Hi Davide,
The wheel will sink in a bit. As such, it’ll experience some bulldozing force.
You then typically need to push it a bit to maintain that zero slip. In general
you’ll see some slip before you generate positive traction.
You asked for some literature:
@inproceedings{Krenn2008SCM,
booktitle = {11th European Regional Conference of the International
Society for Terrain-Vehicle Systems - ISTVS 2009},
month = {October},
title = {{SCM} -- {A} soil contact model for multi-body system
simulations},
author = {Rainer Krenn and Gerd Hirzinger},
year = {2009},
keywords = {Multi-Body System Simulation, Contact Dynamics, Soil
Contact Model},
url = {http://elib.dlr.de/60535/}
}
@article{chronoSCM2019,
title = {Deformable soil with adaptive level of detail for tracked and
wheeled vehicles},
author = {Tasora, Alessandro and Mangoni, Dario and Negrut, Dan and Serban,
Radu and Jayakumar, Paramsothy},
journal = {International Journal of Vehicle Performance},
year = {2019},
volume = {5},
pages = {60--76},
number = {1}
}
@article{chronoSCM_JCND_2023,
title={Real-Time Simulation of Ground Vehicles on Deformable Terrain},
author={Serban, Radu and Taves, Jay and Zhou, Zhenhao},
journal={Journal of Computational and Nonlinear Dynamics},
volume={18},
number={8},
pages={081007},
year={2023},
publisher={American Society of Mechanical Engineers}
}
I hope this helps.
Dan
---------------------------------------------
Bernard A. and Frances M. Weideman Professor
NVIDIA CUDA Fellow
Department of Mechanical Engineering
Department of Computer Science
University of Wisconsin - Madison
4150ME, 1513 University Avenue
Madison, WI 53706-1572
608 772 0914
http://sbel.wisc.edu/
http://projectchrono.org/
---------------------------------------------
From: [email protected] <[email protected]> On Behalf
Of Davide
Sent: Monday, January 6, 2025 2:25 PM
To: ProjectChrono <[email protected]>
Subject: [chrono] SCM terrain
Hi all,
I'm focusing on the demo of a tire test rig on a SCM terrain, in particoular on
the forces exchanged between tire and ground. While examining the longitudinal
tire force as a function of longitudinal slip, I observed that the tire force
shows a negative value when the longitudinal slip is zero. Could anyone explain
why this occurs? How is this handled in Chrono? Is there any paper I could
consult on this topic?
Tahnk you in advance for any help!
Davide
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