Simulation of Track-Soft Soil Interactions Using a Discrete Element Method

Abstract

With the development of unmanned tracked vehicles, soil model predictions of soft terrains are becoming more essential. In order to accurately simulate the interaction characteristics between soil particles and the track, soil modeling with a discrete element method (DEM) is proposed. Volume-based scaled-up modeling of DEM soil particles and the calibration of DEM input parameters were investigated as a feasible approach to realizing many particle calculations. Calibration of DEM input parameters can solve the distortions between actual and DEM particle sizes. Cohesion and friction parameters of the scaled-up soil particle model were recalibrated by the shape accumulated through the virtual design of the experiment. Soil DEM particles were scaled up to 1 mm spherical particles, and recalibrated DEM parameter values were used to match the actual accumulated soil shape. Three calibrated scaled-up soil models were used for the shear stress–displacement DEM simulation of a track segment, and the mean absolute percentage error (MAPE) was less than 11% compared with the actual shear stress–displacement test. The parameter value of soil traction performance empirical model of a tracked vehicle is modified according to the soil shear stress–displacement DEM simulation. Comparative analysis was performed for travel test results of a tracked vehicle; the relative error of the soil traction prediction results to actuals was less than 16.8%. This showed that the volume-based particle scaling technique is an effective DEM for the mechanical simulation of soil.