Hi Dan Thank you for your explanation, it’s very helpful! However, I’m still a bit unclear about the "pushing force" you mentioned. Is it an external force that must be applied, or is it related to the internal dynamics of the wheel and terrain interaction?
Il giorno mar 7 gen 2025 alle ore 00:50 Dan Negrut <[email protected]> ha scritto: > 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 > > -- > You received this message because you are subscribed to the Google Groups > "ProjectChrono" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion visit > https://groups.google.com/d/msgid/projectchrono/02e9b4d2-7435-4b3f-a044-82ef4c0297bcn%40googlegroups.com > <https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/02e9b4d2-7435-4b3f-a044-82ef4c0297bcn*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!PKJ0yDr3C-VhSQVwnSgH4h5O85uIJcaY3CTUFiZ22ToeUiR0Tn7_ms6ABJCe_0QoYfuyLpEe2GAJUKUKtYHgNmfi3Q$> > . > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/CAOQ4fRVB%2BzWfkgJBziGCFDb5fmdKM6eiS0BPbuZKBJz2OQM5Cg%40mail.gmail.com.
