Physics-Based Deformable Tire-Soil Interaction Model for Off-Road Mobility Simulation and Experimental Validation

[+] Author and Article Information
Hiroki Yamashita

2312 Seamans Center Iowa City, IA 52242

Paramsothy Jayakumar

6501 E 11 Mile Road MS 157 Warren, MI 48397-5000

Mustafa Alsaleh

14009 Old Galena Rd Mossville, IL 61552

Hiroyuki Sugiyama

2416C Seamans Center Iowa City, IA 52242-1527

1Corresponding author.

ASME doi:10.1115/1.4037994 History: Received April 01, 2017; Revised September 06, 2017


A physics-based deformable tire-soil interaction simulation capability that can be fully integrated into the monolithic multibody dynamics computer algorithm is developed by extending a deformable tire model based on the flexible multibody dynamics approach to off-road mobility simulations with a moving soil patch technique and it is validated against test data. A locking-free nine-node brick element is developed for modeling large plastic soil deformation using the multiplicative finite strain plasticity theory along with the capped Drucker-Prager failure criterion. To identify soil parameters including cohesion and friction angle, the triaxial compression test is carried out, and the soil model developed is validated against the test data. In addition to the component level validation for the tire and soil models, the tire-soil simulation capability developed in this study is validated against the soil bin mobility test results. The tire forces and rolling resistance coefficients predicted by the simulation model agree well with the test results. It is shown that effect of the wheel loads and tire inflation pressures are well predicted in the simulation model. Furthermore, it is demonstrated that the moving soil patch technique, with which soil behavior only in the vicinity of the rolling tire is solved to reduce the soil model dimensionality, leads to a significant reduction in computational time, thereby enabling use of the high-fidelity physics-based tire-soil interaction model in the large-scale off-road mobility simulation.

Copyright (c) 2017 by ASME
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