Simulation of wheel-ground and vehicle-ground interactions is very important in many applications. Achieving accuracy and efficiency is challenging for both soft and hard terrains. This is not only because of the simulation and numerical challenges, but also due to the questionable nature of the existing terrain models. For example, the most widely used terramechanics model is not a representative constitutive relation for a full range of dynamic conditions and applications, but rather a parametrization of steady state conditions. In general, the selection and development of the proper constitutive model and the parametrization of the ground properties are very challenging. Here, we present a unified framework for general wheel-ground interaction which can be used with different terramechanics models. The framework is based on a complementarity formulation and also uses the concept of kinematic constitutive relations, beside the other known concepts for modelling and parametrizing the soil properties. The framework makes it possible to consider the appropriate modelling of the terrain for a broad range of dynamic behaviours and simulation conditions. We will illustrate the material with several examples for off-road conditions.

车轮-地面和车辆-地面相互作用的仿真在许多应用中非常重要。无论是软地形还是硬地形，实现准确性和效率都具有挑战性。这不仅是因为模拟和数值挑战，还因为现有地形模型存在问题。例如，最广泛使用的地形力学模型不是全范围动态条件和应用的代表性本构关系，而是稳态条件的参数化。一般来说，合适的本构模型的选择和开发以及地面特性的参数化是非常具有挑战性的。在这里，我们提出了一个通用轮地交互的统一框架，可用于不同的地形力学模型。该框架基于互补公式，除了用于模拟和参数化土壤特性的其他已知概念之外，还使用运动本构关系的概念。该框架可以为各种动态行为和模拟条件考虑适当的地形建模。我们将用几个越野条件的例子来说明材料。