Discrete Element Simulation of the Behavior of Bulk Granular Material During Truck Braking
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The current issue and full text archive of this journal is available at www.emeraldinsight.com/0264-4401.htm EC 23,1 Discrete element simulation of the behavior of bulk granular material during truck braking 4 Shu-chun Zuo, Yong Xu and Quan-wen Yang Department of Applied Mechanics, China Agricultural University, Beijing, Received July 2004 Revised May 2005 People’s Republic of China, and Accepted June 2005 Y.T. Feng Civil & Computational Engineering Centre, School of Engineering, University of Wales Swansea, Swansea, UK Abstract Purpose – To simulate the dynamic feature of bulk granular material (such as agricultural products) during sudden braking of a truck by applying discrete element method. Design/methodology/approach – The bulk granular material was modeled by the discrete element approach, in which the spherical elements were used to represent the granular particles; the interaction between two in-adhesive particles was modeled by Hertz for normal interaction, and by Mindlin and Deresiewicz for tangential interaction; the interaction between two particles with adhesion was modeled by the JKR theory for normal interaction, and by Thornton’s theory for the tangential interaction. Different initial conditions (braking speeds/accelerations) were considered. The dynamic system was numerically solved by the central difference based explicit time integration, and the dynamic impact forces were recorded to further analysis. Findings – The computation predicted that the resultant dynamic force acting upon the front wall behaves in four stages, i.e. increasing, plateau, sharp increasing and drop with damped fluctuation. It was observed that, the shorter the breaking time is, the faster the force reaches its peak, and the greater the peak value is. The phenomenon was in good agreement with physical principals and common knowledge. Research limitations/implications – It is an application of the discrete element method and, therefore, no important contribution is made to advance the methodology. Practical implications – The proposed modeling approach may serve as a useful tool for advanced design of trucks. Originality/value – This paper is the first to apply the advanced discrete element method to the problem concerned. Keywords Land transport, Linear motion, Mechanical properties of materials Paper type Research paper 1. Introduction Transport of particulate materials with trucks is common in various industries and road freight. Such a granular matter has its special characteristics, e.g. flow-ability and Engineering Computations: International Journal for fluctuation in physical properties. Therefore, its macroscopic responses and behavior Computer-Aided Engineering and may differ from other solid structured products during braking, pitching or turning, Software Vol. 23 No. 1, 2006 pp. 4-15 This work is funded by the Natural Science Foundations of China under Grant No. 10372113. q Emerald Group Publishing Limited 0264-4401 The authors gratefully acknowledge the encouragement from Dr C. Thornton at Birmingham DOI 10.1108/02644400610638943 University. and these responses could significantly affect the dynamic load on the truck frame and Discrete element on the operation by drivers. Consequently it may cause potential strength problems or simulation even accidents. Therefore, the estimation of the workload involving the additional dynamic load is of great importance. In addition, inter-particle interaction of a particle bed is also important if the carrying goods are agricultural products, such as fruits or other vulnerable particle-shaped products, since damage the breakage will result in the loss of commercial profits. 5 To the authors’ best knowledge, up to date the workload value of the particulate materials used by the conventional truck design is still considered as a point mass and how to deal with the dynamic effect is unclear. It seems lack reports on the microscope mechanism of granular matter and the description of the dynamic interactions between the assembly and the truck box due to the difficulties inherent in the conventional theory which assumes the particulate material as a continuum media. The discrete element method (DEM), originated by Cundall and Strack (1979a), is a numerical method for analyzing a discrete system, which consists of an assembly of blocky or particulate elements. Over the past 20 years the method has been significantly developed and successfully applied to solve many practical problems (Couroyer et al., 2000; Owen and Feng, 2001; Han et al., 2002). Thornton (1991, 1993) presented a new model for adhesive spherical particles and modified the TRUBAL program originated by Cundall and Strack (1979b) into a new version known as Aston-TRUBAL or GRANULE. In this work, an assembly of spherical particles within a truck box in motion was simulated under a sudden braking using GRANULE. The effects of inertia dynamic force with different braking speeds and inter-particle interactions were considered. 2. Discrete element method models The GRANULE code for a spherical dry particle system provides mainly two contact models. The interaction between two in-adhesive particles was modeled by Hertz ( Johnson, 1985) for normal interaction, and by Mindlin and Deresiewicz (1953) for tangential interaction. The interaction between two particles with adhesion was modeled by the JKR theory (Johnson et al., 1971) for normal interaction, and by Thornton’s theory (1991, 1993) for the tangential interaction, which is a combination of the theory by Mindlin and Deresiewicz (1953) and the theory by Savkoor and Briggs (1977). In reality the term “adhesion” is normally used to describe the adhesive property of very small particles with surface energy. However, the adhesive interaction model can be used to take into account of the non-spherical and “sticky” effects, since the element is modeled as perfect round sphere. Besides adhesion, the effects of other properties, e.g. friction, were also considered and their significance to the modelling was also investigated. Note that in the context of DEM, each particle is assumed rigid and that its deformability is modeled via penalty springs. Therefore, Young’s modulus of particles in the model is used to determine the penalty value. Also a central difference explicit time integration is employed to numerically solve the dynamic system of equations. The critical time step is selected automatically in the program. EC 3. Problem description 23,1 3.1 Problem and the related data Our study on the behavior of the particle assembly during braking was focused on the interaction between the particle bed and the wall of the truck box and the movement of the assembly. Here a truck box with 4.0 m in length, 2.0 m in width, and 1.0 m in height was considered. The discrete element model contains 102,000 mono-size, soft spherical 6 particles with a radius of 4.5 cm. The term “soft” refers to a kind of agricultural products with Young’s modulus of around 70 MPa, which is 1/1000 of the elastic property of the wall. Previous work by Xu et al. (2002) indicates that the use of a smaller material modulus in the model has insignificant effect on the physical behaviour of the system but could substantially reduce the simulation time due to the increase of the critical time step. The values of the selected parameters used in the modelling are listed in Table I. The interaction between a sphere and a wall is treated as the interaction between a sphere and another sphere with an infinite radius. In our DEM simulation, a proper workspace is needed to contain all the particles and allow them to move in all possible ways. The workspace is divided into a certain number of cubic cells so as to detect the movement of any particle and identify their contact status. The dimensions of the workspace are the key factor affecting the overall computing efficiency and, therefore, it is impractical to specify a very large workspace to allow the box to move with a normal speed and then to stop in a certain distance. In our approach, an equivalent transformation was employed to allow the truck box being stationary and the relative motion of the particles with respect to the box was analyzed. In the simulation the speed of a truck before braking was chosen as 72 km/h, and four cases of different braking time durations were selected and the corresponding braking distances and de-accelerations were listed in Table II. Radius (particle) 0.045 m Density (particle) 1,200 kg/m3 Young’s modulus (particle) 70 MPa Poisson’s ratio (particle) 0.25 Friction (particle to particle) 0.35 Number of particles 102,000 Total mass of particles 5,726 kg Table I. Young’s modulus (wall) 70 GPa Properties of particle Poisson’s ratio (wall) 0.3 and wall Friction (wall to particle) 0.35 Case Braking time (s) Braking distance (m) De-acceleration (m/s2) 1 1 10 20 2 0.8 8 25 3 0.667 6.67 30 4 0.5 5 40 Table II. Kinetic properties Note: Motion speed before braking is 72 km/h 3.2 Initial preparation of the particle bed Discrete element The particles were generated randomly within the specified volume. A large number of simulation preliminary iterative cycles were performed under the gravity, during which the positions of the particles and contact links were repeatedly updated until all the particles settle down to form a bed. Then an additional acceleration due to the de-acceleration of the truck was assigned to each particle, the height of the simulation domain was reduced to the original value and the real cyclic computation began. It is 7 noted that a top wall was introduced to avoid the escape of the particles during the simulation. The initial particle bed is shown in Figure 1. During the simulation the “real time” state of the system was continuously fed back to an interface platform in the form of graphic output or data files.