Wheel-surface model parameters estimation: sand humidity influence on traction effort of all-terrain unmanned vehicle

Abstract The aim of the paper is to present the experimental results for material model of the sand, case of wet and dry probe. Since traction and side forces derivation methodology and tire-round interaction models for on-road vehicles are widely described, there is a lack of methods for off-road vehicles. The methodology, presented in this work, includes test in various ground conditions and different driving direction. Test results, presented in the paper were acquired for dry and humid sand, for various tire tilt angle. Traction and side forces were acquired and then will be used for black-box model parameters identification of the wheel-ground interaction.摘要 本文旨在给出干湿沙工况下沙土材料模型的试验结果。现有研究已广泛阐述公路车辆的牵引力与侧向力推导方法及轮胎-地面相互作用（tyre-ground interaction）模型，但针对越野车辆的相关方法仍较为匮乏。本文提出的研究方法涵盖了不同地面工况与不同行驶方向下的试验。本文所呈现的试验结果采集自不同轮胎倾斜角下的干燥与潮湿沙土工况，试验获取了牵引力与侧向力数据，后续将用于轮-地面相互作用（wheel-ground interaction）黑箱模型（black-box model）的参数辨识。