Numerical Simulation And Modeling Of Multi-axle Vehicle Dynamics Based On The CS-SWI Theory

The wheeled vehicle is the main mobile equipment and the important section of weapon system,which plays an important role in modern IT-based warfare.However,the mobility problems of vehicles working on soft road restrict the fighting capacity of army.In order to improve the transport capability of army and ensure the effectiveness of weapon system,the theoretical modeling and numerical simulations are conducted for the interaction of wheeled vehicles and sand road.The main studies are as follows:(1)The soil-wheel interaction model and vehicle dynamics model are established.Considering the problems of lacking operating condition,dependence on experimental data and poor applicability on soft pavement of existing tire models,a new soil-wheel interaction model is proposed in this paper.The model is established based on Bekker’s theory in terra-mechanics,combining the improved theory of other researchers,which can predict the six component forces of soil-tire interaction under slip condition,cornering and steering condition.Based on the tire model,considering the axle load distribution and load transfer of multi axle vehicles,the vehicle dynamics model is established which can predict the tire forces and motion of vehicles.(2)the DEM modeling of soil-wheel interaction and DEM-MBD modeling of vehicle dynamic are studied.Considering the low accuracy and lack of vehicle modeling of current numerical models,this paper presents a high accuracy numerical model of soil-wheel interaction based on DEM.The parameters of DEM model are calibrated based on the response angle test,shear vane test and incline plate test.The shear characteristic of the soil model is verified through triaxial compression test,and the soil-wheel model is verified based on the soil bin test.Furthermore,the vehicle dynamic numerical model is established based on DEM-MBD method,where the sand road is generated with different layer and the 6×6 three-axis vehicle dynamic model is established.(3)The theoretical verification of soil-wheel interaction model and vehicle dynamics model is carried out.Based on the numerical simulation results,the soil-wheel interaction and vehicle dynamics model are verified.The results show that the soil-wheel interaction model built in this paper can better predict the tire force under straight,cornering and steering conditions,and the vehicle dynamics theoretical model built in this paper can predict the tire forces and vehicle speed under straight,roll,pitch and steering conditions.