Journal of Terramechanics最新文献_第6页

Optimization of subsoiler design using similitude-based DEM simulation and soil bin testing on cohesive-frictional artificial soil 利用基于模拟的 DEM 仿真和粘性摩擦人工土壤的土仓测试优化底土机设计

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-22 DOI: 10.1016/j.jterra.2024.101026

Adewale M. Sedara , Mohamed A.A. Abdeldayem , Francisco Pratas Glycerio de Freitas , Tekeste Z. Mehari

The study highlights the need for effective and efficient methods in designing tillage shanks to alleviate deep soil compaction, especially in wet soil conditions. Current techniques relying on full-scale tillage tools testing are prone to costly and time-consuming engineering product development cycles. DEM simulation of soil-to-shank interaction was utilized for screening twelve geometrically scaled (1:5.63) shanks to top-ranked six shanks, aiming reduced soil horizontal forces and maximum bulk density difference. Six scaled shanks (a straight, a bent, and four paraplow shapes) were fabricated and tested using a split-plot design soil bin experiment on cohesive-frictional artificial soil to investigate their performances on soil reaction forces and soil loosening parameters. Shank design had significant effects (p < 0.05) on energy responses (soil horizontal and vertical reaction forces), above-ground soil loosening (cross-sectional area, trench width, bulk density difference), and below-ground soil loosening (soil rupture area, D1 and D2) parameters. Using an optimization profiler, S-3 (β = 60°, α = 45°) demonstrated the best overall desirability score (0.58) with objectives reducing soil reaction forces and maximizing soil loosening. Manufacturing the S-3 to a full scale is proposed for evaluating its efficiency in tillage energy and soil loosening on field soil conditions for subsoil compaction management.

这项研究突出表明，在设计耕地刀柄时需要采用有效和高效的方法来减轻土壤深层压实，尤其是在潮湿的土壤条件下。目前的技术依赖于全尺寸耕具测试，容易造成工程产品开发周期成本高、耗时长。利用 DEM 模拟土壤与刀柄之间的相互作用，筛选出 12 个几何比例（1:5.63）的刀柄，最终确定了排名靠前的 6 个刀柄，目的是减少土壤水平力和最大容重差。我们制作了六种不同形状的刀柄（一种直柄、一种弯柄、四种paraplow形状），并在粘性摩擦人造土壤上进行了分块设计的土壤仓实验，以研究它们在土壤反作用力和土壤疏松参数上的性能。柄部设计对能量响应（土壤水平和垂直反作用力）、地面松土（横截面积、沟宽、容重差）和地下松土（土壤破裂面积、D1 和 D2）参数有显著影响（p < 0.05）。利用优化剖面仪，S-3（β = 60°，α = 45°）显示出最佳的总体可取性得分（0.58），其目标是减少土壤反作用力，最大限度地提高土壤疏松度。建议对 S-3 进行大规模制造，以评估其在田间土壤条件下的耕作能量和松土效率，从而进行底土压实管理。

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引用次数: 0

A Riemann-based SPH formulation for modelling elastoplastic soil behaviour using a Drucker–Prager model 利用德鲁克-普拉格模型建立弹塑性土壤行为模型的基于黎曼的 SPH 公式

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-21 DOI: 10.1016/j.jterra.2024.101033

M. Lallemand , C. De Sousa , C. Hermange , J. Michel , G. Oger

The present paper aims at proposing and investigating a Riemann-based SPH formulation to simulate the elastoplastic behaviour of soils undergoing large deformations, using a Drucker–Prager model. Basing on the pioneer work from Parshikov and Medin (Parshikov and Medin, 2002), a Riemann solver is used to maintain regular fields while being free of tuning parameters. By contrast to the work in Parshikov and Medin (2002) where piecewise constant reconstructions were employed, piecewise linear reconstructions are preferred in this work to reduce the numerical diffusion. A Particle Shifting Technique (PST) is used to maintain regular particle distributions and consequently accurate SPH interpolations. To the best of the author’s knowledge, the use of a Riemann solver specific to solid mechanics with a pressure-dependent elastoplastic Drucker–Prager yield surface to model the behaviour of the material represents a novelty with respect to the existing literature. A Boundary Integral Method (BIM) initially derived for fluid dynamics (Ferrand et al., 2013; Chiron et al., 2019) is adapted to solid mechanics in order to handle complex geometries. It allows to deal with wall treatment without using fictitious particles, and shows satisfactory results even in sharp angle regions. The ability of the proposed Riemann-based formulation to simulate accurately elastoplastic problems and its robustness are examined through several test cases in plane strain conditions. Attention is paid to the capacity of the formulation to mitigate the occurrence of Tensile Instability (TI) with respect to other schemes, for which additional treatment is required to treat this issue, such as the additional artificial stress method (Gray et al., 2001).

本文旨在提出并研究一种基于黎曼的 SPH 公式，利用德鲁克-普拉格模型模拟发生大变形的土壤的弹塑性行为。本文以 Parshikov 和 Medin（Parshikov 和 Medin，2002 年）的开创性工作为基础，使用黎曼求解器来维持规则场，同时不需要调整参数。与 Parshikov 和 Medin（2002 年）采用的片断常数重构不同，本研究优先采用片断线性重构，以减少数值扩散。粒子移动技术（PST）用于保持粒子的规则分布，从而实现精确的 SPH 插值。据作者所知，与现有文献相比，使用固体力学专用的黎曼求解器和与压力相关的弹塑性德鲁克-普拉格屈服面来模拟材料行为是一项创新。边界积分法（BIM）最初用于流体动力学（Ferrand 等人，2013 年；Chiron 等人，2019 年），现适用于固体力学，以处理复杂的几何形状。它可以在不使用虚构粒子的情况下处理壁面，即使在锐角区域也能显示出令人满意的结果。通过几个平面应变条件下的测试案例，考察了所提出的基于黎曼的公式精确模拟弹塑性问题的能力及其稳健性。与其他需要额外处理的方案（如附加人工应力法（Gray 等人，2001 年））相比，该方案能够减轻拉伸不稳定性（TI）的发生。

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引用次数: 0

Editorial: Soil modeling and simulation for terramechanics applications of manned and unmanned autonomous vehicles 编辑：载人和无人自动驾驶车辆的地形力学应用土壤建模与模拟

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-21 DOI: 10.1016/j.jterra.2024.101032

Mehari Tekeste Guest editor, Thomas R. Way Guest editor, Mustafa Alsaleh Guest editor

引用次数: 0

Acoustic winter terrain classification for offroad autonomous vehicles 用于越野自动驾驶车辆的冬季地形声学分类

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-15 DOI: 10.1016/j.jterra.2024.101028

Anthony T. Fragoso

Autonomous vehicles can experience extreme changes in performance when operating over winter surfaces, and require accurate classification to transit them safely. In this work we consider acoustic classification of winter terrain, and demonstrate that a simple and efficient frequency-space analysis exposed to a small convolutional neural network, rather than recurrent architectures or temporally-varying spectrogram inputs, is sufficient to provide near-perfect classification of deep snow, hardpacked surfaces and ice. Using a dual-microphone configuration, we also show that acoustic classification performance is due to a combination of vehicle noises and vehicle-terrain interaction noises, and that engine sounds can serve as a particularly powerful classification cue for offroad environments.

自动驾驶汽车在冬季路面上行驶时，性能会发生剧烈变化，因此需要准确的分类才能安全通过。在这项工作中，我们考虑了冬季地形的声学分类问题，并证明了小型卷积神经网络（而非递归架构或时变频谱图输入）所采用的简单高效的频率空间分析足以对深雪、硬质路面和冰层进行近乎完美的分类。通过使用双麦克风配置，我们还证明了声学分类性能是由车辆噪声和车辆-地形交互噪声共同作用的结果，而且发动机声音可以作为越野环境中特别强大的分类线索。

引用次数: 0

Investigation of steer preview methods to improve predictive control methods on off-road vehicles with realistic actuator delays 研究转向预览方法，以改进具有实际执行器延迟的越野车预测控制方法

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-14 DOI: 10.1016/j.jterra.2024.101027

Andries J. Peenze, P. Schalk Els

This paper investigates improvements that can be made to predictive control methods for off-road vehicles by adding of realistic steering preview. The objective of this study is to improve the performance and efficacy of predictive controllers by accounting for significant time delays in active and semi-active systems on vehicles. Traditional zero-order and first-order hold methods for steer preview are compared to a more realistic steer preview method. Semi-active suspension, rear wheel steering, and individual brake actuation are used as the actuators on this off-road vehicle. The results show that the addition of a realistic steering preview improves the handling performance of the vehicle in a severe double lane change manoeuvre on rough roads. Up to 10% reduction in roll angle can be achieved with semi-active suspension control. A 34% reduction in side-slip angle is possible with rear wheel steering control and a 15% reduction in side-slip angle is achieved with differential braking control. The controllers can pre-empt and consider the effect of the actuator time delays, and the preview states from the predictive controller are more representative over the prediction horizon. The findings suggest that the addition of a realistic steering preview can improve the performance of predictive controllers on vehicles. Further investigation of other disturbances and their preview effects on the system should be conducted to find further improvements for predictive control strategies on vehicles.

本文研究了通过添加真实转向预览来改进越野车预测控制方法的可能性。本研究的目的是通过考虑车辆主动和半主动系统中的重大时间延迟，提高预测控制器的性能和功效。将用于转向预览的传统零阶和一阶保持方法与更逼真的转向预览方法进行了比较。半主动悬架、后轮转向和单独的制动装置被用作该越野车的执行器。结果表明，在崎岖路面上进行严重的双车道变道操作时，增加真实的转向预览可提高车辆的操控性能。通过半主动悬架控制，侧倾角最多可减少 10%。通过后轮转向控制可将侧滑角减少 34%，通过差速制动控制可将侧滑角减少 15%。控制器可以预先考虑执行器时间延迟的影响，而且预测控制器的预览状态在预测范围内更具代表性。研究结果表明，增加现实的转向预览可以提高车辆预测控制器的性能。应进一步研究其他干扰及其对系统的预览影响，以进一步改进车辆的预测控制策略。

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引用次数: 0

Comparison of selected tire-terrain interaction models from the aspect of accuracy and computational intensity 从精度和计算强度方面比较选定的轮胎-地形相互作用模型

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-08 DOI: 10.1016/j.jterra.2024.101030

Dávid Körmöczi , Péter Kiss

Accurate modeling or simulation of the vehicle-terrain interaction is critical for effective off-road vehicle navigation. While several high-accuracy methods exist (for example FEM simulation) they typically require computational capacity that exceeds what can be installed in a vehicle. Therefore, they are not applicable for real-time off-road vehicle navigation purposes, where computer hardware capacity is limited by the need for onboard installation. To address this challenge, simplified and less detailed models must be developed for real-time applications. This paper compares three different two-dimensional static terrain-vehicle models, considering accuracy and computational capacity requirements. Results of the comparison provide insights into the suitability of each model for real-time navigation of off-road vehicles.

车辆与地形相互作用的精确建模或仿真对于有效的越野车导航至关重要。虽然有几种高精度方法（例如有限元模拟），但它们所需的计算能力通常超过车辆所能安装的能力。因此，这些方法不适用于实时越野车辆导航，因为在这种情况下，计算机硬件容量受到车载安装的限制。为了应对这一挑战，必须为实时应用开发简化和不太详细的模型。本文比较了三种不同的二维静态地形-车辆模型，并考虑了精度和计算能力要求。比较结果有助于深入了解每种模型对越野车实时导航的适用性。

引用次数: 0

Simulation of cohesive-frictional artificial soil-to-blade interactions using an elasto-plastic discrete element model with stress-dependent cohesion 利用弹性离散元件模型模拟人工土壤与叶片之间的内聚摩擦相互作用，该模型的内聚力取决于应力

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-05 DOI: 10.1016/j.jterra.2024.101029

Mohamed A.A. Abdeldayem , Mehari Z. Tekeste

The discrete element method (DEM) has become a valuable computational technique for simulating soil dynamic loading during bulldozer cutting processes. It allows for the virtual design of Ground Engaging Tools (GETs) and predicting energy expenditure during earthmoving operations. Few studies exist for modeling dynamic soil-cutting processes of soils exhibiting elasto-plastic behavior with stress-history-dependent cohesive soil behavior. The study aimed to calibrate an elasto-plastic DEM soil model, with cohesion, for a cohesive-frictional artificial soil and predict soil reaction forces from soil-to-blade interaction. Plackett-Burman screening design of experiment (DOE) and inverse profiling techniques were applied to calibrate the elasto-plastic DEM soil model, with cohesion, predicting soil compaction energy with a percent relative error (PRE) of 3 % and maximum normal stress (PRE of 1 %) using cohesive-frictional artificial soil in a uniaxial confined compression test. Validation of the calibrated DEM soil model resulted in good prediction of soil reaction forces versus blade displacement for a narrow planar blade, a wide planer blade, and a geometrically scaled curved bulldozer blade, with RMSE values of 2.04 N, 14.89 N, and 7.42 N, respectively. The findings showed that elasto-plastic soil behavior with stress-dependent cohesion can be modeled using DEM for simulating the cutting and moving of earthen materials, offering valuable insights for optimizing GET design and development of digital twins of earthmoving operations.

离散元素法（DEM）已成为模拟推土机切割过程中土壤动态载荷的重要计算技术。它可以虚拟设计地面掘进工具 (GET)，并预测推土作业过程中的能量消耗。针对具有弹塑性行为和应力历史依赖性粘性土壤行为的土壤动态切削过程建模的研究很少。本研究旨在校准具有内聚力的弹塑性 DEM 土壤模型，用于内聚摩擦人造土壤，并预测土壤与刀片相互作用产生的土壤反作用力。应用 Plackett-Burman 筛选实验设计（DOE）和反剖面技术校准了具有内聚力的弹塑性 DEM 土壤模型，在单轴约束压缩试验中使用内聚摩擦人造土壤预测土壤压实能，相对误差百分比（PRE）为 3%，最大法向应力（PRE 为 1%）为 1%。对校准的 DEM 土壤模型进行验证后，可以很好地预测窄平面叶片、宽平面叶片和几何比例弯曲推土机叶片的土壤反力与叶片位移的关系，RMSE 值分别为 2.04 N、14.89 N 和 7.42 N。研究结果表明，可以使用 DEM 模拟土质材料的切割和移动，对具有应力相关内聚力的弹塑性土壤行为进行建模，从而为优化 GET 设计和开发土方工程数字孪生模型提供宝贵的见解。

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引用次数: 0

Modelling and simulation fundamentals in design for ground vehicle mobility Part II: Western approach 地面车辆机动性设计中的建模和模拟基础第二部分：西方方法

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-02 DOI: 10.1016/j.jterra.2024.101023

David Gorsich , Vladimir Vantsevich , Jesse Paldan , Lee Moradi

For many decades, different approaches, fundamentals, and expressions have been developed in various countries for military vehicle modelling and simulation (M&S) as a core component of ground vehicle design for mobility. The political division of the world into the West and East that existed before the Soviet Union breakdown in 1991 had not facilitated collaboration between researchers and engineers of both sides, and, thus, they created and practiced their own approaches. The war in Ukraine urgently prompted analysis of the origins and essence of the Western and Eastern technical paradigms, which being conceptually different to ground vehicle mobility, had predetermined the development of vehicle M&S methods and techniques in their parts of the world, specifically for studying dynamic interactions of vehicles with severely uncertain terrains, which impact vehicle behavior and performance, and, thus, may either facilitate mission accomplishment or lead to its failure. Furthermore, this analysis of the technical paradigms aims to further advance M&S fundamentals for next generation combat vehicles as described in the U.S. Army’s 2019 Modernization Strategy. Part I of this article considers the Eastern approach and the Western approach is presented in Part II.

几十年来，各国在军用车辆建模与仿真（M&S）方面形成了不同的方法、基本原理和表达方式，这是地面车辆机动性设计的核心组成部分。1991 年苏联解体之前，世界在政治上被划分为西方和东方，这不利于双方研究人员和工程师之间的合作，因此，他们创造并实践了各自的方法。乌克兰战争迫切需要对东西方技术范式的起源和本质进行分析，由于概念上与地面车辆机动性不同，东西方的技术范式预先决定了各自地区车辆 M&S 方法和技术的发展，特别是在研究车辆与严重不确定地形的动态相互作用时，这种相互作用会影响车辆的行为和性能，从而可能促进任务的完成，也可能导致任务失败。此外，对技术范例的分析旨在进一步推进美国陆军 2019 年现代化战略中描述的下一代战车的 M&S 基础知识。本文第一部分介绍了东方方法，第二部分介绍了西方方法。

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引用次数: 0

Numerical analysis of tire mobility on deformable plastic clay in saturated conditions using total and effective stress frameworks 利用总应力和有效应力框架对饱和条件下轮胎在可变形塑性粘土上的移动性进行数值分析

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-10-26 DOI: 10.1016/j.jterra.2024.101024

Varsha S. Swamy , Alba Yerro , Corina Sandu , Rashna Pandit , David Gorsich , Katherine Sebeck

Modeling and performance prediction of tires on wet, plastic, cohesive soils is challenging. In wet soils, the undrained shear strength reduces as water content increases. This work aims to model highly deformable saturated clay (plastic state) to predict the short-term effect on the soil due to a single pneumatic tire pass. The external loads on the soil (total stresses) can be carried by the soil skeleton (effective stress) and/or water (pore water pressure). Fundamentally, effective stresses determine soil failure. Hence, material models can be defined using two frameworks: total and effective stress. In total stress analysis, commonly found in literature, soil and water are modeled as one medium to address rapid loading. In effective stress analysis, pore pressure evolution can be tracked through hydromechanical formulations with different drainage conditions (dry and fully saturated soils). Further, different numerical techniques (FEM, ALE, and SPH) are compared. The effective stress model captures an accumulation of excess pore water pressure after one tire pass resulting from soil non-linear behavior, which may potentially affect the tire performance of later passes. In addition, the FEM model fails at higher normal loads and slip ratios due to excessive deformation; ALE and SPH give more stable solutions for large deformations.¹

对轮胎在潮湿、塑性、粘性土壤上的性能进行建模和预测是一项挑战。在湿土中，随着含水量的增加，排水剪切强度会降低。这项工作旨在模拟高变形饱和粘土（塑性状态），以预测单个充气轮胎通过时对土壤的短期影响。土壤上的外部荷载（总应力）可由土壤骨架（有效应力）和/或水（孔隙水压力）承担。从根本上说，有效应力决定了土壤的破坏。因此，材料模型可以用两个框架来定义：总应力和有效应力。在文献中常见的总应力分析中，土壤和水被模拟为一种介质，以解决快速加载问题。在有效应力分析中，可通过不同排水条件（干燥和完全饱和土壤）下的水力学公式跟踪孔隙压力演变。此外，还对不同的数值技术（有限元、ALE 和 SPH）进行了比较。有效应力模型捕捉到了轮胎通过一次后因土壤非线性行为而产生的多余孔隙水压力的累积，这可能会影响轮胎以后的性能。此外，有限元模型在较高的法向载荷和滑移比下会因过度变形而失效；ALE 和 SPH 对大变形给出了更稳定的解决方案。

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引用次数: 0

Analysis of tire characteristics driving on asphalt paved roads covered with volcanic ash 在铺有火山灰的沥青路面上行驶的轮胎特性分析

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-10-24 DOI: 10.1016/j.jterra.2024.101025

Junya Yamakawa , Ryosuke Eto , Yasuhiro Ichikado , Mitsuhiro Yoshimoto , Tatsuji Nishizawa , Tomohiro Kubo , Hiroyuki Yamada

Japan has many active volcanoes, and a large eruption can cause ash fall over a wide area. The accumulation of volcanic ash on paved roads affects the driving of vehicles. Therefore, we collected data by driving over volcanic ash accumulated on paved surface with a vehicle equipped with devices that can measure the force applied to the running tires. Vehicle driving tests were conducted at constant speed, rapid acceleration, and rapid deceleration. Data were collected on flat straight roads as well as on roads with grades and curves. In addition to longitudinal, lateral, and vertical tire forces, camber angle, rotation speed, and ground speed were measured. This paper discusses the effects of volcanic ash covering paved roads on driving by processing the tire data obtained. The relationship between the sideslip angle and side force can be obtained by processing turning driving data, and these effects were modeled using a neural network and Gaussian process that can consider multiple variables such as tire sideslip angle, camber angle, and vertical force.

日本有许多活火山，大面积喷发会导致火山灰大面积降落。火山灰堆积在铺设好的道路上会影响车辆的行驶。因此，我们使用装有可测量行驶轮胎受力装置的车辆，在铺设路面上堆积的火山灰上行驶，收集数据。车辆驾驶测试在匀速、急加速和急减速的情况下进行。数据是在平坦的直线道路以及有坡度和弯道的道路上收集的。除了纵向、横向和垂直轮胎力之外，还测量了外倾角、旋转速度和地面速度。本文通过处理获得的轮胎数据，讨论了火山灰覆盖铺设道路对驾驶的影响。通过处理转弯驾驶数据，可获得侧倾角和侧向力之间的关系，并使用神经网络和高斯过程对这些影响进行建模，神经网络和高斯过程可考虑轮胎侧倾角、外倾角和垂直力等多个变量。

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引用次数: 0