On the characterization of the shear stress-displacement relationship of terrain

Wong, J.Y.; Preston–Thomas, J.

doi:10.1016/0022-4898(83)90028-9

Cited by 59 publications

(20 citation statements)

References 5 publications

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“…The shear stress increases with the shear displacement and then approaches a constant value. This feature was observed for the internal shearing of dry sand, saturated clay, fresh snow and peat, and plate-soil shearing of sand, peat, snow and muskeg (Kacigin and Guskovt, 1968), (Wong and Preston-Thomas, 1983), (Okello, 1991). To describe these shear stress-displacement relationships, Janosi and Hanomoto modified the Bekker model, resulting in (Janosi, 1961):…”

Section: Shear Stress-displacement Modelsmentioning

confidence: 99%

“…where τ is the shear stress, j is the shear displacement, τ max is the shear strength that can be characterized by the Mohr-Coulomb equation, j 0 is the shear displacement at the maximum shear stress τ max , and 1 K and 2 K are empirical model parameters. Wong pointed out that determining the values of 1 K and 2 K for the Bekker shear stress-displacement model is involved (Wong and Preston-Thomas, 1983).…”

Section: Shear Stress-displacement Modelsmentioning

confidence: 99%

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Review of terramechanics models and their applicability to real-time applications

Sandu

Khan

et al. 2019

Journal of Terramechanics

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ISTVS embarked on a project in 2016 that aims at updating the current ISTVS standards related to nomenclature, definitions, and measurement techniques for modelling, parameterizing, and, respectively, testing and validation of soft soil parameters and vehicle running gear-terrain interaction. As part of this project, a comprehensive literature review was conducted on the parameterization of fundamental terramechanics models. Soil parameters of the empirical models to assess off-road vehicle mobility, and parameters of the models to characterize the response of the terrain interacting with running gears or plates from the existing terramechanics literature and other researchers' reports were identified. This review documents and summarizes the modelling approaches that may be applicable to real-time applications of terramechanics in simulation, as well as in controller design.

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Section: Shear Stress-displacement Modelsmentioning

confidence: 99%

Section: Shear Stress-displacement Modelsmentioning

confidence: 99%

Review of terramechanics models and their applicability to real-time applications

Sandu

Khan

et al. 2019

Journal of Terramechanics

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“…The major attention to a proper mechanical characterisation of the terrain for predicting trafficability and traction performance is testified by many works (Wills, 1963;Wong, Garber, Radforth, & Dowell, 1979;Wong, Radforth, & Preston-Thomas, 1982;Wong & Preston-Thomas, 1983). Upadhyaya and Wulfsohn (1993) presented an instrumented device to obtain the soil parameters related to traction.…”

Section: Introductionmentioning

confidence: 99%

Influence of Soil on the Traction Performance of a 65 kW MFWD Tractor

Battiato¹,

Diserens²

2019

JAS

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This study aimed to investigate the influence of the mechanical behaviour of the soil surface on the traction performance and the fuel consumption of an agricultural tractor, both in qualitative and in quantitative terms, in order to increase the consciousness about the major role of the soil mechanical response in the optimisation of the energy aspects involved in the traction developed by a tractor and promote the development of new strategies to reduce costs of tillage management and improve agricultural sustainability. The traction performance of a 65 kW MFWD tractor at tyre pressures of 60 and 160 kPa was compared on four Swiss agricultural soils: a clay with corn stubbles, a clay loam with wheat stubbles, a silty loam and a loamy sand both with corn stubbles. Tests performed with a bevameter pointed out noticeable differences in the mechanical behaviour of the soils. According to such differences, the drawbar pull on the four soils was significantly disparate with differences in maximal values of about 16% at a tyre pressure of 60 kPa and up to 37% at a tyre pressure of 160 kPa. Simulations with a semi-empirical tractor-soil interaction model also showed dissimilarities in traction coefficient, motion resistance, and traction efficiency. Measurements of the fuel consumption pointed out the presence of a narrow slip range where the specific fuel consumption SFC is minimised. This range doesn’t vary significantly among the considered soils as well as with the tyre pressure and doesn’t differ very much from the range where the power delivery efficiency is maximised. The SFC differed for almost 20% among the considered soils at a tyre pressure of 60 kPa and for ca. 10% at a tyre pressure of 160 kPa. The increase in tyre pressure from 60 to 160 kPa produced an increment in SFC up to 16%. The results of this study clearly pointed out how the traction performance is a characteristic of the tractor-soil system and not of the tractor only, therefore, a proper knowledge of the soil mechanical behaviour should aid in developing strategies oriented towards reducing fossil fuel consumption.

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“…The proposed approach was used to model and simulate full vehicle dynamics. (Wong 1983), (Wong & Preston, 1983), (Wong & Garber, 1984) (Wong & Bekker, 1985), (Wong 1989), and (Wong, 2001) developed several comprehensive soil modeling formulations that could be used to model track-terrain interaction. The dynamic parameters for different soils could be found experimentally.…”

Section: Introductionmentioning

confidence: 99%

Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles

Omar

2014

SET

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This paper presents a formulation and procedure for incorporating the multibody dynamics analysis capability of tracked vehicles in large-scale multibody system. The proposed self-contained modular approach could be interfaced to any existing multibody simulation code without need to alter the existing solver architecture. Each track is modeled as a super-component that can be treated separate from the main system. The super-component can be efficiently used in parallel processing environment to reduce the simulation time. In the super-component, each track-link is modeled as separate body with full 6 degrees of freedom (DoF). To improve the solution stability and efficiency, the joints between track links are modeled as complaint connection. The spatial algebra operator is used to express the motion quantities and develop the link's nonlinear kinematic and dynamic equations of motion. The super-component interacts with the main system through contact forces between the track links and the driving sprocket, the support rollers and the idlers using self-contained force modules. Also, the super-component models the interaction with the terrain through force module that is flexible to include different track-soil models, different terrain geometries, and different soil properties. The interaction forces are expressed in the Cartesian system, applied to the link's equation of motion and the corresponding bodies in the main system. For sake of completeness, this paper presents dynamic equations of motion of the links as well as the main system formulated using joint coordinates approach. 78Accounting for the distributed nonlinear inertia forces of the track is another challenge in modeling tracks using spatial multibody codes.Some CSP have developed multibody dynamic simulation capabilities for modeling metal tracks (MSC Software, 2007). Most of these implementations simplify the contact detection algorithms by using primitive geometries for modeling the contacting bodies leading to less accurate force prediction. Other CSP utilized general purpose algorithms for modeling tack-link dynamics and the contact detection is based on full CAD geometry leading to computationally intensive simulation and time consuming analysis. Other packages implemented a simplified representation of the tracks using pre-computed parameters and pre-determined track-link path. Although the computational efficiency greatly improved, the inertial link dynamics and contact forces are not captured accurately. McCullough and Haug 1985 proposed one of the early models for tracked vehicles. The equations of motion for the vehicle, suspension system and road wheels were derived. A mechanical system super-element that represents spatial dynamics of high mobility track vehicle suspension systems was derived. The track was represented as a complex internal force element that acts between ground, wheels, and the chassis of the vehicle. Track tension was computed from a relaxed catenary. Vol. 1, No. 2; 2014 80 Studies in Engineering and Technology ...

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On the characterization of the shear stress-displacement relationship of terrain

Cited by 59 publications

References 5 publications

Review of terramechanics models and their applicability to real-time applications

Review of terramechanics models and their applicability to real-time applications

Influence of Soil on the Traction Performance of a 65 kW MFWD Tractor

Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles

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