High-Fidelity Multibody Dynamics Vehicle Model Coupled With a Cohesive Soil Discrete Element Model for Predicting Vehicle Mobility

2015 ◽  
Author(s):  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Multibody Dynamics ◽  
Soft Soil ◽  
Material Model ◽  
Discrete Element ◽  
Cohesive Strength ◽  
Contact Friction ◽  
Maximum Speed ◽  
High Fidelity ◽  
Ground Vehicles ◽  
Normal Contact

Multibody dynamics and the discrete element method (DEM) are integrated into one solver for predicting the mobility characteristics (including the no-go condition, maximum speed, and required engine torque/power) of ground vehicles on rough off-road soft soil (such as mud and snow) terrains. High fidelity multibody dynamics models are used for the various vehicle systems including: suspension system, wheels, steering system, axle, differential, and engine. A penalty technique is used to impose joint and normal contact constraints. An asperity-based friction model is used to model joint and contact friction. A DEM model of the soil with a cohesive soft soil material model is used. The material model can account for the soil compressibility, plasticity, fracture, friction, viscosity, gain in cohesive strength due to compression, and loss in cohesive strength due to tension. The governing equations of motion are solved along with joint/constraint equations using a time-accurate explicit solution procedure. The model can be used to predict the mobility of ground vehicles as a function of soil type, terrain long slope, and terrain side slope. Typical simulations of a Humvee-type vehicle are provided to demonstrate the model.

Coupled Multibody Dynamics and Discrete Element Modeling of Vehicle Mobility on Cohesive Granular Terrains

2014 ◽  
Author(s):  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Multibody Dynamics ◽  
Search Algorithm ◽  
Soft Soil ◽  
Discrete Element ◽  
Friction Model ◽  
Contact Friction ◽  
Contact Detection ◽  
Normal Contact ◽  
Contact Search ◽  
Contact Surfaces

Multibody dynamics and the discrete element method (DEM) are integrated into one solver for predicting the dynamic response of ground vehicles which run on wheels and/or tracks on cohesive soft soils (such as mud and snow). Multibody dynamics techniques are used to model the various vehicle components and connect those components using various types of joints and contact surfaces. A penalty technique is used to impose joint and normal contact constraints. An asperity-based friction model is used to model joint and contact friction. A soft cohesive soil material model (that includes normal and tangential inter-particle force models) is presented that can account for soil compressibility, plasticity, fracture, friction, viscosity, cohesive strength and flow. A Cartesian Eulerian grid contact search algorithm is used to allow fast contact detection between particles. A recursive bounding box contact search algorithm is used to allow fast contact detection between the particles and polygonal contact surfaces. The governing equations of motion are solved along with joint/constraint equations using a time-accurate explicit solution procedure. Numerical simulations of a typical vehicle going over a slopped soft soil terrain are presented to demonstrate the integrated solver. The solver can be used in vehicle design optimization.

Coupled Multibody Dynamics and Discrete Element Modeling of Bulldozers Cohesive Soil Moving Operation

2015 ◽  
Author(s):  
Akshay Sane ◽  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Multibody Dynamics ◽  
Search Algorithm ◽  
Cohesive Soil ◽  
Discrete Element ◽  
Cohesive Strength ◽  
Contact Friction ◽  
Contact Detection ◽  
Normal Contact ◽  
Contact Search ◽  
Contact Surfaces

Multibody dynamics and the discrete element method are integrated into one solver for modeling the excavation and moving operation of cohesive soft soil (such as mud and snow) by bulldozers. A soft cohesive soil material model (that includes normal and tangential inter-particle force models) is presented that can account for soil flow, compressibility, plasticity, fracture, friction, viscosity, gain in cohesive strength due to compression, and loss in cohesive strength due to tension. Multibody dynamics techniques are used to model the various bulldozer components and connect those components using various types of joints and contact surfaces. A penalty technique is used to impose joint and normal contact constraints. An asperity-based friction model is used to model joint and contact friction. A Cartesian Eulerian grid contact search algorithm is used to allow fast contact detection between particles. A recursive bounding box contact search algorithm is used to allow fast contact detection between the particles and polygonal contact surfaces. The governing equations of motion are solved along with joint/constraint equations using a time-accurate explicit solution procedure. A numerical simulation of a bulldozer performing a shallow digging operation in a cohesive mud-type soil is presented to demonstrate the integrated solver. The solver can be used to improve the design of the various bulldozer components such as the blade geometry, tire design, and track design.

High-Fidelity Modeling of a Backhoe Digging Operation Using an Explicit Multibody Dynamics Code With Integrated Discrete Particle Modeling Capability

2013 ◽  
Author(s):  
Shahriar G. Ahmadi ◽  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Multibody Dynamics ◽  
Search Algorithm ◽  
Equations Of Motion ◽  
Friction Model ◽  
Rigid Bodies ◽  
Contact Friction ◽  
Contact Detection ◽  
High Fidelity ◽  
Normal Contact ◽  
Contact Search

A high-fidelity multibody dynamics model for simulating a backhoe digging operation is presented. The backhoe components including: frame, manipulator, track, wheels and sprockets are modeled as rigid bodies. The soil is modeled using cubic shaped particles for simulating sand with appropriate inter-particle normal and frictional forces. A penalty technique is used to impose both joint and normal contact constraints (including track-wheels, track-terrain, bucket-particles and particles-particles contact). An asperity-based friction model is used to model joint and contact friction. A Cartesian Eulerian grid contact search algorithm is used to allow fast contact detection between particles. A recursive bounding box contact search algorithm is used to allow fast contact detection between polygonal contact surfaces. The governing equations of motion are solved along with joint/constraint equations using a time-accurate explicit solution procedure. The model can help improve the performance of construction equipment by predicting the actuator and joint forces and the vehicle stability during digging for various vehicle design alternatives.

Design modification of iron ore bearing transfer chute using discrete element method

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Saprativ Basu ◽  
Arijit Chakrabarty ◽  
Samik Nag ◽  
Kishore Behera ◽  
Brati Bandyopadhyay ◽  
...  
Keyword(s):  
Discrete Element Method ◽  
Iron Ore ◽  
Bulk Material ◽  
Flow Behavior ◽  
Material Model ◽  
Discrete Element ◽  
Content Type ◽  
Iron Ore Fines ◽  
Cohesive Materials ◽  
Element Method

Purpose The dryer feed chute of the pellet plant plays an important role in the pelletizing process. The chute discharges sticky and moist iron ore fines (<1 mm) to the inline rotary dryer for further processing. Since the inception of the installation of the dryer feed chute, the poor flowability of the feed materials has caused severe problems such as blockages and excessive wear of chute liners. This leads to high maintenance costs and reduced lifetime of the liner materials. Constant housekeeping is needed for maintaining the chute and reliable operation. The purpose of this study is to redesign the dryer feed chute to overcome the above challenges. Design/methodology/approach The discrete element method (DEM) has been used to model the flow of cohesive materials through the transfer chute. Physical experiments have been performed to understand the most severe flow conditions. A DEM material model is also developed for replicating the worst-case material condition. After identifying the key problem areas, concept designs were proposed and simulated to assess the design improvements to increase the reliability of chute operation. Findings Flow simulations correlated well with the existing flow behavior of the iron ore fines inside the chute. The location of the problematic areas has been validated with that of the previously installed chute. Subsequently, design modifications have been proposed. This includes modification of deflector plate and change in slope and cross-section of the chute. DEM simulations and analysis were conducted after incorporating these design changes. A comparison in the average velocity of particle and force on chute wall shows a significant improvement using the proposed design. Originality/value Method to calibrate DEM material model was found to provide accurate prediction and modeling of the flow behavior of bulk material through the real transfer chute. DEM provided greater insight into the performance of the chute especially modeling cohesive materials. DEM is a valuable design tool to assist chute designers troubleshoot and verify chute designs. DEM provides a greater ability to model and assess chute wear. This technique can help in achieving a scientific understanding of the flow properties of bulk solids through transfer chute, hence eliminate challenges, ensuring reliable, uninterrupted and profitable plant operation. This paper strongly advocates the use of calibrated DEM methodology in designing bulk material handling equipment.

scholarly journals Material Models to Study the Effect of Fines in Sandy Soils Based on Experimental and Numerical Results

2021 ◽  
Vol 14 (4) ◽  
pp. 651-680
Author(s):  
Ammar Alnmr
Keyword(s):  
Research Laboratory ◽  
Soft Soil ◽  
Sandy Soils ◽  
Soft Materials ◽  
Material Model ◽  
Future Research ◽  
Design Work ◽  
Material Models ◽  
Soil Material ◽  
Soil Model

Choosing and calibrating a robust and accurate soil material model (constitutive model) is the first important step in geotechnical numerical modelling. A less accurate model leads to poor results and more difficulty estimating true behaviour in the field. Subsequent design work is compromised and may lead to dangerous and costly mistakes. In this research, laboratory experimental results were used as a basis to evaluate several soil material models offered in Plaxis2D software. The deciding feature of the soil model was how well it could represent effects of percentage of fine material within sandy soils to simulate its behaviour. Results indicate that the Hardening Soil (HS) model works well when the percentage of fine (soft) materials is less than 10%. Above that level, the Soft Soil model (SS) becomes the most suitable.  Finally, some important conclusions about this research and recommendations for future research are highlighted.

scholarly journals Numerical Simulation of Mutually Embedded Settlement in Miscellaneous Fill

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Fuhai Zhang ◽  
Zhengrong Liu ◽  
Yu Chen ◽  
Liang Chen ◽  
Xianwen Huang ◽  
...  
Keyword(s):  
Particle Size ◽  
Contact Surface ◽  
Theoretical Foundation ◽  
Soft Soil ◽  
Horizontal Distribution ◽  
Composite Foundation ◽  
Contact Friction ◽  
High Moisture ◽  
Interface Friction ◽  
Embedded Development

Embedding soft soil particles with high moisture content into miscellaneous fill with large pores under overlying loads is easy. It produces mutually embedded settlement, which is an important component of total foundation settlement during calculation. In this study, influences of interface friction on mutually embedded settlement, particle displacement, pore and contact characteristics, and mutually embedded development laws were analysed by using the particle flow method. Research results demonstrate that mutually embedded settlement decreases first and then stabilizes with the increase in contact friction factor and continuously attenuates with normal stiffness. Under the loads, particles at the contact surface move downward and squeeze surrounding particles laterally, thus causing particles to slide at the miscellaneous fill channel upward. Consequently, porosity of particles in miscellaneous fill channel increases. The force chain at the contact surface inclines around, while that at the miscellaneous fill channel presents approximately horizontal distribution. Compared with 35 and 45 mm particles, the mutually embedded settlement of 15 and 25 mm particles is slightly increased with loads. Particle size can relieve the influences of loads on mutual embedding. When particle size is larger than 25 mm, loads can significantly influence mutual embedding. Research conclusions can provide a reasonable theoretical foundation for calculating or predicting settlement of miscellaneous fill-soft soil composite foundation.

Finite Element Model for Prediction of Ground Vehicle Mobility Over Vegetation Covered Terrains

2020 ◽  
Author(s):  
Tamer Wasfy ◽  
Hatem Wasfy ◽  
Paramsothy Jayakumar ◽  
Srinivas Sanikommu
Keyword(s):  
Finite Element ◽  
Beam Model ◽  
Ground Vehicles ◽  
Body Type ◽  
Vegetation Model ◽  
Normal Contact ◽  
Ground Vehicle ◽  
Large Trees ◽  
Vehicle Mobility ◽  
Thick Beam

Abstract A finite element vegetation model is presented for predicting the dynamic interaction of ground vehicles with vegetation. The purpose of the model is to predict ground vehicle mobility over vegetation covered terrains. The types of vegetation can range from small diameter highly compliant stems to large stiff trees. Those include various types of vegetation such as grass, crops, shrubs/bushes, small trees, and large trees. Mobility measures which can be predicted include maximum safe vehicle speed along a specified path, tire slip, and fuel consumption. The ground vehicles are modeled using high-fidelity multibody dynamics models. The vegetation stems are modeled using an arrangement of thin and/or thick beam finite elements. The thin beam model uses the torsional spring beam formulation for small flexible vegetation and only includes the axial and bending beam responses. The thick beam model includes axial, bending, torsional, and shear beam responses and uses a lumped parameter beam element which connects two rigid body type nodes. The vegetation model includes the effects of normal contact and friction with the vehicle and between stems, stem breaking, and stem aerodynamic forces.

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