Analytical modeling and DEM analysis of soil–wheel interaction under cornering and skidding conditions in off-road vehicles

Soil–wheel interaction under cornering and slip conditions (SWICS) has a significant impact on the steering performance of off-road vehicles. In order to analyze the six-dimensional wheel forces in SWICS, a SWICS model based on the analytical method and the discrete element method (DEM) is developed in this paper. First, the modeling process of SWICS using the analytical method was detailed to predict the six-dimensional wheel forces in SWICS. The SWICS was then modeled using the DEM, which involved the following steps: (a) establishment of tire geometry, (b) selection of particle parameters, (c) parameter calibration, and (d) particle generation. Finally, DEM simulations were carried out for different slip angles and slip ratios under three loads, and the results were compared with those of the analytical model. The results show that the SWICS DEM model in this paper maintains a good fit with the analytical model, validating the efficiency of the DEM model and the parameter calibration method. The slip angle has a great influence on the lateral force, overturning moment, and aligning moment and a smaller impact on the normal force, drawbar pull, and rolling resistance moment. The slip ratio promotes an increase in the drawbar pull and rolling resistance moment but reduces the value of the lateral force and aligning moment. The research in this paper provides a DEM modeling approach and an analysis method for solving mechanical problems with different dimensions in SWICS, which will help improve the performance of off-road vehicles.