A new contact and road model for multi-body dynamic simulation of wheeled vehicles on soft-soil terrain

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Abstract
In this paper, a new high-performance and memory-efficient contact and road model is developed. Specifically, the road is modeled as a rectangular structured grid of deformable springs in the vertical direction, thus enabling fast execution. The new road model stands out due to its ability to handle large road scenarios by allocating computer memory dynamically for each spring, resulting in efficient memory utilization. Furthermore, each spring represents a small road patch that entails various information, such as the soil elevation, the soil properties, and the soil compaction, allowing for complicated simulations incorporating spatially varying soil properties as well as phenomena related to the multipass effect. In addition, using the new contact model, complex terrain geometries are handled in a computationally efficient way by approximating locally the irregular road profile with a suitable equivalent plane. For this, two different strategies are proposed. Namely, the Radial Basis Function (RBF) interpolation method and the 3D Enveloping contact model. Finally, the proposed techniques are implemented in Altair MotionSolve, a comprehensive multibody simulation software for complex mechanical systems. In particular, a single-wheel test bed is initially examined, followed by a four-wheeled rover model and the Next-Generation NATO reference mobility model (NG-NRMM). In all cases, the proposed model is validated by using available experimental data. Lastly, a case involving both wheeled and tracked vehicles is also examined by using a shared road model.

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