How to calculate the effect of soil conditions on tractive performance

The paper presents an analysis and quantitative evaluation of the effect of soil conditions on tractive performance of off-road wheeled and tracked vehicles. The results of this study indicated that to accurately calculate the tractive performance of a vehicle in a given soil condition, soil properties and parameters and their changes as functions of soil moisture content and density should be taken into account. An effective Tractive Performance Analytical (TPA) model which takes into consideration the effect of soil conditions on tractive performance of the vehicles is developed. The TPA model uses invariant soil parameters that can be given or measured before the calculations by routine methods of classical soil mechanics. Soil parameters can also be obtained by recommended empirical equations using four physical soil parameters measured in the field with hand held instruments without time consuming and costly plate or vehicle tests. The model was validated in different soil conditions and compared with other models used in terramechanics for tractive performance predictions. The paper includes also an analysis of capabilities and limitations of the observed models.     

变形对非饱和土渗透系数影响规律模拟研究

对有、无缝合复合材料层合板的拉伸疲劳性能进行了试验研究,考察了0^\circ 缝合对复合材料光滑板拉伸疲劳损伤扩展规律的影响. 通过有限元素法分析了有、无缝合复 合材料层合板的应力状态分布情况,对缝合复合材料层合板的拉伸疲劳损伤及其扩展机理进 行了分析. 研究表明,缝合改变了复合材料层合板拉伸疲劳损伤起始与扩展的机理,针脚 附近的面内正应力\sigma_{x}与层间剪应力的集中对层合板拉伸疲劳损伤的 发生与扩展有着重要的作用,自由边界处的层间集中应力对缝合板的疲劳性能也有影响. 自 由边界处的层间集中应力是导致无缝合层合板疲劳损伤及其扩展的主要原因.     

网纹红土分数阶应力松弛模型

网纹红土松弛特性具有非线性。基于分数阶微积分理论,探讨了能更准确描述网纹红土松弛非线性特性和全过程的FVMS(Fractional Voigt and Maxwell model in series)松弛模型和FVMP(Fractional Voigt and Maxwell model in parallel)松弛模型及其理论解,进而应用提出的模型对三轴松弛试验实测数据进行反演,讨论了分数阶阶数的敏感性,并与西原模型和Burgers模型进行对比分析。研究结果表明,建立的四元件分数阶松弛本构模型应用于网纹红土应力松弛特性分析是有效可行的,模型灵活且精度更高,参数确定简便,发现分数阶阶数对应力松弛量的影响较大,但其对FVMS模型和FVMP模型松弛速率的影响不同,为实际工程长期稳定性分析提供了参考。     

Discrete element modelling of large soil deformations under heavy vehicles

This paper addresses the challenges of creating realistic models of soil for simulations of heavy vehicles on weak terrain. We modelled dense soils using the discrete element method with variable parameters for surface friction, normal cohesion, and rolling resistance. To find out what type of soils can be represented, we measured the internal friction and bulk cohesion of over 100 different virtual samples. To test the model, we simulated rut formation from a heavy vehicle with different loads and soil strengths. We conclude that the relevant space of dense frictional and frictional-cohesive soils can be represented and that the model is applicable for simulation of large deformations induced by heavy vehicles on weak terrain.     

Prediction of impacts of wheeled vehicles on terrain

Traffic of off-road vehicles can disturb soil, decrease vegetation development, and increase soil erosion. Terrain impacts caused by wheeled off-road vehicles were studied in this paper. Models were developed to predict terrain impacts caused by wheeled vehicles in terms of disturbed width and impact severity. Disturbed width and impact severity are not only controlled by vehicle types and vehicle dimensions, but also influenced by soil conditions and vehicle dynamic properties (turning radius, velocity). Field tests of an eight-wheeled vehicle and a four-wheeled vehicle were conducted to test these models. Field data of terrain–vehicle interactions in different vehicle dynamic conditions were collected. Vehicle dynamic properties were derived from a global position system (GPS) based tracking system. The average prediction percentage error of the theoretical disturbed width model is less than 20%. The average absolute error between the predicted impact severity and the measured value is less than an impact severity value of 12%. These models can be used to predict terrain impacts caused by off-road wheeled vehicles.     

The reference shrinkage curve of clay soil

The objective of this work is to develop and validate a model that predicts the reference soil shrinkage curve, that is one without crack volume contribution, as a necessary preliminary step in future estimation of soil crack volume from soil shrinkage data. Current soil shrinkage models are based on the approximation of soil shrinkage data by some a priori taken mathematical expressions and justified by the fitting of their parameters to the data. However, the crack volume entering the data is not single valued and depends on shrinkage conditions. Unlike that the reference shrinkage curve is single valued. For soils with sufficiently high clay content when there are no large pores (lacunar pores) inside the intra-aggregate clay, the reference shrinkage curve is derived from the assumption of the rigid superficial (interface) layer of aggregates with changed pore-size range and distribution compared with the intra-aggregate matrix. This consideration is based on accounting for contributions of the interface aggregate layer and intra-aggregate matrix to the soil volume and water content during shrinkage. The reference shrinkage curve is predicted by eight fundamental physical immediately measured parameters of (i) the intra-aggregate matrix (including clay content); (ii) the aggregate structure; and (iii) the mean silt-sand grain size or mean interface layer thickness. The model was validated using the data for eight soils. In addition to the major potential application for estimating a soil crack volume, the model explains differences between the observed shrinkage curves of soil and pure clay, and it can have other numerous applications.     

Statistical modeling and comparison with experimental data of tire–soil interaction for combined longitudinal and lateral slip

The interaction of a tire with a soft terrain has multiple sources of uncertainties such as the mechanical properties of the terrain, and the interfacial properties between the tire and the terrain. These uncertainties are best characterized using statistical methods such as the development of stochastic models of tire–soil interaction. The quality of the models can be assessed via statistical validation measures or metrics. Although validation of stochastic tire–soil interaction models has recently been reported with good results, it involves longitudinal slip only without considering lateral slip which can occur simultaneously with longitudinal motion. This paper presents results of the validation of a simple stochastic tire–soil interaction model for the more complicated case of combined slip. The statistical methods used for validation include the development of a Gaussian process metamodel, the calibration of model parameters using the approach of the maximum likelihood estimate in conjunction with new test data. The validation of the calibrated model, when compared with test data, is obtained using four validation metrics with good results.     

Integrated soil tillage force prediction models

This paper describes the integration of a series of models to predict the forces acting on a range of tillage tools from simple plane tines to mouldboard ploughs. The results show that the horizontal (or draught) and vertical forces can be predicted with average errors of −3% and +33%, with the majority of the predicted values within ±20% and ±50% of the measured values respectively. The models adequately reflect the changes in soil strength and implement geometry. All of the predicted values given have been estimated using a spreadsheet based model which is freely available.     

On the treatment of soft soil parameter uncertainties in planetary rover mobility simulations

Nowadays soft soil–wheel contact models are widely used for predicting the mobility of rovers in off-road applications. However, most of the contact models used in computer simulations are based on semi-empirical laws for which soil parameters can be assessed only with large uncertainty. This lack of knowledge results in significant uncertainty on the rover position predictions. Applied to a planetary rover model, this paper illustrates probabilistic and non-probabilistic techniques for efficient treatment of soil parameter uncertainty for rover position predictions.     

Empirical plasticity models applied for paper sheets having different anisotropy and dry solids content levels

The rheological nature of paper or board is usually treated either as elasto-plastic or as viscoelastic depending on the studied paper making process or behavior in converting and end use. In this paper we study several stress–strain curve models and the determination of material parameters from an elasto-plastic point of view. Finally, a suitable approach for all stress–strain curves measured from 180 strips is constructed using a linear function for an elastic region and a nonlinear function for a strain hardening region. This model determines a proportional limit (elastic limit) and gives fairly elegant dependencies between material/fitting parameters and two important factors of mechanical properties of paper: dry solids content and anisotropy. In this paper the dependency of a plastic strain on dry solids content and anisotropy is estimated using the introduced stress–strain curve model. Correspondingly, the model can be used to estimate many other mechanical behaviors, for example, the tension differences arising from non-uniform moisture content of the paper web profile. However, the main target of this study is to produce competent parameters based on modeled stress–strain curves for further construction of a material model. This elasto-plastic material model will be utilized in out-of-plane deformation and fracture models.     

Numerical simulation and testing verification of the interaction between track and sandy ground based on discrete element method

Tractive effort of tracked vehicles plays an important role in military and agricultural fields. In order to solve the problem of low precision in numerical simulation of the interaction between track and sandy ground, a systematic and accurate discrete element modeling method for sandy road was proposed. The sandy ground was modeled according to the mechanical parameters measured by soil mechanics tests. The interaction coefficients of sandy soil were measured by the repose angle test and triaxial compression test combined with the corresponding simulation. On this basis, a discrete element interaction model of track-sandy ground was established, which can be used to test the tractive effort of track. Numerical simulation calculation of track model at different speeds was carried out, and the simulation results were compared with the results of indoor soil bin test for verification. The verification results show that the interaction between track and sandy ground based on DEM simulation is consistent with the actual soil bin test. The discrete element modeling method in this paper can be used to model the track and sandy ground accurately, and the simulation model can be used to test the tractive effort of tracked vehicle.     

用ABAQUS软件处理管土相互作用中的接触面问题

采用ABAQUS软件处理管土相互作用中的接触面问题，利用ABAQUS软件中的主控-从属接触算法，使管道和海床形成一个接触对；并且建立了管土系统有限单元模型．海床土体分别采用非线性弹性模型、多孔弹性模型、Ramberg-Osgood塑性模型对管土系统进行计算通过分析计算，得到了管道沉降量与管重间的关系，以及由于管道沉陷而形成的土体楔形，土体楔形的存在，增加了管道的稳定性．计算结果和有关试验结果相符合，说明采用该软件进行管土相互作用问题分析是可行的．     

土的工程力学性质的颗粒流模拟

基于颗粒流理论,引入不同的颗粒接触连接本构模型,分别建立了砂土和粘性土的颗粒流模型．通过颗粒流数值模型试验,对砂土和粘性土的室内平面应变试验及其剪切带形成和发展进行了数值模拟,分别对比了不同围压下颗粒流试样与室内试验的应力应变关系曲线,基本再现了砂土和粘性土试样应力．应变关系．通过砂土和粘性土PFC试样剪切带模拟表明,当围压较小时试样内部颗粒位移量小而且分布范围较广,当围压增大时,试样内部颗粒位移量也增大,而且发生较大位移颗粒的分布范围趋于集中,同时随着围压的增大试样内部形成明显的剪切带．无论砂土还是粘性土的PFC试样,随着围压的增加剪切带的形状趋于集中,而且剪切带宽度在减小．在围压很小时,试样内形成大的破坏区域,在围压较大时出现明显的线破坏区．这些规律基本与室内试验结果相似。     

Reduced testing and modelling of the bearing capacity of rooted soil for wheeled forestry machines

The next generation of forestry machines must be developed to be gentler to soil and to the root mat than present machines, especially in thinning operations. The bearing capacity of the soil is a key property for determining the terrain trafficability and machine mobility. This asks for better and more general terramechanics models that can be used to predict the interaction between different machine concepts and real and complex forest soil.This paper presents results from terramechanics experiments of rooted soil with a new and small-scale testing device. The force–deflection results are analyzed and compared with analytical root reinforcement models found in literature. The presented study indicates that rooted soil properties obtained with the new laboratory test device can be used to create an augmented soil model that can be used to predict the bearing capacity of rooted soil and also to be used in dynamic machine–soil interaction simulations.     

Modeling wheel-induced rutting in soils: Rolling

Theoretical models for predicting penetration of non-driving (towed) rigid cylindrical wheels rolling on frictional/cohesive soils are presented. The models allow for investigating the influence of soil parameters and wheel geometry on the relationship between the inclined rolling force and wheel sinkage in the presence of permanently formed ruts. The rolling process is simulated numerically in three dimensions using the finite element code ABAQUS. The numerical simulations reveal that the advanced three-dimensional process of rutting can be regarded as steady, and an approximate analytic model for predicting sinkage under steady-state conditions, which accounts for three-dimensional effects, is also developed. The differences between wheel rolling and wheel indentation (considered in a separate paper) are discussed. Numerical and analytic results are compared with test results available in the literature and obtained from preliminary small-scale experiments, and general agreement is demonstrated.     

A plasticity model for powder compaction processes incorporating particle deformation and rearrangement

This paper develops a mechanistic model of granular materials that can be used with a commercial finite element package (ABAQUS). The model draws on the ideas of critical state soil mechanics and combines them with the theory of envelopes to develop an elasto-plastic model with a non-associated flow rule. The model incorporates both local deformation at the granule contacts, and rearrangement of the granules so that jointly they account for any bulk deformation. The mechanics of the model closely reflect the physicality of the material behaviour and the model parameters are closely linked (although not simplistically identical) to the characteristics of the granules. This not only gives an insight into the material behaviour, but also enables the model to be used to facilitate design of the material, its processing properties and, hence, component development. The model is used to simulate drained triaxial tests, settlement of a powder in a bin, and some examples of die pressing. Simulations are compared with experimental data and with predictions obtained using other models.     

One- and Three-Dimensional Soil Transportation Models for Volatiles Migrating from Soils to House Interiors

Two models are presented for the transient migration of a volatile organic compound (VOC) from soil to the interor of a house with a crawl space. The migration in the house is taken as one-dimensional (1D) and coupled to a soil transportation model with diffusion, leaching and VOC degradation. The diffusion is either vertical, providing a 1D model, or three-dimensional (3D) axisymmetric, providing a 3D model. The initial subsurface VOC deposition is assumed to be a finite layer extending over the footprint of the house in the 1D case or as a cylinder of arbitrary radius in the 3D case. Using data for benzene as the VOC, comparisons are made for results from the two models for VOC concentrations in soil, crawl space and dwelling space as well as the cumulative dwelling space concentration used in human health assessment, for a wide range of soil parameters and subsurface sizes of the initial VOC cylinder. In all cases the values from the 1D transport model were slightly higher than those for the 3D model. The analysis uses Laplace transforms with numerical inversions. For the 3D soil transport model, different soil surface flux boundary conditions underneath and outside the house give rise to novel dual integral equations.     

一种土的非线性弹性本构模型参数的反演方法

旨在提出一种土的非线性弹性本构模型参数反演的方法。以现今普遍实行的地基载荷试验为基础,依据遗传算法的组合优化理论,采用正演计算和遗传算法优化相结合的方式,建立了土层非线性弹性本构模型参数反演的方法;并依据某黄土场地地基载荷试验数据,实施了黄土土层非线性弹性本构模型参数反演的全过程。计算结果表明,所建立的方法可以实现土层非线性弹性本构模型中相互关联的多个参数的组合优化,并在对初始值要求较低的情况下,可以获得良好的参数反演精度。从而为土的变形特性分析和土与其中及相邻结构的共同作用分析,提供了较好的土体本构模型参数的确定方法。     

Global linear stability analysis of time‐averaged flows

The global linear stability analysis (LSA) of stationary/steady flows has been applied to various flows in the past and is fairly well understood. The LSA of time‐averaged flows is explored in this paper. It is shown that the LSA of time‐averaged flows can result in useful information regarding its stability. The method is applied to study flow past a cylinder at Reynolds number (Re) beyond the onset of vortex shedding. Compared with the direct numerical simulation, LSA of the Re=100 steady flow severely underpredicts the vortex shedding frequency. However, the LSA of the time‐averaged flow results in the correct value of the non‐dimensional frequency, St, of the associated instability. Copyright © 2007 John Wiley & Sons, Ltd.     

Predicting terrain parameters for physics-based vehicle mobility models from cone index data

To provide terrain data for the development of physics-based vehicle mobility models, such as the Next Generation NATO Reference Mobility Model, there is a desire to make use of the vast amount of cone index (CI) data available. The challenge is whether the terrain parameters for physics-based vehicle mobility models can be predicted from CI data. An improved model for cone-terrain interaction has been developed that takes into account both normal pressure and shear stress distributions on the cone-terrain interface. A methodology based on Derivative-Free Optimization Algorithms (DFOA) has been developed in combination with the improved model to make use of continuously measured CI vs. sinkage data for predicting the three Bekker pressure-sinkage parameters, k_c, k_ϕ and n, and two cone-terrain shear strength parameters, c_c and ϕ_c. The methodology has been demonstrated on two types of soil, LETE sand and Keweenaw Research Center (KRC) soils, where continuous CI vs. sinkage measurements and continuous plate pressure vs. sinkage measurements are available. The correlations between the predicted pressure-sinkage relationships based on the parameters derived from continuous CI vs. sinkage measurements using the DFOA-based methodology and that measured were generally encouraging.