用于实时土方模拟的多尺度地形动力学模型

Martin Servin, Tomas Berglund, Samuel Nystedt
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引用次数: 11

摘要

探讨了一种多尺度地形动力学实时仿真模型。为了表示不同尺度上的动力学,该模型将土壤描述为连续固体、不同颗粒和刚性多体。模型之间以及模型与土方设备之间是动态耦合的。搅拌土是一种接触颗粒和连续固体的混合体,以运动设备和静止土壤为几何边界。活跃土壤的每个区域都聚集成不同的体,具有适当的质量、动量和摩擦内聚性,这限制了设备的多体动力学。颗粒模型参数被预先校准为大范围不同土壤的体力学参数。结果是一个计算效率高的土方作业模型,它解决了土壤的运动,使用快速迭代求解器,并为设备提供了真实的力和动态,使用直接求解器,数值精度高。通过开挖和推土的数值模拟对模型进行了验证,并测量了模型的计算性能。参考数据的产生采用耦合离散元和多体动力学模拟在相对较高的分辨率。采用实时多尺度模型计算的开挖阻力和土体位移与参考模型的吻合度达到10 ~ 25%,运行速度提高3个数量级以上。
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A multiscale model of terrain dynamics for real-time earthmoving simulation
A multiscale model for real-time simulation of terrain dynamics is explored. To represent the dynamics on different scales the model combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies. The models are dynamically coupled to each other and to the earthmoving equipment. Agitated soil is represented by a hybrid of contacting particles and continuum solid, with the moving equipment and resting soil as geometric boundaries. Each zone of active soil is aggregated into distinct bodies, with the proper mass, momentum and frictional-cohesive properties, which constrain the equipment’s multibody dynamics. The particle model parameters are pre-calibrated to the bulk mechanical parameters for a wide range of different soils. The result is a computationally efficient model for earthmoving operations that resolve the motion of the soil, using a fast iterative solver, and provide realistic forces and dynamic for the equipment, using a direct solver for high numerical precision. Numerical simulations of excavation and bulldozing operations are performed to test the model and measure the computational performance. Reference data is produced using coupled discrete element and multibody dynamics simulations at relatively high resolution. The digging resistance and soil displacements with the real-time multiscale model agree with the reference model up to 10–25%, and run more than three orders of magnitude faster.
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来源期刊
Advanced Modeling and Simulation in Engineering Sciences
Advanced Modeling and Simulation in Engineering Sciences Engineering-Engineering (miscellaneous)
CiteScore
6.80
自引率
0.00%
发文量
22
审稿时长
30 weeks
期刊介绍: The research topics addressed by Advanced Modeling and Simulation in Engineering Sciences (AMSES) cover the vast domain of the advanced modeling and simulation of materials, processes and structures governed by the laws of mechanics. The emphasis is on advanced and innovative modeling approaches and numerical strategies. The main objective is to describe the actual physics of large mechanical systems with complicated geometries as accurately as possible using complex, highly nonlinear and coupled multiphysics and multiscale models, and then to carry out simulations with these complex models as rapidly as possible. In other words, this research revolves around efficient numerical modeling along with model verification and validation. Therefore, the corresponding papers deal with advanced modeling and simulation, efficient optimization, inverse analysis, data-driven computation and simulation-based control. These challenging issues require multidisciplinary efforts – particularly in modeling, numerical analysis and computer science – which are treated in this journal.
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