Study of vehicle-terrain interaction based on ANCF

A brief review of the empirical and analytical models are presented. The pressure-sinkage relationship proposed by Bekker and the tractive performance (drawbar pull-slip) of vehicle is set up. A figure of drawbar pull vs. slip at different time and slip is illustrated. The modified Bekker soil models are integrated finite element (FE) Absolute Nodal Coordinate Formulation (ANCF) interpolations to determine the generalized forces. The paper discusses important fundamental issues that must be addressed when implementing terramechanics models into MBS algorithms in order to model complex tracked vehicle-soil interactions.