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Systematic tests for study of tire tractive performance on soft soil: Part II – Parameterization of terramechanics model and tire model

Rui He, Corina Sandu, Javier E. Osorio

Journal of Terramechanics, Volume 85, 2019, Pages 77-88, ISSN 0022-4898

https://doi.org/10.1016/j.jterra.2019.07.003.(http://www.sciencedirect.com/science/article/pii/S0022489819301028)

Abstract: The parameterization of terramechanics model for the tire off-road traction dynamics modeling relies exclusively on the plate-sinkage test and shear test (not using a tire as the shear tool), according to the existing literature. However, the plate-soil interaction cannot be considered the same as the tire-soil interaction (Plackett, 1985). Part II of this paper investigates whether the tire-soil test can be used to parameterize terramechanics model. The parameterization of the modified Bekker’s model, the Magic Formula tire model, and a bulk density estimation model, using the data from the series of tire and soil tests presented in Part I of this paper (He et al., 2019), is discussed in detail herein. The parameterization approach presented herein can be used to develop tire off-road dynamics models.

Keywords: Terramechanics; Off-road tire traction dynamics; Magic Formula tire model; Model parameterization; Tractive performance; Bulk density; Slip sinkage