土壤对军用越野车辆机动性能影响分析

doi:10.12382/bgxb.2022.0528

摘要/Abstract

摘要：

在软地面上的机动性能是军用高机动性越野车辆的主要性能之一,对于其野外作业有重要的战略意义。为了探究不同类型松软土壤地面路况对越野车辆机动性能的影响,基于离散元法对土壤进行建模,通过土壤堆积角测试试验以及土壤圆锥指数试验进行土壤刚度对标测试。通过DEM-MBD联合仿真方法,利用精确的土壤模型,对不可压缩干燥土壤、不可压缩湿润土壤、可压缩干燥土壤、可压缩湿润土壤4种不同类型土壤进行仿真分析,通过对比越野车辆平均速度、牵引力、驱动扭矩、轮胎沉陷量,探究土壤类型对越野车辆机动性能的影响。越野车在湿润土壤上比在干燥土壤上牵引力减少了6.98%,在不可压缩土壤上的稳定行驶速度比在可压缩土壤上稳定行驶速度高34.2%,在湿润的土壤路面上速度更加稳定。研究成果弥补了国内车辆地面力学领域土壤对整车机动性影响的空白,可为军车野外复杂地形(如沙地、雪地、泥泞等)作战时选择最优的行驶路面,提高作战效率。

关键词: 军用越野车辆, 土壤圆锥指数, 离散元法, 多体动力学, 牵引力试验, 机动性

Abstract:

Maneuverability on soft ground is one of the main performances of military high-mobility off-road vehicle, and has important strategic significance for its field operations. In order to explore the influence of different soft soil surface conditions on the maneuverability of off-road vehicles, the soil is modeled based on the discrete element method, and the soil stiffness calibration test is carried out through the soil accumulation angle test and soil conical index test. Through the DEM-MBD co-simulation method, the accurate soil model is used to simulate and analyze four different types of soil: incompressible dry soil, incompressible wet soil, compressible dry soil, and compressible wet soil. The influence of soil type on the maneuverability of off-road vehicles is analyzed by comparing the average speed, traction force, driving torque and tire subsidenceof off-road vehicles.The traction ofoff-road vehicle on wet soils is 6.98% less than on dry soils, and its stable travel speed on incompressible soils is 34.2% higher than that on compressible soils, and its speed is more stable on wet soil roads. The research makes up for the gap in the influence of soil on the mobility of the whole vehicle in the field of ground mechanics of domestic vehicles, and can choose the optimal driving road surface for military vehicles in the field of complex terrain,such as sand, snow, mud, etc.,to improve combat efficiency.

Key words: military off-road vehicle, soil cone index, discrete element method, multibody dynamics, traction test, maneuverability

中图分类号:

E923

肖万港, 周云波, 傅耀宇, 张明, 周军, 葛纪桃. 土壤对军用越野车辆机动性能影响分析[J]. 兵工学报, 2024, 45(1): 288-298.

XIAO Wangang, ZHOU Yunbo, FU Yaoyu, ZHANG Ming, ZHOU Jun, GE Jitao. Analysis of the Influence of Soil on the Maneuverability of Military Off-road Vehicles[J]. Acta Armamentarii, 2024, 45(1): 288-298.

图/表 22

图1 接触模型基本原理

Fig.1 Fundamentals of contact model

表1 土壤本征参数

Table 1 Soil intrinsic parameters

本征参数	数值
密度/(kg·m^-3)	2600
泊松比	0.25
杨氏模量/Pa	2.5×10⁷

图2 堆积角试验与初步参数

Fig.2 Stacking angle experiment and preliminary parameters

图3 土壤粒子

Fig.3 Soil particles

图4 圆锥指数试验与仿真

Fig.4 Cone index test and simulation

图5 试验数据与仿真数据

Fig.5 Experimental and simulation data

表2 土壤接触参数

Table 2 Soil contact parameters

土壤粒子间	数值
碰撞恢复系数	0.50
静摩擦系数	0.48
动摩擦系数	0.20
土壤粒子与接触部件	数值
碰撞恢复系数	0.50
静摩擦系数	0.32
动摩擦系数	0.21

图6 土壤路面

Fig.6 Soil pavement

图7 轮胎实物与模型

Fig.7 Tire real object and model

表3 轮胎相关参数

Table 3 Tire related parameters

参数	数值
滚动半径/mm	522
外周长/mm	3279.82
宽度/mm	335
花纹高度/mm	12
滚动速度/(r·min^-1)	10

图8 发动机特性曲线及驱动力矩仿真曲线

Fig.8 Engine characteristic curve and simulated driving torque

图9 越野车动力学模型

Fig.9 Dynamics model of off-road vehicle

图10 实车牵引力试验场景场景

Fig.10 Real vehicle traction test

图11 仿真模拟图

Fig.11 Simulation diagram

图12 驱动扭矩与牵引力

Fig.12 Experimental half-shaft torque and traction

图13 土壤力学特性

Fig.13 Soil mechanical properties

表4 4种土壤接触模型及参数

Table 4 Four soil contact models and parameters

土壤类别	接触参数	数值	接触模型参数	数值
不可压缩干燥	碰撞恢复系数	0.55	JKR表面能/(J·m^-2)	0
	静摩擦系数	0.2
	动摩擦系数	0.1
不可压缩湿润	碰撞恢复系数	0.55	JKR表面能/(J·m^-2)	3.75
	静摩擦系数	0.2
	动摩擦系数	0.1
可压缩干燥	碰撞恢复系数	0.35	阻尼因子	0.5
	静摩擦系数	0.2	刚度因子	0.85
	动摩擦系数	0.05	屈服强度/Pa	2.6×10⁶
可压缩湿润	碰撞恢复系数	0.55	puff-off力	0
	碰撞恢复系数	0.55	表面能/(J·m^-2)	50
	静摩擦系数	0.2	接触塑性比	0.7
	静摩擦系数	0.2	SlpoeExp	1.5
	动摩擦系数	0.1	Tensile Exp	5
	动摩擦系数	0.1	切向刚度系数	0.28571

图14 仿真行驶图

Fig.14 Simulation driving diagram

图15 仿真驱动扭矩

Fig.15 Simulated half-shaft torque

图16 4种土壤上的车速变化

Fig.16 Variation of vehicle speed on four soils

图17 轮胎沉陷图

Fig.17 Tire settlement diagram

图18 轮胎沉陷量

Fig.18 Tire settlement

参考文献 21

[1]	王国军. 美军车辆软地面通过性试验方法问题分析[J]. 军事交通学院学报, 2015, 17(3):53-56.
	WANG G J. Analysis of the test method for the soft ground passability of US military vehicles[J]. Journal of Military Transportation Institute, 2015, 17(3):53-56. (in Chinese)
[2]	李军, 李强, 周靖凯, 等. 软土条件下履带-地面相互作用分析[J]. 兵工学报, 2012, 33(12): 1423-1429.
	LI J, LI Q, ZHOU J K, et al. Analysis of track-ground interaction under soft soil conditions[J]. Acta Armamentarii, 2012, 33(12): 1423-1429. (in Chinese)
[3]	陈建能, 叶军, 夏旭东, 等. 轮胎摩擦驱动的旋转式圆形土槽试验台设计与应用[J]. 农业机械学报, 2015, 46(7):66-71.
	CHEN J N, YE J, XIA X D, et al. Design and application of tire friction-driven rotary circular soil tank test bench[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(7):66-71. (in Chinese)
[4]	SMITH W, PENG H. Modeling of wheel-soil interaction over rough terrain using the discrete element method[J]. Journal of Terramechanics, 2013, 50(5/6):277-287. doi: 10.1016/j.jterra.2013.09.002 URL
[5]	OTSUBO M, LIU J M, KAWAGUCHI Y, et al. Anisotropy of elastic wave velocity influenced by particle shape and fabric anisotropy under K0 condition[J]. Computers and Geotechnics, 2020, 128: 103775. doi: 10.1016/j.compgeo.2020.103775 URL
[6]	AHMADI M, SHIRE T, MEHDIZADEH A, et al. DEM modelling to assess internal stability of gap-graded assemblies of spherical particles under various relative densities, fine contents and gap ratios[J]. Computers and Geotechnics, 2020, 126: 103710. doi: 10.1016/j.compgeo.2020.103710 URL
[7]	WASFY T, JAYAKUMAR P. Next-generation NATO reference mobility model complex terramechanics-Part I:definition and literature review[J]. Journal of Terramechanics, 2021, 96: 45-57. doi: 10.1016/j.jterra.2021.02.002 URL
[8]	DURIEZ J, BONELLI S. Precision and computational costs of level set-discrete element method(LS-DEM) with respect to DEM[J]. Computers and Geotechnics, 2021, 134: 104033. doi: 10.1016/j.compgeo.2021.104033 URL
[9]	ZHANG N N, ARROYO M, CIANTIA M O, et al. Energy balance analyses during standard penetration tests in a virtual calibration chamber[J]. Computers and Geotechnics, 2021, 133: 104040. doi: 10.1016/j.compgeo.2021.104040 URL
[10]	POL A, GABRIELI F. Discrete element simulation of wire-mesh retaining systems: an insight into the mechanical behaviour[J]. Computers and Geotechnics, 2021, 134: 104076. doi: 10.1016/j.compgeo.2021.104076 URL
[11]	XU W J, DONG X Y. Simulation and verification of landslide tsunamis using a 3D SPH-DEM coupling method[J]. Computers and Geotechnics, 2021, 129: 103803. doi: 10.1016/j.compgeo.2020.103803 URL
[12]	YAMASHIRO B D, TOMAC I. Particle clustering dynamics in dense-phase particle-fluid slurries[J]. Computers and Geotechnics, 2021, 132: 104038. doi: 10.1016/j.compgeo.2021.104038 URL
[13]	杨聪彬, 董明明, 顾亮, 等. 考虑履刺形状的履带板土壤推力研究[J]. 北京理工大学学报, 2015, 35(11):1118-1121.
	YANG C B, DONG M M, GU L, et al. Research on soil thrust of crawler shoe considering the shape of crawler barb[J]. Transactions of Beijing Institute of Technology, 2015, 35(11):1118-1121. (in Chinese)
[14]	张龙. 车轮与砂壤地面相互作用离散元建模及仿真[D]. 长沙: 国防科学技术大学, 2015.
	ZHANG L. Discrete element modeling and simulation of interaction between wheel and sandy soil[D]. Changsha: National University of Defense Technology, 2015. (in Chinese)
[15]	蔡英爽. 对车轮在松软地面上滚动过程的仿真软件的改进[D]. 长春: 吉林大学, 2018.
	CAI Y S. Improvement of simulation software for the rolling process of wheels on soft ground[D]. Changchun: Jilin University, 2018. (in Chinese)
[16]	闫清东, 科蒂耶夫, 魏巍, 等. 极地车辆车轮与雪壤交互作用模型研究综述[J]. 车辆与动力技术, 2021(4):55-62.
	YAN Q D, KOTIYEV, WEI W, et al. A review of the interaction model between polar vehicle wheels and snow soil[J]. Vehicle and Power Technology, 2021(4):55-62. (in Chinese)
[17]	MCDONALD E V, DALLDORF G K, BACON S N, et al. Recommendations for the development of a dust suppressant test operations procedure(TOP) performed at the US army yuma proving ground[R]. US:Desert Research Inst Reno NV Division of Earth and Ecosystem Science, 2010.
[18]	胡国明. 颗粒系统的离散元素法分析仿真[M]. 武汉: 武汉理工大学出版社, 2010:7-10.
	HU G M. Analysis and simulation of particle system by discrete element method[M]. Wuhan: Wuhan University of Technology Press, 2010:7-10. (in Chinese)
[19]	南京水利科学研究院. 中华人民共和国行业标准:土工试验规程 SL237—1999[M]. 北京: 中国水利水电出版社, 1999:28-33.
	Nanjing Institute of Water Resources. Industry standard of the people’s republic of China: geotechnical test regulations SL237 —1999[M]. Beijing: China Water Resources and Hydropower Press, 1999:28-33. (in Chinese)
[20]	ZHOU L X, GAO J W, LI Q, et al. Simulation study on tractive performance of off-road tire based on discrete element method[J]. Mathematical Biosciences and Engineering, 2020, 17(4):3869-3893. doi: 10.3934/mbe.2020215 pmid: 32987558
[21]	李义德. 土壤贯入阻力特性试验研究及检测装置设计[D]. 哈尔滨: 东北农业大学, 2017.
	LI Y D. Experimental research on soil penetration resistance characteristics and design of detection device[D]. Harbin: Northeast Agricultural University, 2017. (in Chinese)