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    Equacionamento de HERTZ-MINDLIN

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    Gabriel 123
    This document describes the Hertz-Mindlin contact model used to calculate particle-particle or particle-wall contact. It defines parameters like equivalent radius and mass, normal and tangential velocities, forces, moments, and coefficients of friction. Relative velocities, normal overlap, normal and tangential forces, and rolling moments are calculated based on these parameters to model contact interactions.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Equacionamento de HERTZ-MINDLIN

    Uploaded by

    Gabriel 123
    72 views3 pages
    This document describes the Hertz-Mindlin contact model used to calculate particle-particle or particle-wall contact. It defines parameters like equivalent radius and mass, normal and tangential velocities, forces, moments, and coefficients of friction. Relative velocities, normal overlap, normal and tangential forces, and rolling moments are calculated based on these parameters to model contact interactions.

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    © © All Rights Reserved

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    This document describes the Hertz-Mindlin contact model used to calculate particle-particle or particle-wall contact. It defines parameters like equivalent radius and mass, normal and tangential velocities, forces, moments, and coefficients of friction. Relative velocities, normal overlap, normal and tangential forces, and rolling moments are calculated based on these parameters to model contact interactions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    72 views3 pages

    Equacionamento de HERTZ-MINDLIN

    Uploaded by

    Gabriel 123
    This document describes the Hertz-Mindlin contact model used to calculate particle-particle or particle-wall contact. It defines parameters like equivalent radius and mass, normal and tangential velocities, forces, moments, and coefficients of friction. Relative velocities, normal overlap, normal and tangential forces, and rolling moments are calculated based on these parameters to model contact interactions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    CONTACT MODEL: HERTZ-MINDLIN

    This is soft-sphere model which is used to calculate particle-particle or particle wall contact. In both
    cases calculations are similar, however, when particle-wall contact is calculated, then particle radius and
    mass are considered as equivalent radius 𝑅 ∗ and mass 𝑀∗.

    Velocities:

    𝑣̅𝑟𝑒𝑙 = 𝑣̅2 − 𝑣̅1 + 𝜔


    ̅1 × 𝑟̅𝑐 − 𝜔
    ̅2 × 𝑟̅𝑐 2

    𝑣̅𝑟𝑒𝑙,𝑛 = 𝑟̅𝑛 ∙ (𝑟̅𝑛 ∙ 𝑣̅𝑟𝑒𝑙 )

    𝑣̅𝑟𝑒𝑙,𝑡 = 𝑣̅𝑟𝑒𝑙 − 𝑣̅𝑟𝑒𝑙,𝑛

    Additional parameters:

    ln⁡(𝑒)
    𝛼=
    √𝜋 2 + ln2 (𝑒)
    𝑟1 ∙ 𝑟2
    𝑅∗ =
    𝑟1 + 𝑟2
    𝑚1 ∙𝑚2
    𝑀∗ =
    𝑚1 +𝑚2

    −1
    1 − 𝜈12 1 − 𝑣22
    𝐸∗ = ( + )
    𝐸1 𝐸2

    Normal force:

    𝜉𝑛 = 𝑟1 + 𝑟2 −|𝑂2 − 𝑂1 |

    𝑘𝑛 = 2𝐸 ∗ √𝜉𝑛 ∙ 𝑅 ∗
    2
    𝐹̅𝑛 = −𝑟̅𝑛 ∙ 3 𝜉𝑛 ∙ 𝑘𝑛 − 𝑟̅𝑛 ∙ 𝑠𝑔𝑛(𝑣̅𝑟𝑒𝑙,𝑛 ∙ 𝑟̅𝑛 ) ∙ 1.8257 ∙ 𝛼 ∙ |𝑣̅𝑟𝑒𝑙,𝑛 | ∙ √𝑘𝑛 ∙ 𝑀∗

    Tangential force:

    ∆𝜉𝑡̅ = 𝑣̅𝑟𝑒𝑙,𝑡 ∙ ∆𝑡

    𝑘𝑡 = 8 ∙ 𝐺 ∗ ∙ √𝑅 ∗ ∙ 𝜉𝑛

    ∆𝐹̅𝑡 = [𝑘𝑡 ∙ ∆𝜉𝑡̅ − 1.8257 ∙ 𝛼 ∙ 𝑣̅𝑟𝑒𝑙.𝑡 ∙ √𝑘𝑡 ∙ 𝑀∗ ]

    𝐹̅𝑡,𝑝𝑟
    𝑐𝑜𝑟
    = 𝐹̅𝑡,𝑝𝑟 − 𝑟̅𝑛 ∙ (𝑟̅𝑛 ∙ 𝐹̅𝑡,𝑝𝑟 )
    𝐹̅𝑡,𝑝𝑟
    𝑐𝑜𝑟
    = 𝐹̅𝑡,𝑝𝑟
    𝑐𝑜𝑟
    ∙ |𝐹̅𝑡,𝑝𝑟 |/|𝐹̅𝑡,𝑝𝑟
    𝑐𝑜𝑟
    |

    𝐹̅𝑡 = 𝐹̅𝑡,𝑝𝑟
    𝑐𝑜𝑟
    + ∆𝐹̅𝑡

    if
    |𝐹̅𝑡 | > 𝜇𝑠𝑙 ∙ |𝐹̅𝑛 |

    then

    𝐹 ̅
    𝐹̅𝑡 = 𝜇𝑠𝑙 ∙ |𝐹̅𝑛 | ∙ |𝐹̅𝑡 |
    𝑡

    Rolling friction:
    ̅1
    ̅𝑟𝑜,1 = −𝜇𝑟𝑜 ∙ |𝐹̅𝑛 | ∙ 𝑟1 ∙ 𝜔
    𝑀 |𝜔
    ̅ | 1

    𝜔
    ̅2
    ̅𝑟𝑜,2 = −𝜇𝑟𝑜 ∙ |𝐹̅𝑛 | ∙ 𝑟2 ∙
    𝑀
    |𝜔
    ̅2 |

    Summarized forces and moments acting on particle (wall):

    𝐹̅𝑡𝑜𝑡 = 𝐹̅𝑛 + 𝐹̅𝑡

    𝐹̅1 = 𝐹̅𝑛 + 𝐹̅𝑡

    𝐹̅2 = −𝐹̅𝑛 − 𝐹̅𝑡

    ̅𝑡𝑜𝑡,1 = 𝑟̅𝑛 × 𝐹̅𝑡 ∙ 𝑟1 + 𝑀


    𝑀 ̅𝑟𝑜,1

    ̅𝑡𝑜𝑡,2 = −𝑟̅𝑛 × 𝐹̅𝑡 ∙ 𝑟2 + 𝑀


    𝑀 ̅𝑟𝑜,2

    Literature
    Hertz H. (1882). Über die Berührung fester elastischer Körper. Journal die reine und angewandte Mathematik, 92, 156-171.
    Tsuji Y., Tanaka T., Ishida T. (1992). Lagrangian numerical simulation of plug flow of cohesionless particles in horizontal pipe.
    Powder Technology, 71 239-250.
    Symbol Description
    ∆𝝃̅𝒕 Tangential displacement in the current step [m]
    𝒆 Restitution coefficient [-]
    𝑬∗ Equivalent Young’s modulus [Pa]
    𝑬𝟏 , 𝑬𝟐 Young’s moduli of contact partners [Pa]
    ̅𝒏, 𝑭
    𝑭 ̅𝒕 Force in normal and tangential directions [N]
    ̅ 𝒕,𝒑𝒓
    𝑭 Tangential force on previous iteration [N]
    𝑮∗ Equivalent shear modulus [Pa]
    ̅ 𝒓𝒐
    𝑴 Moment due to the rolling friction [N]
    𝒎𝟏 , 𝒎𝟐 Particle masses [kg]
    𝑴∗ Equivalent mass [kg]
    𝑶𝟏 , 𝑶𝟐 Centers of contact partners [m]
    𝝁𝒓𝒐 , 𝝁𝒔𝒍 Coefficient of rolling friction and sliding friction [-]
    ̅𝒓𝒆𝒍
    𝒗 Relative velocity [m/s]
    ̅𝟏 , 𝒗
    𝒗 ̅𝟐 Translational velocities of contact partners [m/s]
    𝒓𝟏 , 𝒓𝟐 Particle radii [m]
    ∗
    𝑹 Equivalent radius [m]
    𝒓̅𝒄 Contact vector [m]
    𝒓̅𝒏 Normalized contact vector [-]
    ̅ 𝟏, 𝝎
    𝝎 ̅𝟐 Rotation velocities of particles [rad/s]
    𝝃𝒏 Normal overlap [m]

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