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<p>To investigate the longitudinal driving dynamics of the multi-axle wheeled vehicles on flexible terrain, this study proposes a vehicle-wheel-terrain coupled simulation framework based on the Reduced Multibody System Transfer Matrix Method (RMSTMM). Firstly, the RMSTMM recursive algorithm is introduced, whose modular modeling strategy significantly enhances computational efficiency. Subsequently, Based on RMSTMM, an eight-wheel drive vehicle dynamic model with 24 degrees of freedom is developed. This vehicle model is integrated with a deformable terrain model to form a full-system coupled methodology. And the static equilibrium, longitudinal driving, and multi-pass effect are conducted. Additionally, the influence of wheel torque on slip rate is analyzed, identifying an optimal torque range for acceleration scenarios. The results indicate that the appropriate torque can ensure stable forward movement during acceleration. The proposed RMSTMM-based framework provides an effective tool for enhancing the driving performance of multi-axle wheeled vehicles.</p>

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Modeling and simulation framework for longitudinal driving dynamics of multi-axle vehicle considering flexible terrain-wheel contact

  • 期刊论文

  • 发表日期：

    2025年12月2日

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  • Jinxin Tang,
  • Guoping Wang,
  • Youyu Wang,
  • Shutian Li,
  • Xun Wang,
  • Lilin Gu

摘要

To investigate the longitudinal driving dynamics of the multi-axle wheeled vehicles on flexible terrain, this study proposes a vehicle-wheel-terrain coupled simulation framework based on the Reduced Multibody System Transfer Matrix Method (RMSTMM). Firstly, the RMSTMM recursive algorithm is introduced, whose modular modeling strategy significantly enhances computational efficiency. Subsequently, Based on RMSTMM, an eight-wheel drive vehicle dynamic model with 24 degrees of freedom is developed. This vehicle model is integrated with a deformable terrain model to form a full-system coupled methodology. And the static equilibrium, longitudinal driving, and multi-pass effect are conducted. Additionally, the influence of wheel torque on slip rate is analyzed, identifying an optimal torque range for acceleration scenarios. The results indicate that the appropriate torque can ensure stable forward movement during acceleration. The proposed RMSTMM-based framework provides an effective tool for enhancing the driving performance of multi-axle wheeled vehicles.