Abstract This is the second of three papers on the HSSTM. Part I introduced the tire structure model. Part III presents the tire model parameterization and validation. Part II describes the computational contact models for evaluating the tire/terrain interaction. Its main objective is to characterize the terrain in the normal and tangential directions during tire-terrain interaction. A contact search algorithm examines tire nodal points close to the ground and detects the penetration of the contact surfaces. Next, the contact interface algorithm applies the contact constraints to minimize or eliminate penetration. For deformable terrain, the algorithms are based on semi-empirical formulations and are implemented using a numerical approach in a 3D scheme. The normal and shear stress distribution simulation results for rigid wheel-soil contact are validated against experimental data. The contact interface algorithm for non-deformable terrains is implemented using a distributed 3D brush model enhanced with a transient module for dynamic manoeuvres.

中文翻译：

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混合软土轮胎模型 (HSSTM)。第二部分：轮胎-地形相互作用

摘要 这是关于 HSSTM 的三篇论文中的第二篇。第一部分介绍了轮胎结构模型。第三部分介绍了轮胎模型参数化和验证。第二部分描述了用于评估轮胎/地形相互作用的计算接触模型。其主要目标是在轮胎-地形相互作用期间表征法向和切线方向的地形。接触搜索算法检查靠近地面的轮胎节点并检测接触面的渗透。接下来，接触界面算法应用接触约束来最小化或消除渗透。对于可变形地形，算法基于半经验公式，并在 3D 方案中使用数值方法实现。刚性车轮 - 土壤接触的法向和剪应力分布模拟结果已根据实验数据进行验证。不可变形地形的接触界面算法是使用分布式 3D 画笔模型实现的，该模型增强了用于动态机动的瞬态模块。