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Technical Brief

ANCF Continuum-Based Soil Plasticity for Wheeled Vehicle Off-Road Mobility

[+] Author and Article Information
Antonio M. Recuero

Computational Dynamics, Inc.,
1809 Wisconsin Avenue,
Berwyn, IL 60402

Ulysses Contreras, Mohil Patel, Ahmed A. Shabana

Department of Mechanical and Industrial Engineering,
University of Illinois at Chicago,
842 West Taylor Street,
Chicago, IL 60607

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received June 5, 2015; final manuscript received November 15, 2015; published online January 4, 2016. Assoc. Editor: Ahmet S. Yigit.

J. Comput. Nonlinear Dynam 11(4), 044504 (Jan 04, 2016) (5 pages) Paper No: CND-15-1150; doi: 10.1115/1.4032076 History: Received June 05, 2015; Revised November 15, 2015

This technical brief describes the procedure and demonstrates the feasibility of integrating soil/tire models using the absolute nodal coordinate formulation (ANCF). The effects of both the soil plasticity and the tire elasticity are captured using ANCF finite elements (FEs). Capturing the tire/soil dynamic interaction is necessary for the construction of higher fidelity off-road vehicle models. ANCF finite elements, as will be demonstrated in this paper, can be effectively used for the modeling of tire and soil mechanics. In this investigation, the soil model is developed using ANCF hexahedral finite elements, while the tire model can be developed using different ANCF finite elements including beam, plate, or solid elements; ANCF plate elements are used in this investigation for demonstration purposes. The Drucker–Prager plastic material, which is used to model the behavior of the soil, is appropriate for the simulation of a number of types of soils and offers a good starting point for computational plasticity in terramechanics applications. Such higher fidelity simulations can be fruitfully applied toward the investigation of complex dynamic phenomena in terramechanics. The proposed ANCF/Drucker–Prager soil model is implemented in a multibody system (MBS) algorithm which allows for using the ANCF reference node (ANCF-RN) to apply linear connectivity conditions between ANCF finite elements and the rigid components of the vehicle. This new implementation is demonstrated using a tire of an off-road wheeled vehicle. The generality of the approach allows for the simulation of general vehicle maneuvers over unprepared terrain. Unlike other approaches that implement force or superelement models into an MBS simulation environment, in the approach proposed in this paper both the soil material and vehicle parameters can be altered independently. This allows for a greater degree of flexibility in the development of computational models for the evaluation of the off-road wheeled vehicle performance.

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References

Figures

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Fig. 1

Drucker–Prager yield surface in principal stress space and P–Q space

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Fig. 2

ANCF tire–soil system in initial configuration

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Fig. 8

(a) Tire rim longitudinal position and (b) first component of rim reference node rx

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Fig. 7

εyy tire strain in tire–soil system at t = 2.225 s

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Fig. 6

εyy tire strain in tire–soil system at t = 0.375 s

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Fig. 5

Soil sinkage in tire–soil system at t = 2.25 s

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Fig. 4

Soil sinkage in tire–soil system at t = 1.75 s

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Fig. 3

Soil sinkage in tire–soil system at t = 0.375 s

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