Off-road tire modeling and the multi-pass effect for vehicle dynamics simulation

Off-road operations are critical in many fields and the complexity of the tire-terrain interaction deeply affects vehicle performance. In this paper, a semi-empirical off-road tire model is discussed. The efforts of several researchers are brought together into a single model able to predict the main features of a tire operating in off-road scenarios by computing drawbar pull, driving torque, lateral force, slip-sinkage phenomenon and the multi-pass behavior. The approach is principally based on works by Wong, Reece, Chan, and Sandu and it is extended in order to catch into a single model the fundamental features of a tire running on soft soil. A thorough discussion of the methodology is conducted in order to highlight strengths and weakness of different implementations. The study considers rigid wheels and flexible tires and analyzes the longitudinal and the lateral dynamics. Being computationally inexpensive a semi-empirical model is attractive for real time vehicle dynamics simulations. To the best knowledge of the authors, current vehicle dynamics codes poorly account for off-road operations where tire-terrain interaction dominates vehicle performance. In this paper two soils are considered: a loose sandy terrain and a firmer loam. Results show that the model realistically predicts longitudinal and lateral forces providing at the same time good estimates of the slip-sinkage behavior and tire parameters sensitivity.     

杆件在横向力和轴向压力共同作用下的内力计算

针对杆件在横向力和轴向压力共同作用下的内力计算问题进行了研究．在考虑杆件变形因素的情形下,推导出了杆件在横向力和轴向压力共同作用下的内力和正应力的计算公式,并与材料力学中未考虑杆件变形因素的对应公式进行了比较,说明了二者之间不同之处．     

Indentation tests and rolling simulations of a compliant wheel on soil at different consistencies

The investigation presented addresses the response of a compliant wheel in interaction with deformable soil dependent on the water content, and accordingly on soil consistency. Two fine soils are considered. The basic soil properties and the soil shear strength are obtained from routine tests. A non-pneumatic Tweel in full size is tested in a loading device against a rigid base and against soil placed in a container in order to assess its stiffness and the compressional behavior of the soil, respectively. The measured pressure sinkage curves are then utilized in conjunction with a standard explicit FEM code to calibrate a hyperelastic model for the Tweel and an elasto-plastic constitutive model for the soil. Soil-tire interface strength is obtained from shear tests on a flat tire section embedded in soil. The numerical model is then applied to investigate how the water content affects the global response of the tire-soil system under different scenarios of free rolling, braking and driving. The methodology followed, complemented by appropriate soil testing, can be used as guide for the implementation of more elaborate models.     

Rolling resistance and sinkage analysis by comparing FEM and experimental data for a grape transporting vehicle

In this study a 2D FEM model was developed to analyze ruts formation, rolling resistance, and power loss for a grape transporting cart aimed to replace the use of heavy tractors while harvesting grape. The model was supported by experiments in a vineyard in South Italy. Cone penetration tests were conducted to estimate frictional and cohesive properties in three soil conditions: firm, soft, and wet saturated. A tractor pulled test rig for a single wheel was developed to measure rolling resistance and sinkage, and complete the selection of the soil parameters. Completed the model, the analysis was conducted for a range of different wheel dimensions, and the outputs analyzed through response surfaces. The results showed the different impacts that width and diameter have on ruts formation and rolling resistance for different soil conditions. Wider wheels determined a main reduction of the sinkage, while the width contribution to the rolling resistance was affected by the total soil volume deformed. Larger diameters led to lower rolling resistance, with a higher impact on more deformable soils. Contact stress was compared with the thresholds recommended in the literature to determine the acceptable designs. This analysis represents a tool to select the running gear dimensions.     

Effect of open spaces between grousers on the gross traction of a track shoe for lightweight vehicles analyzed using 2D DEM

The purpose of this study is to investigate the effect of open spaces between grousers on gross traction using the discrete element method (DEM). We used a quasi-2D track shoe model in which we could control the open spacing between track shoes to observe the tractive performance experimentally. The gross traction and the sinkage of the grouser were measured on artificial sand. Moreover, we applied a 2D DEM analysis to the interaction between the open-spaced track shoes and the model soil. We confirmed the accuracy of the DEM analysis using the experiments. The analysis with the model dry sand could recreate the characteristic region of the soil under the shearing action, which depends on the track shoe spacing. The DEM also showed that the gross traction decreased with the increase in open spacing of the grousers. From the result of a 2D DEM analysis of a grouser for a prototype mesh crawler for the Japan Aerospace Exploration Agency, we estimated a thrust coefficient of approximately 0.4 for a wider grouser pitch-to-height ratio of 4.0–7.75 because of the constant sinkage of the grouser, neglecting the role of the meshed belt.     

Conditions of stability and instability for a pair of arbitrarily stratified compressible fluids in an arbitrary non-uniform gravity field

The work continues and develops authors’ previous investigation of stability in the small for a two-layer system of inhomogeneous compressible fluids in the uniform gravity field. Here we present a solution of a similar problem in the case of arbitrary non-uniform potential gravity field. The equilibrium stratification of both density and elastic properties of the fluids is supposed arbitrary, as well as the shape of open on top reservoir filled by the fluids. The problem of stability of equilibrium is analyzed as the corresponding problem for the non-linearly elastic bodies, basing on the static energy criterion with regard for the boundary conditions at all parts of the boundary. The crucial element of the analysis is conversion of the quadratic functional of second variation of total potential energy of the system into a “canonical” form that enables to determine its sign. Making use of this canonical form, we obtain almost coinciding with each other necessary and sufficient conditions for stability (those being valid also for an arbitrary number of layers).     

高层建筑结构抗震弹塑性简化方法的研究及其应用

以地震反应谱理论为依据，建立了可以考虑多阶振型影响的高层建筑结构弹塑性静力分析方法。在此基础上发展了较简单且较为精确的高层建筑结构弹塑性地震反应计算方法。最后给出的算例论证了本文简化方法的可能性及可行性。     

杆件修改与去除及内力变更时杆系结构分析的矩阵力法

采用矩阵力法，引入假想初位移的概念，用原始结构在外荷载与某一组假想初位移联合作用下的效应，来替代部分杆件被修改、去除及内力变更的新结构胡该外荷载作用下的效应。这种方法的计算可以仅涉及被修改、去除及内力变更的那部分杆件，并且利用原始结构的计算成果来分析新结构，无须按常规方法从头开始再计算一篇。在许多情况下，这种做法的工作量有可能成倍地甚至几十倍地大幅度减少。文中附有算例，计算结果表明本文提出的简捷计算方法是正确的、可靠的和有效的。     

Electro-elastic green's functions for a piezoelectric half-space and their application

I.IntroductionItiswell'knownthatoneofthemostpowerfultoolsinlinearfieldtheoriesistheGreen'sfunction.Fore1asticity,considerableresearchcanbefoundintheliterature.However,theGreen'sfunctionforpiezoe1ectricityisratherlimitedduetotheanisotropyandelectromechanic…     

Design and evaluation of a low-power mobile shaker for vibration tests on heavy wheeled vehicles

In the field of mobile agricultural and off-road machinery, there is a growing interest to examine the dynamic behaviour of the vehicle under construction with a view to improve passenger comfort and machine performance. As many of these machine constructors are small sized, specialised companies are required to execute vibration tests and to evaluate vibration levels. Because most of these machines are heavy constructions with exceptional proportions, it is obvious to perform vibration tests on the factory floor by means of a low power mobile excitation device such as an electro-hydraulic shaker. This paper shows that an air spring, parallel to the actuator of an electro-hydraulic shaker, results in considerable power savings. The behaviour of the shaker is discussed at its resonance frequencies. For small band excitation signals, extra power savings can be achieved by tuning the spring stiffness and by using the air spring at constant pressure. Experiments on a one degree of freedom vertical shaker show good agreement with the theory and demonstrate that the different mode shapes of an agricultural tractor can be sufficiently excited with a nominal hydraulic power of 500 W.     

固定结构下的两向力及弯矩传感器设计

为了刀板切削过程中的受力满足最合理的设计准则,专用传感器设计须基于固定总体结构,对局部结构优化,以达到设计合理的目的。刀板切削时受到土体的阻力可分解为水平力和垂直力,多维力传感器测量了两个力的大小和对传感器产生的弯矩。刀板工作中,弯矩引起的正应力比垂直力引起的拉应力及水平力引起的切应力要大得多,因此特别设计了弹性体的局部结构使得三个应力值接近于同一量级。传感器的标定结果显示,输入输出有良好的线性关系,并且很好地消除了耦合效果。最终,将该传感器应用于土体切削测试并验证了其可靠性。     

一类刚-梁耦合系统平面稳态运动的稳定性

研究了中心力场中的一类刚-弹耦合系统的平面运动动力学，模型是带有一悬臂 梁的刚体. 综合考虑了系统轨道运动与姿态运动，在Lagrange力学体系下给出了系统的运 动方程，在保守系统和考虑梁的材料黏滞阻尼两种情况下，利用能量-动量方法给出了一类 相对平衡点稳定性的充分条件.     

On a new extended finite element method for dislocations: Core enrichment and nonlinear formulation

A recently developed finite element method for the modeling of dislocations is improved by adding enrichments in the neighborhood of the dislocation core. In this method, the dislocation is modeled by a line or surface of discontinuity in two or three dimensions. The method is applicable to nonlinear and anisotropic materials, large deformations, and complicated geometries. Two separate enrichments are considered: a discontinuous jump enrichment and a singular enrichment based on the closed-form, infinite-domain solutions for the dislocation core. Several examples are presented for dislocations constrained in layered materials in 2D and 3D to illustrate the applicability of the method to interface problems.     

Equivalence of the notch stress intensity factor,tip opening displacement and energy release rate for a sharp V-notch

For an infinite elastic plane with a sharp V-notch under the action of symmetrically loading at infinity, the length of crack initiation ahead of the V-notch’s tip is estimated according to a modified Griffith approach. Applying a new conservation integral to the perfectly plastic strip (Dugdale model) ahead of the V-notch’s tip, the relationship between notch stress intensity factor (NSIF) and notch tip opening displacement (NTOD) is presented. Also, the relationship between NSIF and perfectly plastic strip size (PPSS) is found. Since there are three fracture parameters (NSIF, NTOD, and PPSS) with changeable notch opening angle in two basic relationships, it is necessary to select one critical parameter with changeable notch opening angle or two independent critical parameters, respectively. With the help of a characteristic length, it is found by this new conservation integral that the NSIF, NTOD and energy release rate are equivalent in the case of small-scale yielding. Especially, the characteristic length possesses clear physical meaning and, for example, depends on both the critical NSIF and SIF or both the NTOD and CTOD, respectively, in which SIF and CTOD are from the tip of a crack degenerated from the sharp V-notch. The dependence of NSIF on NTOD and PPSS is presented according to the equivalence, and the critical NSIF depending on the critical NTOD with a notch opening angle is also predicted.     

A posteriori error of a discontinuous Galerkin scheme for compressible miscible displacement problems with molecular diffusion and dispersion

A kind of compressible miscible displacement problems including molecular diffusion and dispersion in porous media is studied. A symmetric interior penalty discontinuous Galerkin method is applied to the coupled system of flow and transport. Explicit a posteriori error estimates are obtained based on the duality argument, approximation properties and residual notations. The resulting error bound is shown to be reliable and worthwhile for guiding dynamic mesh adaptivity. Copyright © 2009 John Wiley & Sons, Ltd.     

Radiative and Thermal Dispersion Effects on Non-Darcy Natural Convection with Lateral Mass Flux for Non-Newtonian Fluid from a Vertical Flat Plate in a Saturated Porous Medium

The problem of natural convective heat transfer for a non-Newtonian fluid from an impermeable vertical plate embedded in a fluid-saturated porous medium has been analyzed. Non-Darcian, radiative and thermal dispersion effects have been considered in the present analysis. The governing boundary layer equations and boundary conditions are cast into a dimensionless form and simplified by using a similarity transformation. The resulting system of equations is solved by using a double shooting Runge–Kutta method. The effect of viscosity index n, the conduction–radiation parameter R, the non-Darcy parameter Gr*, the thermal dispersion parameter Ds and the suction/injection parameter f_w on the fluid velocities, temperatures and the local Nusselt number are discussed.     

Compositional gravity drainage 1. Equilibrium solutions and controlling Bond numbers for a two-phase,three-component system

The amount of wetting phase that is recovered by gravity drainage is determined by an interplay of gravitational and capillary forces. The relative importance of those forces is often expressed in terms of a Bond number. For compositional gravity drainage, where the initial and displacing fluids are not in chemical equilibrium, there is no single Bond number, as phases that form during a displacement will be associated with a different interfacial tension and density for each equilibrium tie line encountered as the compositions change during flow. We study vertical compositional displacements to determine how the Bond numbers of the initial and displacing fluids control the ultimate recovery. We find analytical solutions to the capillary/gravity equilibrium for a simplified model three-component, two-phase system. The equilibrium phase composition versus distance profiles are different than those predicted from standard viscous dominated displacements. We calculate the recovery as a function of the Bond numbers of the initial and displacing phases, and the degree of diffusion for this simple system. We discuss the important role of molecular diffusion in the ultimate recovery for condensing displacements. Finally, we find that the simple numerical average of the Bond numbers provides a reasonable estimate of an effective Bond number for calculating the retained wetting phase for many compositional gravity drainages.     

A biaxial hysteretic model for a structural system incorporating strength deterioration and pinching phenomena

A biaxial hysteretic model is developed to take into account the commonly observed hysteretic characteristics of strength and stiffness degradation, pinching and biaxial interaction. The concept of zero force point is proposed to develop the biaxial hysteretic model. Two non-linear inelastic springs and one linear elastic spring are connected in parallel to define the cyclic behavior of the proposed biaxial hysteretic model. The proposed biaxial hysteretic model is rate-independent and capable of simulating not only global (such as story shear force versus story drift response of the whole structure) but also the local hysteretic behavior of structural member (such as moment versus curvature or plastic rotation response of a structural element). The biaxial cyclic loading test data of six reinforced concrete columns, which are designed for flexural failure and shear failure, are used to validate the proposed biaxial hysteretic model.     

FINITE ELEMENT DISPLACEMENT PERTURBATION METHOD FOR GEOMETRIC NONLINEAR BEHAVIORS OF SHELLS OF REVOLUTION OVERALL BEDING IN A MERIDIONAL PLANE AND APPLICATION TO BELLOW (Ⅱ)

The finite-element-displacement-perturbation method (FEDPM)for the geometric nonlinear behaviors of shells of revolution subjected to pure bending moments or lateral forces in one of their meridional planes (Ⅰ) was employed to calculate the stress distributions and the stiffness of the bellows. Firstly, by applying the first-order perturbation solution (the linear solution)of the FEDPM to the bellows, the obtained results were compared with those of the general solution and the initial parameter integration solution proposed by the present authors earlier, as well as of the experiments and the FEA by others.It is shown that the FEDPM is with good precision and reliability, and as it was pointed out in (Ⅰ) the abrupt changes of the meridian curvature of bellows would not affect the use of the usual straight element. Then the nonlinear behaviors of the bellows were discussed. As expected, the nonlinear effects mainly come from the bellows ring plate,and the wider the ring plate is, the stronger the nonlinear effects are. Contrarily, the vanishing of the ring plate, like the C-shaped bellows, the nonlinear effects almost vanish. In addition, when the pure bending moments act on the bellows, each convolution has the same stress distributions calculated by the linear solution and other linear theories, but by the present nonlinear solution they vary with respect to the convolutions of the bellows. Yet for most bellows, the linear solutions are valid in practice.     

FINITE ELEMENT DISPLACEMENT PERTURBATION METHOD FOR GEOMETRIC NONLINEAR BEHAVIORS OF SHELLS OF REVOLUTION OVERALL BENDING IN A MERIDIONAL PLANE AND APPLICATION TO BELLOWS (Ⅰ)

In order to analyze bellows effectively and practically, the finite-element-displacement-perturbation method (FEDPM) is proposed for the geometric nonlinear behaviors of shells of revolution subjected to pure bending moments or lateral forces in one of their meridional planes. The formulations are mainly based upon the idea of perturba-tion that the nodal displacement vector and the nodal force vector of each finite element are expanded by taking root-mean-square value of circumferential strains of the shells as a perturbation parameter. The load steps and the iteration times are not as arbitrary and unpredictable as in usual nonlinear analysis. Instead, there are certain relations between the load steps and the displacement increments, and no need of iteration for each load step. Besides, in the formulations, the shell is idealized into a series of conical frusta for the convenience of practice, Sander’s nonlinear geometric equations of moderate small rotation are used, and the shell made of more than one material ply is also considered.