Analysis of Off-Road Tire-Soil Interaction through Analytical and Finite Element Methods

Tire-soil interaction is important for the performance of off-road vehicles and the soil compaction in the agricultural field. With an analytical model, which is integrated in multibody-simulation software, and a Finite Element model, the forces and moments generated on the tire-soil contact patch were studied to analyze the tire performance. Simulations with these two models for different tire operating conditions were performed to evaluate the mechanical behaviors of an excavator tire. For the FE model validation a single wheel tester connected to an excavator arm was designed. Field tests were carried out to examine the tire vertical stiffness, the contact pressure on the tire – hard ground interface, the longitudinal/vertical force and the compaction of the sandy clay from the test field under specified operating conditions. The simulation and experimental results were compared to evaluate the model quality. The Magic Formula was used to fit the curves of longitudinal and lateral forces. A simplified tire-soil interaction model based on the fitted Magic Formula could be established and further applied to the simulation of vehicle-soil interaction.

[1]  Hiroshi Nakashima,et al.  Algorithm and implementation of soil–tire contact analysis code based on dynamic FE–DE method , 2004 .

[2]  Hiroshi Nakashima,et al.  FE-DEM Analysis of the Effect of Tread Pattern on the Tractive Performance of Tires Operating on Sand , 2009 .

[3]  A. Oida.  Application of DEM to simulate interaction between soil and tire lug , 2000 .

[4]  J. Wong,et al.  On the characterization of the shear stress-displacement relationship of terrain , 1983 .

[5]  J. V. Perumpral,et al.  A numerical method for predicting the stress distribution and soil deformation under a tractor wheel , 1971 .

[6]  FORECASTING TRAFFICABILITY OF SOILS. AIRPHOTO APPROACH , 1963 .

[7]  Fabio Menna,et al.  Geometric investigation of a gaming active device , 2011, Optical Metrology.

[8]  K. Konstankiewicz,et al.  A new optical method for soil stress and strain investigation , 2002 .

[9]  Kaiming Xia.  Finite element modeling of tire/terrain interaction: Application to predicting soil compaction and tire mobility , 2011 .

[10]  V. K. Tiwari,et al.  Development of a tyre traction testing facility. , 2009 .

[11]  Ba Baudet,et al.  Influence of structure on the time-dependent behaviour of a stiff sedimentary clay. Closure to discussion. , 2007 .

[12]  H. Sakai,et al.  Study on Cornering Properties of Tire and Vehicle , 1990 .

[13]  Akira Oida,et al.  Simulation of soil deformation and resistance at bar penetration by the Distinct Element Method , 2000 .

[14]  Herbert A. Mang,et al.  3D Simulations of Automobile Tires: Material Modeling, Mesh Generation, and Solution Strategies , 1997 .

[15]  Ahmad Mohsenimanesh,et al.  Modelling of pneumatic tractor tyre interaction with multi-layered soil , 2009 .

[16]  Matthew Spenko,et al.  A modified pressure–sinkage model for small, rigid wheels on deformable terrains , 2011 .

[17]  Jonah H. Lee,et al.  Finite element modeling of interfacial forces and contact stresses of pneumatic tire on fresh snow for combined longitudinal and lateral slips , 2011 .

[18]  H. B. Spencer,et al.  A NEW HAND‐HELD RECORDING PENETROMETER FOR SOIL STUDIES , 1980 .

[19]  Andrew Drescher,et al.  Modeling wheel-induced rutting in soils: Indentation , 2008 .

[20]  M. G. Bekker.  Introduction to Terrain-Vehicle Systems , 1969 .

[21]  A. Schofield,et al.  Yielding of Clays in States Wetter than Critical , 1963 .

[22]  J. V. Perumpral,et al.  Cone Penetrometer Applications — A Review , 1987 .

[23]  Hiroshi Nakashima,et al.  An indoor traction measurement system for agricultural tires , 2006 .

[24]  Paul N. Walker,et al.  Tractionability As a Function of Soil Moisture , 1977 .

[25]  E. Maican,et al.  FEM MODEL TO STUDY THE INFLUENCE OF TIRE PRESSURE ON AGRICULTURAL TRACTOR WHEEL DEFORMATIONS , 2011 .

[26]  L. Segel,et al.  Tire Shear Force Generation During Combined Steering and Braking Maneuvers , 1977 .

[27]  M. G. Bekker,et al.  Off-the-road locomotion , 1960 .

[28]  S. Shoop,et al.  Finite Element Analysis of a Wheel Rolling in Snow , 1999 .

[29]  D. Zheng,et al.  Prediction of Tire Tread Wear with FEM Steady State Rolling Contact Simulation , 2003 .

[30]  A. J. Koolen,et al.  FEM analysis of subsoil reaction on heavy wheel loads with emphasis on soil preconsolidation stress and cohesion , 2003 .

[31]  Azmi Yahya,et al.  UPM indoor tyre traction testing facility , 2007 .

[32]  H B Pacejka,et al.  THE ROLE OF TYRE DYNAMIC PROPERTIES , 1995 .

[33]  R. Sullivan,et al.  Discrete element modeling of a Mars Exploration Rover wheel in granular material , 2012 .

[34]  Brendan Juin-Yih Chan,et al.  Development of an Off-Road Capable Tire Model for Vehicle Dynamics Simulations , 2008 .

[35]  D. R. Freitag,et al.  A dimensional analysis of the performance of pneumatic tires on soft soils , 1965 .

[36]  A. R. Reece,et al.  Prediction of rigid wheel performance based on the analysis of soil-wheel stresses part I. Performance of driven rigid wheels , 1967 .

[37]  Eddie C. Burt,et al.  The effects of reduced inflation pressure on soil-tire interface stresses and soil strength , 1995 .

[38]  F. N. David,et al.  Principles and procedures of statistics. , 1961 .

[39]  B.M.D. Wills.  The measurement of soil shear strength and deformation moduli and a comparison of the actual and theoretical performance of a family of rigid tracks , 1964 .

[40]  Günther Greiner,et al.  Automatic reconstruction of personalized avatars from 3D face scans , 2011, Comput. Animat. Virtual Worlds.

[41]  Corina Sandu,et al.  A Novel Wheel-Soil Interaction Model for Off-Road Vehicle Dynamics Simulation , 2007 .

[42]  R. D. Wismer,et al.  Off-road traction prediction for wheeled vehicles , 1973 .

[43]  Alexandr Grečenko,et al.  Progress in tire rating based on soil compaction potential. , 2009 .

[44]  Jeong-Han Lee,et al.  59381 A new tire model development for vehicle dynamic simulation in sudden braking and low velocity condition using NSS(non singular slip) and Magic formula(Vehicle Dynamics & Control including Tire Dynamics) , 2010 .

[45]  Norman W. Frey,et al.  Development of a rigid ring tire model and comparison among various tire models for ride comfort simulations , 2009 .

[46]  Lutz Richter,et al.  Prediction of tractive response for flexible wheels with application to planetary rovers , 2011 .

[47]  Hiroshi Nakashima,et al.  Experimental validation of distinct element simulation for dynamic wheel-soil interaction , 2007 .

[48]  John Thomas Tielking.  A comparative evaluation of five tire traction models , 1974 .

[49]  Heinz Dieter Kutzbach,et al.  Combined lateral and longitudinal forces on driven angled tractor tyres , 1991 .

[50]  Gerd Hirzinger,et al.  SCM – A SOIL CONTACT MODEL FOR MULTI-BODY SYSTEM SIMULATIONS , 2009 .

[51]  Istituto elettrotecnico nazionale Galileo Ferraris,et al.  An analysis of pneumatic tire performance on deformable soils , 1961 .

[52]  G. W. Turnage.  Performance of Soils under Tire Loads. Report 8. Application of Test Results to Tire Selection for Off-Road Vehicles , 1972 .

[53]  Kazuya Yoshida,et al.  Terramechanics-Based Analysis and Traction Control of a Lunar/Planetary Rover , 2003, FSR.

[54]  Ghoreyshi Mir Hamid Reza.  FINITE ELEMENT ANALYSIS OF THE STEEL-BELTED RADIAL TYRE WITH TREAD PATTERN UNDER CONTACT LOAD , 2006 .

[55]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[56]  Randy L. Raper,et al.  Non-linear finite element analysis of cone penetration in layered sandy loam soil – Considering precompression stress state , 2009 .

[57]  A. Oida,et al.  APPLICATOIN OF DEM TO FIND THE INTERACTION BETWEEN TIRE AND SOIL , 1999 .

[58]  James K. Mitchell,et al.  Time-Dependent Deformation Behavior of Clays , 1980 .

[59]  Subhash Rakheja,et al.  ESTIMATION OF TYRE-ROAD CONTACT PRESSURE DISTRIBUTION BASED ON NONLINEAR FINITE ELEMENT ANALYSIS , 2001 .

[60]  Hans B. Pacejka,et al.  Tyre Modelling for Use in Vehicle Dynamics Studies , 1987 .

[61]  H. B. Pacejka,et al.  SWIFT-Tyre: an accurate tyre model for ride and handling studies also at higher frequencies and short road wavelengths , 2000 .

[62]  Larry G. Wells,et al.  RESPONSE OF VARIOUS SOIL STRENGTH INDICES TO CHANGING WATER CONTENT , 1977 .

[63]  A. R. Reece.  Principles of Soil-Vehicle Mechanics , 1965 .

[64]  K. Roscoe,et al.  ON THE GENERALIZED STRESS-STRAIN BEHAVIOUR OF WET CLAY , 1968 .

[65]  J.-Y. Wong.  Performance of the Air-Cushion–Surface-Contacting Hybrid Vehicle for Overland Operation: , 1972 .

[66]  J. P. Hambleton,et al.  Modeling wheel-induced rutting in soils: Rolling , 2009 .

[67]  Corina Sandu,et al.  Off-road tire modeling and the multi-pass effect for vehicle dynamics simulation , 2011 .

[68]  Yunming Yang,et al.  Three‐dimensional finite element modeling of tire/ground interaction , 2012 .

[69]  Kai Cui,et al.  A new approach for modelling vertical stress distribution at the soil/tyre interface to predict the compaction of cultivated soils by using the PLAXIS code , 2007 .

[70]  J. V. Perumpral,et al.  Moisture and Density Effect on Cone Index , 1981 .

[71]  Yong Huang,et al.  Trafficability analysis of lunar mare terrain by means of the discrete element method for wheeled rover locomotion , 2010 .

[72]  Michael Gipser,et al.  FTire: a physically based application-oriented tyre model for use with detailed MBS and finite-element suspension models , 2005 .

[73]  M. G. Bekker.  Mechanics of Locomotion and Lunar Surface Vehicle Concepts , 1964 .

[74]  W. P. Billington.  The N.I.A.E. Mk II single wheel tester , 1973 .

[75]  Markos Troulis,et al.  A new tyre–soil interaction model for vehicle simulation on deformable ground , 2005 .

[76]  Jo Yung Wong,et al.  Terramechanics and Off-Road Vehicle Engineering: Terrain Behaviour, Off-Road Vehicle Performance and Design , 2009 .

[77]  Clarence E. Johnson,et al.  Three-dimensional finite element analysis of soil interaction with a rigid wheel , 2005, Appl. Math. Comput..

[78]  Sander Oude Elberink,et al.  Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications , 2012, Sensors.

[79]  J. P. Pruiksma,et al.  Tractive performance modelling of the ExoMars Rover wheel design on loosely packed soil using the Coupled Eulerian Lagrangian Finite Element Technique , 2011 .

[80]  A. Oida.  Effect of tire lug cross section on tire performance simulated by distinct element method , 1999 .

[81]  Jeffrey Lawrence Slade.  DEVELOPMENT OF A NEW OFF-ROAD RIGID RING MODEL FOR TRUCK TIRES USING FINITE ELEMENT ANALYSIS TECHNIQUES , 2009 .

[82]  P. Owende,et al.  Finite element modelling of flexible pavements on soft soil subgrades , 2007 .

[83]  William R. Gill,et al.  Soil dynamics in tillage and traction , 1967 .

[84]  Ian Michael Darnell.  An efficient three-dimensional tire model for predicting spindle loads. , 2001 .

[85]  C. H. Liu,et al.  Numerical simulations of tire-soil interaction based on critical state soil mechanics , 1996 .

[86]  Keiji Nagatani,et al.  Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil , 2011 .

[87]  Hiroshi Nakashima,et al.  Parametric analysis of lugged wheel performance for a lunar microrover by means of DEM , 2007 .

[88]  Jae Young Lee,et al.  Interactive visualization of elasto-plastic behavior through stress paths and yield surfaces in finite element analysis , 2011 .

[89]  Robert Bauer,et al.  A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil , 2011 .

[90]  Bernd Schäfer,et al.  Multibody System Modelling and Simulation of Planetary Rover Mobility on Soft Terrain , 2005 .

[91]  Kleber Pereira Lanças,et al.  Evaluation of a Single Wheel Testing Device with Mechanical Transmission , 2001 .

[92]  B. Hanamoto,et al.  The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils , 1961 .

[93]  G. E. Monroe,et al.  Wide Frame Tractive Vehicle for Controlled-Traffic Research , 1989 .

[94]  Rimyalegdo Kiébré,et al.  Contribution to the modelling of aircraft tyre-road interaction , 2010 .

[95]  V. V Kacigin,et al.  The basis of tractor performance theory: Part 1—General laws of soil strength and deformation , 1968 .

[96]  I. Darnell,et al.  Analysis of Tire Models for Rolling on a Deformable Substrate , 2002 .

[97]  Jeffrey E. Herrick,et al.  A dynamic cone penetrometer for measuring soil penetration resistance , 2002 .

[98]  J. Christian Gerdes,et al.  The role of handling characteristics in driver assistance systems with environmental interaction , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[99]  C. Canudas-de-Wit,et al.  Observers for tire/road contact friction using only wheel angular velocity information , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[100]  E. B. Becker,et al.  Fatigue Life Prediction for Cord‐Rubber Composite Tires Using a Global‐Local Finite Element Method , 2004 .

[101]  Joo-Hyoung Choi,et al.  Numerical investigation of snow traction characteristics of 3-D patterned tire , 2012 .

[102]  Dieter Fox,et al.  Toward object discovery and modeling via 3-D scene comparison , 2011, 2011 IEEE International Conference on Robotics and Automation.

[103]  M. G. Bekker,et al.  Theory of land locomotion , 1956 .

[104]  L. Matešić,et al.  Strain-rate effect on soil secant shear modulus at small cyclic strains , 2003 .

[105]  Leslie L. Karafiath,et al.  Soil mechanics for off-road vehicle engineering , 1978 .

[106]  Akira Oida.  Study on Equation of Shear Stress-Displacement Curves , 1975 .

[107]  Hans B. Pacejka,et al.  Magic Formula Tyre Model with Transient Properties , 1997 .

[108]  Alvin C. Bailey,et al.  A Machine for Testing Tractor Tires in Soil Bins , 1980 .

[109]  吉田 和哉.  Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil , 2004 .

[110]  A. Gallrein,et al.  CDTire: a tire model for comfort and durability applications , 2007 .

[111]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[112]  Clifford J Nuttall,et al.  An Analysis of Ground Mobility Models (ANAMOB) , 1971 .

[113]  W. S. Pi.  Dynamic tire/soil contact surface interaction model for aircraft ground operations , 1988 .

[114]  J. Y. Wong,et al.  On the study of wheel-soil interaction , 1984 .

[115]  Li-Rong Wang,et al.  Modeling Method of Constitutive Law of Rubber Hyperelasticity Based on Finite Element Simulations , 2003 .

[116]  Robert Bosch,et al.  Evolution of Electronic Control Systems for Improving the Vehicle Dynamic Behavior , 2002 .

[117]  Raymond N. Yong,et al.  Prediction of wheel-soil interaction and performance using the finite element method , 1976 .

[118]  Akira Oida,et al.  Simulation of Soil Behavior and Reaction by Machine Part by Means of DEM , 2002 .

[119]  Thomas R. Way.  Three Single Wheel Machines for Traction and Soil Compaction Research , 2010 .

[120]  David A. Horner,et al.  Design of a Large Scale Discrete Element Soil Model for High Performance Computing Systems , 1996, Proceedings of the 1996 ACM/IEEE Conference on Supercomputing.

[121]  J. Y. Wong,et al.  An introduction to terramechanics , 1984 .