A multiscale model of terrain dynamics for real-time earthmoving simulation

摘要: A multiscale model for real-time simulation of terrain dynamics is explored. To represent the on different scales combines description soil as a continuous solid, distinct particles and rigid multibodies. The models are dynamically coupled to each other earthmoving equipment. Agitated represented by hybrid contacting continuum with moving equipment resting geometric boundaries. Each zone active aggregated into bodies, proper mass, momentum frictional-cohesive properties, which constrain equipment's multibody dynamics. particle parameters pre-calibrated bulk mechanical wide range soils. result computationally efficient operations that resolve motion soil, using fast iterative solver, provide realistic forces dynamic equipment, direct solver high numerical precision. Numerical simulations excavation bulldozing performed validate measure computational performance. Reference data produced discrete element at relatively resolution. digging resistance displacements agree reference up 10-25%, run more than three orders magnitude faster.