Abstract This paper is the first of three papers describing a study focused on developing a lumped-mass discretized tire model using Kelvin-Voigt material elements. The main motivation was to develop a tire model able to capture the dynamic behavior on tire-soft soil interaction, while also being able to run on rigid (flat and rough) surfaces. This paper presents underlying mathematical formulations for characterizing the tire material properties and the kinetics and kinematics of the tire structure; the second paper focuses on the modelling of the tire-terrain interaction. The interface for connecting the tire model developed with the vehicle modeling software CarSim, in order to perform full vehicle simulations is provided. To minimize the computational time of the code, different techniques were used in stiffness matrix partitioning, parameter initialization, and multi-processing. This resulted in significant improvements for efficiency of the code making it suitable for use by commercially-available vehicle simulation packages.

中文翻译：

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混合软土轮胎模型 (HSSTM)。第一部分：轮胎材料和结构建模

摘要 本文是描述使用 Kelvin-Voigt 材料元素开发集中质量离散轮胎模型的研究的三篇论文中的第一篇。主要动机是开发一个轮胎模型，能够捕捉轮胎与软土相互作用的动态行为，同时还能够在刚性（平坦和粗糙）表面上运行。本文提出了用于表征轮胎材料特性以及轮胎结构的动力学和运动学的基本数学公式；第二篇论文侧重于轮胎-地形相互作用的建模。提供连接车辆建模软件CarSim开发的轮胎模型接口，进行整车仿真。为了最大限度地减少代码的计算时间，刚度矩阵划分中使用了不同的技术，参数初始化和多处理。这导致代码效率的显着提高，使其适用于商用车辆模拟包。