This study aims to develop a wheel-soil interaction model for a lightweight wheeled vehicle by measuring the normal stress distribution beneath the wheel. The main contribution of this work is to clarify the wheel-soil interaction using a wheel testbed that equips multiple sensory systems. An in-wheel sensor accurately measures the normal stress distribution as well as the contact angles of the wheel. Particle image velocimetry with a standard off-the-shelf camera analyzes soil flow beneath the wheel. The proposed model for the normal stress distribution is formulated based on these experimental data and takes into account the following phenomena for the lightweight vehicles that have not been considered in the classical model: (1) the normal stress distribution takes the form of a Gaussian curve; (2) the normal stress distribution concentrates in the front region of the wheel contact patch; (3) the distribution is divided into two areas with the boundary determined by the maximum normal stress angle; and (4) the maximum normal stress exponentially decreases as the slip ratio increases. Then, the proposed model is experimentally validated. Furthermore, a simulation study for the wheel driving characteristics using the proposed model confirms the accuracy of the proposed model.

这项研究旨在通过测量车轮下方的法向应力分布来开发轻型轮式车辆的轮-土相互作用模型。这项工作的主要贡献是使用装备有多个传感系统的车轮试验台来阐明车轮与土壤的相互作用。轮内传感器可精确测量法向应力分布以及轮的接触角。使用标准的现成相机进行的颗粒图像测速分析了车轮下方的土壤流。基于这些实验数据，提出了建议的正应力分布模型，并考虑了经典模型中未考虑的轻型车辆的以下现象：（1）正应力分布采用高斯曲线的形式; （2）法向应力分布集中在车轮接触贴片的前部区域；（3）将分布分为两个区域，其边界由最大法向应力角确定；（4）随着滑移率的增加，最大法向应力呈指数下降。然后，对所提出的模型进行实验验证。此外，使用所提出的模型进行的车轮驱动特性的仿真研究证实了所提出模型的准确性。