Research on the continuum/discontinuum multiscale analytical system of the
interaction between rigid wheel and lunar soil
Zhang Rui, Chen Bin, Li Jianqiao
Key Laboratory ofBionic Engineering, Ministry ofEducation, Jilin University, Changchun
130022 China
zhangrui@jlu.edu.cn
Abstract
The continuumldiscontinuum multiscale computations
have great advantages in the large wheellsoil interaction
simulations. Based on DEM software PFC2D®, the
continuumldiscontinuum multiscale analytical system of
the interaction between rigid wheel and lunar soil by
coupling discrete elements and matrix module was
established. In the multiscale system, Bulk material
particles on the surface being cut by the rigid wheel were
simulated by discrete elements, and the part in the deep
layer being produced elastic deformation was simulated
by matrix module. Through one example ofthe interaction
between rigid wheel and lunar soil using the multiscale
model and the DEM model, and comparing the simulation
results with the soil-bin test results, the multiscale model
not only satisfied the computation accuracy, but also had
the much higher computation efficiency.
1. Introduction
Lunar rover, a conveyance tool with lots of
equipment, is an important part of a lunar exploration
project. The passing ability of a lunar rover mainly
depends on the pressure bearing capacity of the lunar
surface. However, there are many unknown obstacles
about loose lunar soil on the lunar surface whose
gravity is 1/6 in comparison with the earth surface [1,
2]. All of these can make the lunar rover slide easily or
sink deeply. Furthermore, all the information about the
lunar soil environment can not be accurately
established, therefore it is important to provide a
method for simulating the lunar environment and lunar
soil for the purpose of designing a lunar rover.
Many methods are applied in analyzing dynamic
interaction between soil and vehicles or machines
which are in contact with soil. Finite Element Method
(FEM) has been used for many analyses of the
interaction [3]. In the simulation by FEM, the analyzed
object is assumed as a continuum. However, wheel
parts of lunar rover often cut the soil separately. This
phenomenon can not be easily analyzed by FEM. In
order to solve the problem, Oistinct Element Method
(OEM) has been applied in many analyses of behaviors
of loose soil in the field of vehicle-terramechanics; and
it is also easy to simulate soil properties and gravity
condition on the moon by OEM [4-6].
FEM and OEM are two important numerical
methods for simulating microscopic and macroscopic
scale. They have advantages and disadvantages. OEM
can simulate local microscopic nonuniformity
phenomenon, but it requires a lot of time. FEM can
solve the macroscopic elastic deformation of the whole
structure quickly, but it can hardly deal with the micro-
damages and cracks of local structure. Multiscale
numerical method by coupling OEM and FEM can
calculate the different regions by introducing different
numerical scale method [7-12].
In the paper, the continuumldiscontinuum
multiscale analytical system of the interaction between
rigid wheel and lunar soil was established by OEM
software PFC20®. In the multiscale analytical system,
Bulk material particles on the surface being cut by the
rigid wheel were simulated by discrete elements, and
the part in the deep layer being produced elastic
deformation was simulated by matrix module. By one
example, comparing the results of the multiscale
analytical system with those of the corresponding
OEM model, the multiscale analytical system not only
satisfied the simulation accuracy, but also had the
much higher computation efficiency.
2.Thecontinuum/discontinuum multiscale method
Matrix modules enable simulations of certain classes
of problems to be made much more efficiently, by
treating far-field regions of a model as elastic. As for
the multiscale lunar soil model, the particle module, a
compacted assembly, is used. The particle module may
be replicated many times to construct a large model, as
shown in Figure 1. The particle module is derived by
compacting an assembly of particles within periodic
space, and then storing it in compact form; Copies of
this assembly can then be fitted together perfectly,
because the geometrical arrangement of particles on
one side of a matrix module is the negative image of
that on the opposite side.
Figure 3. The continuumldiscontinuum multiscale method

3. The multi scale analytical system of the

• •
Figure 1. The replication of particle modules
Figure 2 shows flow chart of the multiscale method
for constructing a continuum/discontinuum multiscale
model. The multiscale method can enhance the
efficiency of numerical calculation greatly. It has two
reasons . One reason is that a large model may be
constructed very quickly because of the particle
modules being compacted and in equilibrium in
advance . It is found that the time necessary to bring a
large model to equilibrium increases greatly with the
size of the model, because information must be
transmitted repeatedly across the entire model. When a
interaction between rigid wheel and lunar soil
3.2. The multiscale analytical system
Figure 4 shows the multiscale analytical system of
the interaction between rigid wheel and lunar soil. In
the multiscale analytical system, the soil bin is
generated by the standard wall and the inner side is
valid. The rigid wheel is generated by combining
general wall with standard wall, and the outer side is
valid. The bulk material particles on the surface being
cut by the rigid wheel were simulated by discrete
elements , and the part in the deep layer being produced
elastic deformation was simulated by matrix module .

O
Matrix module
model is constructed by the equilibrated particle
modules, no further time is necessary to establish global c:::S Discrete elt ents
equilibrium . Thus, a large equilibrated model may be
assembled almost instantaneously. The other reason is . , • • . , • • j. , • • . ,
that each particle module may be replaced by a ~' ~~~~' ~~ .~~
' ~~ '~~ '. ~~

linearmatrix form when constructing matrix module, Figure 4, The multiscale analytical system of
which increases the speed of calculation greatly. Linear interaction between rigid wheel and lunar soil
versions of matrix modules are usually acceptable near
model boundaries . The continuum/discontinuum
3.3. Simulation and analysis
multiscale method is shown in Figure 3.
[ Start
I ~ There are two phases before the simulation test. In
'V Readboundary the first phase, all the particles reach the equilibrium
Read initial parameters of condition and state with gravity, and the rigid wheel does not get
I properties and structure
\It
I external load
~
contact with the lunar soil stimulant in this phase .
Particles' equilibrium time is listed in Table 1. Seen

~
Construct particle module
I andbeinequilibrium
>V
I Construct large \Itparticle model I
I assemblies
Construct matrix form
of the lower layer
I [
Figure 2. Flow chart of the multiscale method
Kinematics and from Table 1, Particles' equilibrium time spent by the
mechanical
calculation
multiscale model only occupies one tenth that the
OEM model spends . There are three reasons . Firstly,
'V
Outputresults
the multiscale model only generates a few particles.
Most of the particles are instead generated by matrix
~
End
I
module . Secondly, the particle modules are already
compacted and in equilibrium. There is no need to
waste time on balancing them . Thirdly, a large model
is constructed by attaching several particle modules;
therefore, each of the resulting regions may be
assigned to a different processor . Further, the In the second phase, the wheel drops vertically until
assignments may be changed dynamically based on the the soil counterforce equals the normal load. After the
computing load taken by each processor. Thus the two phases, the wheel travels in the right direction and
simulation of a large problem may be split among any at the same time it starts rotating clockwise at constant
number of processors operating in parallel. speed. It is often difficult to know the behaviors of
grains under the wheel by measuring in an experiment,
Table 1. Particles' equilibrium time
but it can be visualized in the simulation as shown in
Multiscale OEM
Number of particles 10665 31995 Figure 5. Figure 5 (a), (b) and (c) show distributions of
Matrix model 30 particle movements, particle displacements and particle
Timestep/s 1.5x10-4 1.5x10-4 forces during 500 timestep respectively. Seen from
Number of timestep 2495 12328 Figure 5, the interactions between lunar soil and rigid
Calculation time/s 135 1880 wheel at all times, including deformations, forces and
displacements, can be seen clearly.

'J::JS
(a) Distribution of movements (b) Distribution of displacements (c) Distribution of forces
Figure 5. The states of lunar soil under the wheel

In order to validate the simulation results, the soil- ....... Mu l ti s ca l e

100
bin tests were performed. Figure 6 shows the soil-bin - - IJEM
80 ------- So i l - b i n test
equipment. The wheel diameter and width are 300mm ::;:
z;
and 100mm; the rug width, height and number are <, 60
5mm, lOmm and 18 respectively. The wheel load is (1)
::l 40
0-
500N and the translational velocity is 40mmls. The ~
experiment conditions of the soil bin test are the same 20
as those of the simulation test. 0
Io&dcortroler
senso -r COUllerwe ight sensor2 sen$Or3 0 500 1000 1500 2000 2500 3000 3500
EDCconroler
Number of timestep

Figure 7. The wheel torque versus number of timestep

with the test results, the average of OEM simulation is

143.9N with standard error of 62.1N, the average of
multiscale simulation is 143.6N with standard error of
71.5N, the average of soil-bin test is 142.1N with
standard error of 58.7N. After further calculations, the
Figure 6. Sketch map for soil bin test system
relative error of OEM simulation is 1.1% and that of
Figure 7 shows the wheel torque versus number of multiscale simulation is 1.2%.
timestep under acceleration due to gravity of 9.8m1s2 • 400 . Mu l ti s cal e
Comparing the simulation results with the test results,
the average of OEM simulation is 43.6N.M with 300
.
,
"
- - IJEM
- So i l - b i n t es t

standard error of 10.2N.M, the average of multiscale <,

z
simulation is 43.5N.M with standard error of 1O.8N.M, c, 200
C>
the average of soil-bin test is 43.3N.M with standard
error of 5.6N.M. After further calculations, the relative 100
error of OEM simulation is 0.7% and that of multiscale o
simulation is 0.5%. o 500 1000 1500 2000 2500 3000 3500
Figure 8 shows the wheel drawbar pull versus Number of timestep
number of timestep under the acceleration due to
gravity of9.8m1s 2 • Comparing the simulation results Figure8. The wheel drawbar pullversus number of tirnestep
 The above comparing analyses show that the DEM
simulation results and the mulitiscale simulation results
are close to the experimental results, which indicates
that the simulation results are useful and credible.
Table 2 gives simulation time by the DEM model and
the multiscale model; the multiscale model saves lots
of computation time can be seen.
Table 2. Simulation time by different numerical
models
Multiscale DEM
Number of particles 10665 31995
Matrix model 30
Timestep/s 1.5x10-4 1.5x10-4
Number of timestep 5000 5000
Calculation time/s 322 919
4. Conclusions
Based on DEM software PFC2D@, the
continuumldiscontinuum multiscale analytical system
of the interaction between rigid wheel and lunar soil by
coupling discrete elements and matrix module was
proposed. Through comparing particles' equilibrium
time using the multiscale model and the DEM model
when balancing stress and dissipating energy among
particles, it can be seen that the multiscale numerical
model can greatly save time. Through a kind of driving
wheel-soil bin test using two numerical models, and
comparing the simulation results with the soil-bin test
results, the high accuracy and the computation
efficiency of the multiscale model are validated.
5. Acknowledgements
The authors are grateful for the financial support of
the National Science Foundation of China (Grant No.
50875107, 50805064), the Key Project of Chinese
Ministry of Education (Grant No. 107035), the Science
and Technology Development Plan Project of Jilin
Province (20080146) and "985 Engineering" Graduate
Innovation Foundation in 2008 of Jilin University
(Grant No. 20080203).
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