标题： 基于物理的连续体模型用于通用、可扩展和快速的地貌力学仿真 显示英文标题

标题： A Physics-Based Continuum Model for Versatile, Scalable, and Fast Terramechanics Simulation

摘要： 本文讨论了Chrono的连续表示模型（称为此处的Chrono::CRM），这是一种通用、可扩展且高效的地力学问题仿真解决方案。基于Chrono的光滑粒子流体动力学（SPH）框架，Chrono::CRM超越了半经验的地力学方法，例如Bekker-Wong/Janosi-Hanamoto，提供了一个基于物理的模型，能够处理复杂的任务，如挖掘、平整，以及与可变形轮子和复杂齿爪/凸起图案的相互作用。该地力学模型具有灵活性，因为它允许地形与通过Chrono动力学引擎模拟的刚性和柔性工具进行交互。我们通过三个物理测试的实验数据验证了Chrono::CRM，其中包括一个涉及NASA的MGRU3探测器的测试。此外，该模拟器还与一个涉及月壤高级表面系统操作机器人（RASSOR）挖掘场景的高保真离散元方法（DEM）模拟进行了基准测试。由于采用GPU加速，Chrono::CRM在地力学问题上的计算效率可与半经验仿真方法相媲美。通过“活动域”实现，Chrono::CRM可以在接近实时的速率下处理长达10公里的地形区域，包含1亿个SPH粒子，从而使大规模高保真的非公路仿真成为可能。作为Chrono包的一个组件，CRM模型是开源的，并根据BSD-3许可证发布。本研究中使用的所有模型和仿真均可在公共GitHub仓库中获取，以供可重复性研究和进一步研究。 显示英文摘要

摘要： This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's Smoothed Particle Hydrodynamics (SPH) framework, Chrono::CRM moves beyond semi-empirical terramechanics approaches, e.g., Bekker-Wong/Janosi-Hanamoto, to provide a physics-based model able to address complex tasks such as digging, grading, as well as interaction with deformable wheels and complex grouser/lug patterns. The terramechanics model is versatile in that it allows the terrain to interact with both rigid and flexible implements simulated via the Chrono dynamics engine. We validate Chrono::CRM against experimental data from three physical tests, including one involving NASA's MGRU3 rover. In addition, the simulator is benchmarked against a high-fidelity Discrete Element Method (DEM) simulation of a digging scenario involving the Regolith Advanced Surface Systems Operations Robot (RASSOR). Being GPU-accelerated, Chrono::CRM achieves computational efficiency comparable to that of semi-empirical simulation approaches for terramechanics problems. Through an ``active domains'' implementation, Chrono::CRM can handle terrain stretches up to 10 km long with 100 million SPH particles at near interactive rates, making high-fidelity off-road simulations at large scales feasible. As a component of the Chrono package, the CRM model is open source and released under a BSD-3 license. All models and simulations used in this contribution are available in a public GitHub repository for reproducibility studies and further research.