Prevention strategies for field traffic-induced subsoil compaction: a review: Part 1. Machine/soil interactions

Subsoil compaction is a severe problem mainly because its effects have been found to be long-lasting and difficult to correct. It is better to avoid subsoil compaction than to rely on alleviating the compacted structure afterwards. Before recommendations to avoid subsoil compaction can be given, the key variables and processes involved in the machinery–subsoil system must be known and understood. Field traffic-induced subsoil compaction is discussed to determine the variables important to the prevention of the compaction capability of running gear. Likewise, technical choices to minimise the risk of subsoil compaction are reviewed. According to analytical solutions and experimental results the stress in the soil under a loaded wheel decreases with depth. The risk of subsoil compaction is high when the exerted stresses are higher than the bearing capacity of the subsoil. Soil wetness decreases the bearing capacity of soil. The most serious sources of subsoil compaction are ploughing in the furrow and heavy wheel loads applied at high pressure in soft conditions. To prevent (sub)soil compaction, the machines and equipment used on the field in critical conditions should be adjusted to actual strength of the subsoil by controlling wheel/track loads and using low tyre inflation pressures. Recommendations based on quantitative guidelines for machine/soil interactions should be available for different wheel load/ground pressure combinations and soil conditions.     

A model for estimating crop yield losses caused by soil compaction

A computerized empirical model for estimating the crop yield losses caused by machinery-induced soil compaction and the value of various countermeasures is presented, along with some examples of estimations made with it. The model is based mainly on results of Swedish field trials, and predicts the effects of compaction in a tillage system that includes mouldboard ploughing. It is designed for use at farm level and predicts four categories of effects: (1) Effects of recompaction after ploughing. The calculations are based on the wheel track distribution in the field and the relationship between “degree of compactness” of the plough layer and crop yield. (2) Effects of plough layer compaction persisting after ploughing. Crop yield losses are estimated from traffic intensity in Mgkm ha⁻¹ (Mgkm = the product of the weight of a machine and the distance driven), soil moisture content, tyre inflation pressure and clay content. (3) Effects of subsoil compaction. The calculations are similar to those presented under point (2), but only vehicles with high axle load are considered. These effects are the most persistent. (4) Effects of traffic in ley crops. The estimations are based on wheel track distribution, soil moisture content and several other factors.     

Subsoil compaction caused by machinery traffic on a Swedish Eutric Cambisol at different soil water contents

Field traffic may reduce the amount of air-filled pores and cavities in the soil thus affecting a large range of physical soil properties and processes, such as infiltration, soil water flow and water retention. Furthermore, soil compaction may increase the mechanical strength of the soil and thereby impede root growth.

The objective of this research was to test the hypotheses that: (1) the degree of soil displacement during field traffic depends largely on the soil water content, and (2) the depth to which the soil is displaced during field traffic can be predicted on the basis of the soil precompression stress and calculated soil stresses. In 1999, field measurements were carried out on a Swedish swelling/shrinking clay loam of stresses and vertical soil displacement during traffic with wheel loads of 2, 3, 5 and 7 Mg at soil water contents of between 11 and 35% (w/w). This was combined with determinations of soil precompression stress at the time of the traffic and predictions of the soil compaction with the soil compaction model SOCOMO. Vertical soil displacement increased with increased axle load. In May, the soil precompression stress was approximately 100 kPa at 0.3, 0.5 and 0.7 m depth. In August and September, the soil precompression stress at 0.3, 0.5 and 0.7 m depth was 550–1245 kPa. However, when traffic with a wheel load of 7 Mg was applied, the soil displacements at 0.5 m depth were several times larger in August and September than in May, and even more at 0.7 m depth. An implication of the results is that the precompression stress does not always provide a good indication of the risk for subsoil compaction. A practical consequence is that subsoil compaction in some soils may occur even when the soil is very dry. The SOCOMO model predicted the soil displacement relatively well when the soil precompression stress was low. However, for all other wheeling treatments, the model failed to predict that any soil compaction would occur, even at high axle loads.

The measured soil stresses were generally higher than the stresses calculated with the SOCOMO model. Neither the application of a parabolic surface load distribution nor an increased concentration factor could account for this difference. This was probably because the stress distribution in a very dry and strongly structured soil is different from the stress distribution in more homogeneous soils.     

Rules of thumb for minimizing subsoil compaction

Subsoil compaction is persistent and can affect important soil functions including soil productivity. The aim of this study was to develop recommendations on how to avoid subsoil compaction for soils exposed to traffic by machinery at field capacity. We measured the vertical stress in the tyre–soil contact area for two traction tyres at ca. 30‐ and 60‐kN wheel loads on a loamy sand at field capacity. Data on resulting stress distributions were combined with those from the literature for five implement tyres tested at a range of inflation pressures and wheel loads. The vertical stress in the soil profile was then predicted using the Söhne model for all tests in the combined data set. The predicted stress at 20 cm depth correlated with the maximum stress in the contact area, tyre inflation pressure, tyre–soil contact area and mean ground pressure. At 100 cm depth, the predicted vertical stress was primarily determined by wheel load, but an effect of the other factors was also detected. Based on published recommendations for allowable stresses in the soil profile, we propose the ‘50‐50 rule’: At water contents around field capacity, traffic on agricultural soil should not exert vertical stresses in excess of 50 kPa at depths >50 cm. Our combined data provide the basis for the ‘8‐8 rule’: The depth of the 50‐kPa stress isobar increases by 8 cm for each additional tonne increase in wheel load and by 8 cm for each doubling of the tyre inflation pressure. We suggest that farmers use this simple rule for evaluating the sustainability of any planned traffic over moist soil.     

三七育苗播种压轮仿形开沟装置的设计与试验

为满足三七行株距小、播深浅且对播种深度一致性要求高的特殊播种农艺,该研究依据二力杠杆原理设计了一种适于三七育苗播种的压轮仿形开沟装置。该装置能实现横、纵向仿形且对疏松土壤有一定的紧实作用。借助ANSYS软件对压轮连接板进行应力、应变分析,验证该结构的可靠性。以土壤紧实度、播种机前进速度、弹簧预拉力为试验因素,以开沟深度稳定性为试验指标,开展二次正交旋转组合试验,建立试验因素与开沟深度稳定性之间的回归数学模型并进行显著性检验。借助Design Expert 10.0.3软件对试验因素进行响应曲面分析,并对参数进行系统优化,得到开沟深度稳定性最佳的工作参数组合为:土壤紧实度259.50 kPa,播种机前进速度6.40 m/min,弹簧预拉力211.90 N,此时,开沟深度稳定性为89.41%。用最优工作参数进行土槽试验验证,验证结果表明:试验开沟深度稳定性平均值与优化模型求解结果基本一致。该研究设计的压轮仿形开沟装置满足三七育苗播种要求,且开沟深度稳定性较好,该研究可为三七育苗播种开沟装置的设计提供依据。     

Amelioration of soil compaction can take 5 years on a Vertisol under no till in the semi-arid subtropics

Heavy wheel traffic causes soil compaction, which adversely affects crop production and may persist for several years. We applied known compaction forces to entire plots annually for 5 years, and then determined the duration of the adverse effects on the properties of a Vertisol and the performance of crops under no-till dryland cropping with residue retention. For up to 5 years after a final treatment with a 10 Mg axle load on wet soil, soil shear strength at 70–100 mm and cone index at 180–360 mm were significantly (P < 0.05) higher than in a control treatment, and soil water storage and grain yield were lower. We conclude that compaction effects persisted because (1) there were insufficient wet–dry cycles to swell and shrink the entire compacted layer, (2) soil loosening by tillage was absent and (3) there were fewer earthworms in the compacted soil. Compaction of dry soil with 6 Mg had little effect at any time, indicating that by using wheel traffic only when the soil is dry, problems can be avoided. Unfortunately such a restriction is not always possible because sowing, tillage and harvest operations often need to be done when the soil is wet. A more generally applicable solution, which also ensures timely operations, is the permanent separation of wheel zones and crop zones in the field—the practice known as controlled traffic farming. Where a compacted layer already exists, even on a clay soil, management options to hasten repair should be considered, e.g. tillage, deep ripping, sowing a ley pasture or sowing crop species more effective at repairing compacted soil.     

Compaction of an Eutric Cambisol under heavy wheel traffic in Switzerland — field data and modelling

Heavy agricultural machinery can cause structural degradation in agricultural subsoils. Severe structural degradation impedes plant growth. Therefore, compaction must be limited to layers that can be structurally reclaimed and remoulded with reasonable effort by tillage. The purpose of this study was to investigate the impact of a single pass with a sugar beet harvester on the soil properties of an unploughed Eutric Cambisol. Field measurements and laboratory testing were carried out in Frauenfeld, Switzerland. In addition 2D calculations of strain, stress and subsequent compaction were conducted using a three-phase (soil skeleton, pore water, and air) model for unsaturated soil incorporating a recently developed constitutive law. Model data were compared to the field measurements. Due to the pass of the machinery, the soil was compacted down to a depth of at least 0.15 m and at most 0.25 m. This compaction was indicated by an increase in soil bulk density and pre-consolidation pressure as well as by a decrease in total porosity and macroporosity. The surface displacement measured in the field was consistent with the calculated model data. The calculated and measured stresses at depths of 0.35 and 0.55 m stand in good accordance with each other, whereas at a depth of 0.15 m the pressure measured in the field exceeded the calculated pressure. In this study, we show the degree of compaction due to heavy wheel traffic and the suitability of a model approach to describe compaction processes.     

FEM analysis of subsoil reaction on heavy wheel loads with emphasis on soil preconsolidation stress and cohesion

Heavy sugarbeet harvesters may compact subsoil. But it is very difficult to study this by field experiments that resemble agricultural practice. Therefore, an analysis was made by a finite element method (FEM) for a relevant calcaric fluvial soil profile, the mechanical properties of which were largely known. Measuring data of this Lobith loam soil includes preconsolidation stress, compression index and swelling index, all as a function of depth. Using these three types of soil parameters calculations have been done for tyre sizes, inflation pressures and wheel loads that occur with heaviest sugarbeet harvesters available on the European market in 1999. Because no values on soil cohesion were available, the calculations were done for several cohesion levels. The results include the detection of regions with Mohr–Coulomb plasticity and regions with cap plasticity (compaction hardening). For the soil studied—a typical soil strength profile for arable land with ploughpan in the Netherlands in the autumn of 1977—all studied combinations of wheel load and inflation pressure did not induce compaction in and below the ploughpan. The size of the region with Mohr–Coulomb plasticity decreased with increasing cohesion. It appeared from a sensitivity analysis that, although soil modelling may use a great number of soil parameters, the most important parameters seem to be: preconsolidation stress and cohesion. There is an urgent need for data of these parameters that are measured on a great range of subsoils and subsoil conditions.     

Seasonal dynamics in wheel load‐carrying capacity of a loam soil in the Swiss Plateau

Subsoil compaction is a major problem in modern agriculture caused by the intensification of agricultural production and the increase in weight of agricultural machinery. Compaction in the subsoil is highly persistent and leads to deterioration of soil functions. Wheel load‐carrying capacity (WLCC) is defined as the maximum wheel load for a specific tyre and inflation pressure that does not result in soil stress in excess of soil strength. The soil strength and hence WLCC is strongly influenced by soil matric potential (h). The aim of this study was to estimate the seasonal dynamics in WLCC based on in situ measurements of h, measurements of precompression stress at various h and simulations of soil stress. In this work, we concentrated on prevention of subsoil compaction. Calculations were made for different tyres (standard and low‐pressure top tyres) and for soil under different tillage and cropping systems (mouldboard ploughing, direct drilling, permanent grassland), and the computed WLCC was compared with real wheel loads to obtain the number of trafficable days (NTD) for various agricultural machines. Wheel load‐carrying capacity was higher for the top than the standard tyres, demonstrating the potential of tyre equipment in reducing compaction risks. The NTD varied between years and generally decreased with increasing wheel load of the machinery. The WLCC simulations presented here provide a useful and easily interpreted tool to guide the avoidance of soil compaction.     

Introduction to the special issue on experiences with the impact and prevention of subsoil compaction in the European Union

The papers in this special issue present results of the European Union (EU) concerted action “Experiences with the impact of subsoil compaction on soil crop growth and environment and ways to prevent subsoil compaction”. The results and conclusions of earlier research on subsoil compaction are memorized and it is emphasized that the conclusions are still sound: high axle load traffic on soils of high moisture content causes deep and persistent subsoil compaction. The concerted action on subsoil compaction in the EU and an almost identical concerted action on subsoil compaction in central and eastern Europe are briefly introduced. This special issue presents a selection of papers of the concluding workshop of the concerted action on subsoil compaction in the EU. It includes three papers on modeling the impact of subsoil compaction on crop growth, water availability to plants and environmental aspects; three papers on modeling of subsoil compaction by heavy machinery; four papers on measurement of soil mechanical and physical properties in relation to subsoil compaction and four papers on methods to determine the risk of subsoil compaction and to identify prevention strategies. The trends in agriculture in relation to subsoil compaction are discussed. A positive trend is that policy makers in the EU and worldwide recognize soil as a vital and largely non-renewable resource increasingly under pressure. A negative trend is that wheel loads in agriculture are still increasing causing severe damage to subsoils. The conclusion is that European subsoils are more threatened than ever in history. Manufactures, agricultural engineers and soil scientists should collaborate and research should be initiated to solve this problem and find solutions. Subsoil compaction should be made recognized by all people involved from farmer to policy maker. Therefore an assessment of the existence and seriousness of subsoil compaction throughout Europe should be initiated.     

Soil compaction and stress propagation after different wheeling intensities on a silt soil in South-East Norway

The objective of this study was to evaluate the effect of wheeling with two different wheel loads (1.7 and 2.8?Mg) and contrasting wheeling intensities (1x and 10x) on the bearing capacity of a Stagnosol derived from silty alluvial deposits. Soil strength was assessed by laboratory measurements of the precompression stress in topsoil (20?cm) and subsoil (40 and 60?cm) samples. Stress propagation, as well as elastic and plastic deformation during wheeling were measured in the field with combined stress state (SST) and displacement transducers (DTS). We also present results from soil physical analyses (bulk density, air capacity, saturated hydraulic conductivity) and barley yields from the first two years after the compaction. Although the wheel loads used were comparatively small, typical for the machinery used in Norway, the results show that both increased wheel load and wheeling intensity had negative effects on soil physical parameters especially in the topsoil but with similar tendencies also in the subsoil. Stress propagation was detected down to 60?cm depth (SST). The first wheeling was most harmful, but all wheelings led to accumulative plastic soil deformation (DTS). Under the workable conditions in this trial, increased wheeling with a small machine was more harmful to soil structure than a single wheeling with a heavier machine. However, the yields in the first two years after the compaction did not show any negative effect of the compaction.     

SoilFlex: A model for prediction of soil stresses and soil compaction due to agricultural field traffic including a synthesis of analytical approaches

Soil compaction is one of the most important factors responsible for soil physical degradation. Soil compaction models are important tools for controlling traffic-induced soil compaction in agriculture. A two-dimensional model for calculation of soil stresses and soil compaction due to agricultural field traffic is presented. It is written as a spreadsheet that is easy to use and therefore intended for use not only by experts in soil mechanics, but also by e.g. agricultural advisers. The model allows for a realistic prediction of the contact area and the stress distribution in the contact area from readily available tyre parameters. It is possible to simulate the passage of several machines, including e.g. tractors with dual wheels and trailers with tandem wheels. The model is based on analytical equations for stress propagation in soil. The load is applied incrementally, thus keeping the strains small for each increment. Several stress–strain relationships describing the compressive behaviour of agricultural soils are incorporated. Mechanical properties of soil can be estimated by means of pedo-transfer functions. The model includes two options for calculation of vertical displacement and rut depth, either from volumetric strains only or from both volumetric and shear strains. We show in examples that the model provides satisfactory predictions of stress propagation and changes in bulk density. However, computation results of soil deformation strongly depend on soil mechanical properties that are labour-intensive to measure and difficult to estimate and thus not readily available. Therefore, prediction of deformation might not be easily handled in practice. The model presented is called SoilFlex, because it is a soil compaction model that is flexible in terms of the model inputs, the constitutive equations describing the stress–strain relationships and the model outputs.     

Compaction of loamy soils due to tractor traffic in vineyards and orchards and its effect on infiltration in southern France

Viticulture and fruit culture in Mediterranean areas demand frequent tractor traffic in vineyards and orchards for tillage and for the application of herbicides and pesticides, resulting in soil compaction. The aim of this study was to investigate the extent of soil compaction and its effect on infiltration in vineyards and orchards in an area in southern France, known for its wine and fruit production (Vaucluse). Compaction of both the topsoil and the subsoil was demonstrated with measurements of bulk density, penetration resistance and water retention characteristics. Subsoil compaction was attributed to wheel load, not to tillage, and was alleviated within 5 years after termination of tillage operations in vineyards. No effects of topsoil compaction on infiltration were expected on account of the slight differences in the values of infiltration parameters between wheel tracks and inter-rill areas. Effects of subsoil compaction on infiltration were examined with rainfall simulation tests. Under wet initial conditions and high rain intensities, no effect of soil compaction on infiltration was observed. This implies that the frequent tractor traffic associated with viticulture and fruit culture does not enhance run-off on loamy soils in Mediterranean areas.     

Measurement, interpretation and modelling of soil compaction

Abstract. The analysis of some experimental field results is used to illustrate the problem of measuring and evaluating compaction treatment effects below wheel ruts of different depths. A solution to the problem is described which traces vertical soil movement to allow comparisons between treatments to be made using soil elements which derive from the same depth in the undisturbed profile, irrespective of their depths in the compacted profile.
A soil compaction model, which predicts the changes in dry bulk density resulting from the passage of wheels, is briefly described. Examples are given of its use in comparing the compaction caused by various types and arrangements of wheels and in assessing the contribution made by a particular input variable.     

SOME EFFECTS SUB-SURFACE DRAINAGE AND PLOUGHING ON THE STRUCTURE and COMPACTABILITY A CLAY SOIL

In a field experiment to determine the direct and indirect effect on soil structure, of sub-surface piped drainage as compared with natural surface drainage only, in ploughed and unploughed soil, a factorial systematic design with four replicated blocks was used. Structural changes were monitored during 8 months of natural rain and finally irrigation, by measuring surface heights and soil strength (penetration resistance) in relation to moisture content and matric suction, at plough sole depth (27 cm). A compaction test using a tractor with differentially loaded wheels, was applied at various times after irrigation, measuring the resulting wheel sinkage and wet density of the soil. The effects of the drainage treatments were found to be temporary, except a ‘crusting’ effect during the drying of the unploughed surface drained soil. The ploughed soil with sub-surface drainage showed greater frost heave than the undrained soil. The soil strength at 7.5-22.5 cm. depth was linearly related to the matric suction within the range of –3 to 20 cm-water. The compaction data for the unploughed soil suggested relationships between matric suction, sinkage, and wet density, but complicated interactions prevented any general conclusion. In the ploughed soil, compaction data established the beneficial effects of subsurface drainage in reducing damage from tractor traffic, decreasing wheel sinkage and reducing compaction both below and 16 cm from the track edge. A rise in matric suction of 10 cm-water, in the range 2-24 cm-water was, on the average, as effective in reducing rutting as a wheel load reduction of 670 kg (0.54 kg/cm² reduction of tyre inflation pressure). It was concluded that for clay soils having a temporary excess moisture, draining the water table to below 50-60 cm depth should be recommended as a precautionary measure to minimize structural damage.     

履带式行走机构压实作用下土壤应力分布均匀性分析

履带式行走机构因具有较小的接地压力而被逐渐应用在大型农业车辆上,以减小对土壤的压实。然而由于履带下应力分布的不均匀,导致农业车辆对土壤的最大应力并未有效减小,对土壤较长的压力作用时间反而增加了土壤被压实的风险。应力分布的不均匀还会造成履带沉陷量的增大,降低车辆在软土地面的通过性能。为了研究履带式行走机构压实作用下土壤内的应力分布规律以及如何提高应力分布的均匀性,以缓解履带车辆对土壤压实作用、提高履带车辆软地通过能力,该文采用侧断面水平钻孔埋设压力传感器的方法,测得了履带式行走机构压实作用下履带中心线横截面内0.35 m深度土壤内沿履带长度方向上的垂直及水平应力分布;同时研究了履带张紧力大小对应力分布均匀性的影响。结果表明,履带式行走机构下的垂直应力在各负重轮的轴线处呈现一个应力峰值;水平应力在各负重轮轴线的前、后方分别呈现一个应力峰值,且最小应力在轴线处。各负重轮下的应力峰值大小不同。最大垂直应力出现在履带式行走机构后端的导向轮处;最大水平应力出现在后支重轮与导向轮之间。适当减小履带张紧力能够提高垂直及水平应力分布的均匀性。履带张紧力由1.8×10~4k Pa减小至1.6×10~4k Pa时,履带下的最大垂直及水平应力分别减小了约37.3%和21.7%;平均最大垂直及水平应力分别减小了约26.4%和20.4%。研究结果可为履带式行走机构结构的优化提供理论依据,以期提高履带下应力分布的均匀性。     

Compaction of a Eutric Cambisol under heavy wheel traffic in Switzerland:: Field data and a critical state soil mechanics model approach

Subsoil compaction has become a problem of world-wide concern, especially under highly mechanised agricultural practices. Severe structural degradation impedes plant growth. Therefore, compaction must be limited to layers which can be structurally reclaimed with reasonable effort by tillage. The purpose of this study was to investigate the impact of a single pass with a sugar beet harvester on the soil properties of an unploughed Eutric Cambisol. In autumn 1998 and 1999 field measurements and laboratory testing were carried out in Frauenfeld, Switzerland. The wheel loads were 107 kN in 1998 and 108 kN in 1999. Changes of bulk density, total porosity, macroporosity and pre-consolidation pressure show that compaction effects were restricted to the topsoil (0–0.25 m depth). Below 0.25 m depth no changes were measured. The compaction beneath the tyre was modelled with a two phase finite element model in the framework of critical state soil mechanics. The model predicts the degree and depth of compaction of an Eutric Cambisol caused by a single pass in Switzerland. Modelled data and field results agree quite well.     

Role of earthworms in regenerating soil structure after compaction in reduced tillage systems

New non-tillage or reduced tillage agricultural practises are being increasingly adopted but generally result in higher soil compaction. Due to their recognised physical influence mainly through burrow creation, it is often claimed that earthworm activity could alleviate soil compaction in these systems. To put this assumption to the test, an experimental compaction event was carried out on one plot of arable land. The abundance and biomass of earthworms were evaluated in compacted (under wheel tracks) and non-compacted (between wheel tracks) zones, seven times over a two-year period. In addition, the functional consequences of earthworm activity, defined by burrow abundance assessed in 2D and 3D and water infiltration, were measured three times over the same period. The short-term (less than three months) effects of the compaction were clear: soil bulk density increased from 1.46 to 1.57 g cm⁻³, the abundance and biomass of earthworms were greatly reduced (−40% and −70% respectively) and the number and continuity of macroporosity were lower under wheel tracks at least until a depth of 30 cm. After these initial detrimental effects, we observed a rapid recovery of earthworm populations with no statistical difference between compacted and control zones more than three months after the compaction. However, the recovery of soil functional properties linked to earthworm activity, macroporosity and water infiltration, was much slower and took between 12 and 24 months. Despite these modifications, there were no significant changes in soil bulk density with time during the two-year period. This study demonstrates that earthworms are important actors in the regeneration of compacted soil. Although the complete regeneration of compacted soil by earthworms is a slow process, agricultural practises that promote earthworm density and activity should be encouraged in reduced or minimum tillage systems.     

水稻土的先期固结压力测定与分析

土壤先期固结压力的大小通常采用受周向约束柱状土样的快速单轴压缩测试方法获取,该值的确定不仅是土壤结构保护的基础参考,还为确定合理的作业机械轴重、农业机械的设计及其田间运用提供理论依据。该试验通过对江浦农场水稻土的实际测试,得到未受压实耕层土壤的先期固结压力范围为58.84～69.19 kPa,而用拖拉机碾压处理后的先期固结压力区间上升为69.15～100.1 kPa,表明拖拉机的碾压导致土壤先期固结压力的增加,即破坏了土壤的原始结构。目前的农业机械接地压力通常在70 kPa以上,而大田所测的土壤先期固结压力却在60 kPa左右,因此机械的使用必会造成土壤的压实及其结构的破坏。     

沙地刚性轮构型仿生设计及牵引性能数值分析

为了提高车轮牵引性能,改善车辆在松散沙土介质环境的通过能力,该文以善于沙地奔跑的鸵鸟足部关键部位—足趾甲为仿生原型,通过仿生优化轮刺结构,设计出具有高牵引性能的仿生轮刺式沙地刚性轮,并以一种模拟月壤作为试验松散沙土介质材料,采用离散元软件PFC2D?的内置语言FISH和相关命令,建立了适用于非规则结构刚性轮的轮壤相互作用动态模拟系统,并获得试验验证。通过仿生轮刺式刚性轮与模拟月壤相互作用离散元模拟,并与矩形轮刺式刚性轮模拟结果对照,从轮下模拟月壤颗粒细观运动、接触力场、速度场以及车轮挂钩牵引力角度,验证了仿生轮刺式刚性轮具有优越的牵引性能,在车轮滑转率50%的稳定运行状态下,仿生轮刺式刚性轮的牵引性能可提高5.2%左右。该研究为提高刚性轮在松散沙土介质环境中的牵引性能提供了全新设计和研究手段。