the tire-soil-water interaction both close to the contact and in the far field. The presented ALE model for tire-soil-water interaction provides the essential basis for future applications, for example, to a path-dependent frictional-cohesive response of the consolidating soil and unsaturated soil, respectively. HIERARCHICAL SEQUENTIAL ALE MODEL FOR TIRE-SOIL-WATER INTERACTION 913 With x = ALE + and ∇ ALE = 0, Equation (9) reads v (x, t) = ALE t P = J ·F −T andŜ =F −1 ·P,For two-phase porous media composed of incompressible solid constituents, Biot's coefficient becomes B = 1, and Biot's modulus M tends to infinity. Then, the material time derivative of the pore fluid density can be expressed aṡf = fJ ∕J, and the mass balance reads fJ J + ∇ ·̂= 0.In [6], the time derivative of the apparent fluid density f in case of compressible solids and fluids isIF ||r (k+1) || ⩾ Tolerance THEN k = k + 1 GO TO 1. Solid step ENDIF In the hierarchical sequential scheme, there are two major interaction mechanisms captured, that is, (1) tire and soil at the contact surface and (2) interaction between the solid skeleton and the pore fluid within the soil. To the best knowledge of the authors, this is the first time in which (1) an ALE iterative solver for the finite strain poromechanics problem has been formulated with multiplicative kinematics and (2) the ALE finite strain poromechanics has been used to capture the tire-soil-water interaction. Main effects of existing pore water on the tire-soil interaction are demonstrated in the numerical example. The presented research is an essential basis for further developments considering, for example, unsaturated soils and inelastic soil models like the Cam-Clay model for a more realistic representation of off-road rolling tires.
APPENDIX
Transient Lagrangian formulation of mass balanceThe time derivative of the Jacobian J in the Lagrangian frame is given [6] bẏ J J