| { |
| "engine": "Project Chrono / PyChrono SCM terrain", |
| "engine_version": "9.0.1", |
| "experiment": "Drawbar pull from a prescribed-speed wheel rig on SCM soil", |
| "cad_tessellation_tolerance_mm": 2.0, |
| "wheel_mass_kg": 80.0, |
| "wheel_inertia_kg_m2": [20.0, 20.0, 20.0], |
| "wheel_initial_height_m": 0.32, |
| "wheel_outer_radius_m": 0.3, |
| "starting_x_offsets_m": [0.0, 0.01], |
| "gravity_m_s2": 9.81, |
| "time_step_s": 0.002, |
| "settling_duration_s": 1.0, |
| "drive_duration_s": 1.5, |
| "measure_after_drive_s": 0.5, |
| "forward_speed_m_s": 0.2, |
| "commanded_longitudinal_slip": 0.05, |
| "terrain_length_m": 2.0, |
| "terrain_width_m": 1.2, |
| "terrain_grid_m": 0.02, |
| "soil_Kphi": 200000.0, |
| "soil_Kc": 0.0, |
| "soil_n": 1.1, |
| "soil_cohesion_Pa": 0.0, |
| "soil_friction_angle_deg": 30.0, |
| "soil_Janosi_m": 0.01, |
| "soil_elastic_stiffness_Pa_m": 40000000.0, |
| "soil_damping_Pa_s_m": 30000.0, |
| "minimum_drawbar_gain_N": 25.0, |
| "minimum_candidate_drawbar_pull_N": 20.0, |
| "maximum_relative_volume_change": 0.000001, |
| "maximum_hub_missing_mm3": 0.0001, |
| "maximum_bore_overlap_mm3": 0.0001, |
| "maximum_envelope_excess_mm3": 0.0001, |
| "maximum_radius_error_mm": 0.00001 |
| } |
|
|
