Testing & Validation Co-Simulation of MBD Models with DEM Code - - PowerPoint PPT Presentation

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Aug 03, 2023 402 likes •556 views

Modeling & Simulation, Testing & Validation Co-Simulation of MBD Models with DEM Code to Predict Mobility on Soft Soil Brian Edwards Pratt & Miller Engineering Sophie Broad DEM Solutions 8/22/2018 Mobility of MBD Models on

SLIDE 1

Modeling & Simulation, Testing & Validation

8/22/2018

Co-Simulation of MBD Models with DEM Code to Predict Mobility on Soft Soil

Brian Edwards – Pratt & Miller Engineering Sophie Broad – DEM Solutions

SLIDE 2

Modeling & Simulation, Testing & Validation

8/22/2018

Mobility of MBD Models on Soft Soil

Pratt & Miller designs, builds and tests wheeled and

tracked vehicles

Current full-vehicle simulation capabilities are limited to

hard surfaces

Collaboration between Pratt & Miller, DEM Solutions, and

MSC.Software to develop expertise in simulating full MBD models on deformable terrains

SLIDE 3

Modeling & Simulation, Testing & Validation

8/22/2018

Discrete Element Modeling of Soft Soils

Computational Fluid Dynamics Finite Element Analysis Discrete Element Modeling

Discrete Element Modeling

Captures the dual-nature

f bulk materials that

behave like both a solid and a fluid

SLIDE 4

Modeling & Simulation, Testing & Validation

8/22/2018

EDEM Bulk Material Modeling Software

Market-leading bulk materials simulation software
Easy-to-use, GUI driven set-up
Optimized GPU & CPU solvers
Wide range of analysis tools

SLIDE 5

Modeling & Simulation, Testing & Validation

8/22/2018

EDEM Particle Model

Poisson’s Ratio 0.25 Solids Density 2600 kg/m^3 Shear Modulus 1.0 E+07 Pa

Coeff. of Restitution

0.5

Coeff. of Static Friction

1.0

Coeff. of Rolling Friction

0.15

Coeff. of Restitution

0.75

Coeff. of Static Friction

0.44

Coeff. of Rolling Friction

0.20

Particle Model Particle to Particle Interaction Particle to Geometry Interaction

SLIDE 6

Modeling & Simulation, Testing & Validation

8/22/2018

Adams MBD Models of Wheeled and Tracked Vehicles

HMMWV (Humvee) Vehicle mass: 2700 kg Wheelbase: 2.23 m Track width: 1.30 m Tires: 37x12 50R16 35 psi on hard surface Rigid geometry on soft soil Medium-sized Tank 3.7m long by 1.5m wide by 1.3m tall Track center-to-center: 1.2 m Track segment width: 0.3m 5 road wheels, idler, and 2 support rollers 84 track segments and connectors

SLIDE 7

Modeling & Simulation, Testing & Validation

8/22/2018

Soft Soil Terrains

Flat particle bed 30 percent side-slope Double hill terrain Single hill terrain 20 percent grade climb

SLIDE 8

Modeling & Simulation, Testing & Validation

8/22/2018

Adams/EDEM Co-Simulation Process

A configuration file defines interactions between Adams geometries and EDEM soil particles Adams calculates body displacements and passes geometry positions to EDEM, which calculates bulk particle forces and returns them to Adams

SLIDE 9

Modeling & Simulation, Testing & Validation

8/22/2018

Wheeled Vehicle Co- Simulation Results

HMMWV on Flat Terrain at 20kph HMMWV on Double-Hill at 25mph HMMWV on 30% Side Slope at 15mph

SLIDE 10

Modeling & Simulation, Testing & Validation

8/22/2018

Tracked Vehicle Co- Simulation Results

Tank Single Hill at 10mph Tank Double Hill at 7mph Tank Double Hill at 9mph

SLIDE 11

Modeling & Simulation, Testing & Validation

8/22/2018

Tracked Vehicle Co- Simulation Results

Tank on 20% grade at Half Throttle Tank Draw-Bar Pull at Full Throttle Tank 2nd Pass at 3mph Tank Pivot Steer at 3mph

SLIDE 12

Modeling & Simulation, Testing & Validation

Physical Test Bed – Small Robotic Platform

8/22/2018

Test Bed:

27 feet by 27 feet by 2 feet
Pea stone ¼ inches to ¾ inches
2 foot tall concrete blocks on sides

Straight-line Turning Radius Side Hill

SLIDE 13

Modeling & Simulation, Testing & Validation

DARPA GXV-T METS Soft Soil Modeling

8/22/2018

Ground X-Vehicle Technologies
Multi-mode Extreme Travel Suspension