Development and verification of a mathematical model of the wheel mover interaction with deformable soil, based on the application of the method of discrete elements

Abstract

The vehicle cross-country power depends both on the mover type and its weight-and-dimensional parameters, and on the physico-mechanical soil properties. Research of the interaction between the mover and a deformable soil at the stage of research and development using mathematic simulation makes it possible predicting the vehicle cross-country power.
 The main mechanical soil parameters are the angle of internal friction and cohesion, which affect the process of interaction of the wheel with the deformable soil, since both normal and shear forces in the contact area. In this paper, sandy soil mathematical model is proposed and verified, and its parameters are determined for further research.
 The developed mathematical model of the interaction of the wheel mover with a deformable soil is based on the application of the method of discrete elements. In this paper, the wheel mover force factors when moving on cohesionless soil are analyzed and also forms the dependence of the specific traction force on the specific circumferential force for various wheel rolling modes was obtained. As a result of applying the method of discrete elements to study the interaction of a wheel mover with a deformable support base, it is possible to determine the traction characteristic. Thus, the application of this method will reduce the number and scale of field tests.
 Using the developed mathematical model the planetary wheeled mover traction characteristic was obtained and the comparative analysis with the nature test results was carried out.