Previously developed terramechanics models of wheel-soil interaction forces do not cover the full span of possible wheel states, including large slip angles and ratios. This paper synthesizes a model that covers the full range of slip and skid ratios and slip angles by building on classic terramechanics and soil failure models. The need for wheel and soil specific tuning is reduced through use of a closed-form model of soil flow around the wheel to determine the wheel-soil contact geometry. The terramechanics model is validated both with and without the soil flow model on two wheels in sand for slip ratios from −1 to 0.9 and slip angles from 0$°$ to 60$°$, showing good prediction of tractive forces, sidewall forces, and sinkage over a wide variety of states. The data from these experiments is also presented, as the only open source data set to cover both a high range of slip angles and slip ratios.

先前开发的车轮-土壤相互作用力的地形力学模型并未涵盖可能的车轮状态的全部范围，包括大滑移角和比率。本文以经典的土地力学和土壤破坏模型为基础，综合了一个涵盖所有滑移和滑移比以及滑移角的模型。通过使用车轮周围土壤流的闭合模型来确定车轮-土壤接触几何形状，减少了对车轮和土壤特定调整的需要。土力学模型在沙地中的两个轮子上（滑移比为 -1 至 0.9，滑移角为 0）的情况下，在有或没有土流模型的情况下进行了验证$°$至 60$°$，显示了对各种状态下的牵引力、侧壁力和下沉的良好预测。还提供了这些实验的数据，作为涵盖大范围滑移角和滑移比的唯一开源数据集。