{"title":"用于实时土方模拟的多尺度地形动力学模型","authors":"Martin Servin, Tomas Berglund, Samuel Nystedt","doi":"10.1186/s40323-021-00196-3","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":37424,"journal":{"name":"Advanced Modeling and Simulation in Engineering Sciences","volume":null,"pages":null},"PeriodicalIF":2.0000,"publicationDate":"2021-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"A multiscale model of terrain dynamics for real-time earthmoving simulation\",\"authors\":\"Martin Servin, Tomas Berglund, Samuel Nystedt\",\"doi\":\"10.1186/s40323-021-00196-3\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":37424,\"journal\":{\"name\":\"Advanced Modeling and Simulation in Engineering Sciences\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.0000,\"publicationDate\":\"2021-05-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Advanced Modeling and Simulation in Engineering Sciences\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1186/s40323-021-00196-3\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"MECHANICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Advanced Modeling and Simulation in Engineering Sciences","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1186/s40323-021-00196-3","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"MECHANICS","Score":null,"Total":0}
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.
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.