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Vehicle Controls & Behaviors

Annual Plan

Physics-Based Multiscale Continuum-Discrete Deformable Terrain Model for Off-Road Mobility Simulation

Project Team

Principal Investigator

Hiroyuki Sugiyama, University of Iowa

Government

Paramsothy Jayakumar, Yeefeng Ruan, U.S. Army GVSC

Faculty

Hiroki Yamashita, University of Iowa

Industry

Mustafa Alsaleh, Caterpillar Inc.

Student

Guanchu Chen,, University of Iowa

Project Summary

Project began in 2017 and was completed in 2019.

Finite Element Model

A physics-based high-fidelity computational model for tire-soil interaction is essential to demonstrate mobility capability in various operational military scenarios, and the overall vehicle performance on sand and rough dirt roads needs to be carefully evaluated at various design stages to avoid vehicles being stuck in sand and to ensure survivability of soldiers. To establish an end-to-end off-road mobility solver, the physics-based high-fidelity tire model is developed in this study using the finite element absolute nodal coordinate formulation to efficiently model the tire and soft soil interaction for high-fidelity off-road mobility simulations. While existing explicit finite-element tire models have been successfully used for predicting stresses in tires as well as the normal contact pressure distribution under steady-state rolling conditions for passenger cars, they are not suited for the analysis of transient tire dynamics under severe maneuvers of off-road military vehicles, in which transient tire force characteristics and interaction with deformable terrains play a crucial role in predicting the overall vehicle performance. Furthermore, special treatments are required to integrate the finite element models into general multibody dynamics computer algorithms for vehicle dynamics simulation due to the essential difference in formulations and solution procedures used in multibody dynamics and classical finite element approaches.

This study, therefore, aims to develop a high-fidelity physics-based tire-soil interaction simulation capability using flexible multibody dynamics techniques based on the finite element absolute nodal coordinate formulation to eliminate the Army’s reliance on empirical tire-soil models for off-road mobility simulation. To this end, the following key issues are addressed in this study: (1) development of a physics-based tire model that can be seamlessly integrated into general multibody dynamics computer algorithm for off-road mobility simulation; (2) development of deformable soil models that can be integrated into the tire dynamics simulation framework; (3) development of high performance computing (HPC) schemes for continuum-based tire-soil interaction simulation; and (4) validation of the new off-road mobility solver against soil bin mobility test data.

Publications:

  1. Yamashita, H., Jayakumar, P., Alsaleh, M. and Sugiyama, H., 2018, “Physics-Based Deformable Tire-Soil Interaction Model for Off-Road Mobility Simulation and Experimental Validation”, ASME Journal of Computational and Nonlinear Dynamics, vol. 13, pp. 021002-1-15.
  2. Recuero, A., Serban, R., Peterson, B., Sugiyama, H., Jayakumar, P. and Negrut, D., 2017, “High-Fidelity Approach for Vehicle Mobility Simulation: Nonlinear Finite Element Tires Operating on Granular Material”, Journal of Terramechanics, vol. 72, pp. 39-54.
  3. Yamashita, H., Jayakumar, P. and Sugiyama, H., 2016, “Physics-Based Flexible Tire Model Integrated with LuGre Tire Friction for Transient Braking and Cornering Analysis”, ASME Journal of Computational and Nonlinear Dynamics, vol. 11, pp. 031017-1-17.
  4. Yamashita, H., Jayakumar, P. and Sugiyama, H., 2016, “Modeling of Deformable Tire and Soil Interaction Using Multiplicative Finite Plasticity for Multibody Off-Road Mobility Simulation”, Proceedings of ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (ASME DETC2016-59294), Charlotte, NC, United States.
  5. Yamashita, H., Valkeapää, A., Jayakumar, P. and Sugiyama, H., 2015, “Continuum Mechanics Based Bi-Linear Shear Deformable Shell Element Using Absolute Nodal Coordinate Formulation”, ASME Journal of Computational and Nonlinear Dynamics, vol. 10, pp. 051012-1-9.
  6. Valkeapää, A., Yamashita, H., Jayakumar, P. and Sugiyama, H., 2015, “On the Use of Elastic Middle Surface Approach in the Large Deformation Analysis of Moderately Thick Shell Structures Using Absolute Nodal Coordinate Formulation”, Nonlinear Dynamics, vol. 80, pp. 1133-1146.
  7. Yamashita, H., Matsutani, Y. and Sugiyama, H., 2015, “Longitudinal Tire Dynamics Model for Transient Braking Analysis: ANCF-LuGre Tire Model”, ASME Journal of Computational and Nonlinear Dynamics, vol. 10, pp. 031003-1-11.
  8. Yamashita, H., Jayakumar, P. and Sugiyama, H., 2015, “Development of Shear Deformable Laminated Shell Element and its Application to ANCF Tire Model”, Proceedings of ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (ASME DETC2015-46173), Boston, MA, United States.
  9. Sugiyama, H., Yamashita, H. and Jayakumar, P., 2015, “ANCF Tire Models for Multibody Ground Vehicle Simulation”, Proceedings of International Tyre Colloquium: Tyre Models for Vehicle Dynamics Analysis, Guildford, United Kingdom.
  10. Yamashita, H., Valkeapää, A., Jayakumar, P. and Sugiyama, H., 2014, “Bi-Linear Shear Deformable ANCF Shell Element Using Continuum Mechanics Approach”, Proceedings of ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (ASME DETC2014-35349), Buffalo, NY, United States.
  11. Sugiyama, H., Yamashita, H. and Jayakumar, P., 2014, “Right on Tracks - An Integrated Tire Model for Ground Vehicle Simulation from the University of Iowa”, Tire Technology International, vol. 67, pp. 52-55.
  12. Matsutani, Y. and Sugiyama, H., 2013, “On the Parameter Identification of LuGre Tire Friction Model”, Proceedings of ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (ASME DETC2013-13400), Portland, OR, United States.