Rigid wheels or wheels much stiffer with respect to the soil are used in many applications in the field of Terramechanics, e.g., planetary exploration rovers or agricultural vehicles on ploughed terrains. In this study vertical ground forces exchanged between a rigid wheel and a soft terrain are investigated. Useful and novel information on off-road vehicles behaviour in terms of vibrations, dynamic wheel sinkage, terrain hardness and so forth are obtained. According to the derived wheel-soil interaction model, a Quarter Car (QC) system relative to off-road vehicles with rigid wheels is established and its behaviour under different scenarios (which include different terrains with different surface roughness) is investigated. The results achieved for the off-road vertical dynamics can be relevant for vehicles design. Furthermore, as an example of a real application, a model-based observer grounded on this QC system is adopted in order to estimate the terrain hardness.
ON THE VERTICAL DYNAMICS MODELLING OF RIGID WHEELS ON SOFT SOIL / Leanza, A.; Mantriota, G.; Reina, G.. - STAMPA. - (2021). (Intervento presentato al convegno 20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021 nel 2021).
ON THE VERTICAL DYNAMICS MODELLING OF RIGID WHEELS ON SOFT SOIL
Leanza A.Conceptualization
;Mantriota G.Conceptualization
;Reina G.
Conceptualization
2021-01-01
Abstract
Rigid wheels or wheels much stiffer with respect to the soil are used in many applications in the field of Terramechanics, e.g., planetary exploration rovers or agricultural vehicles on ploughed terrains. In this study vertical ground forces exchanged between a rigid wheel and a soft terrain are investigated. Useful and novel information on off-road vehicles behaviour in terms of vibrations, dynamic wheel sinkage, terrain hardness and so forth are obtained. According to the derived wheel-soil interaction model, a Quarter Car (QC) system relative to off-road vehicles with rigid wheels is established and its behaviour under different scenarios (which include different terrains with different surface roughness) is investigated. The results achieved for the off-road vertical dynamics can be relevant for vehicles design. Furthermore, as an example of a real application, a model-based observer grounded on this QC system is adopted in order to estimate the terrain hardness.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
