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Rolling friction in the dynamic simulation of sandpile forma
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Rolling friction in the dynamic simulation of sandpile forma:沙堆成形动态模拟中的滚动摩擦
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Physica A 269 (1999) 536–553
www.elsevier.com/locate/physa
Rolling friction in the dynamic simulation of
sandpile formation
Y.C. Zhou, B.D. Wright, R.Y. Yang, B.H. Xu, A.B. Yu
∗
School of Materials Science and Engineering, The University of New South Wales, Sydney,
NSW 2052, Australia
Received 25 February 1999
Abstract
The contact between spheres results in a rolling resistance due to elastic hysteresis losses or
viscous dissipation. This resistance is shown to be important in the three-dimensional dynamic
simulation of the formation of a heap of spheres. The implementation of a rolling friction model
can avoid arbitrary treatments or unnecessary assumptions, and its validity is conrmed by the
good agreement between the simulated and experimental results under comparable conditions.
Numerical results suggest that the angle of repose increases signicantly with the rolling friction
coecient and decreases with particle size.
c
1999 Elsevier Science B.V. All rights reserved.
PACS: 45.70.Cc; 45.50.-j; 45.70.Mg; 45.70.-n
Keywords: Static sandpiles; Granular compaction; Dynamics and kinematics of a particle and a
system of particles; Granular ow; Mixing; Segregation and stratication; Granular systems
1. Introduction
The formation of a heap of particles is important in all industries dealing with
particulate materials ranging from agricultural products such as our and grains to
minerals such as coal and metal ores. It is related to almost all typical phenomena
associated with granular materials, and many aspects of heaping, including particle
segregation [1], packing [2], and stress distribution [3,4], have been studied in the past.
In recent years, many eorts have been made to understand the governing mechanisms
involved, which are linked to important phenomena such as self-organisation [5,6] and
stratication [7,8] that have stimulated the interest in particulate science and technology
signicantly [9 –11].
∗
Corresponding author. Fax: +61-2-9385-5956.
E-mail address: a.yu@unsw.edu.au (A.B. Yu)
0378-4371/99/$ - see front matter
c
1999 Elsevier Science B.V. All rights reserved.
PII: S 0378-4371(99)00183-1
Y.C. Zhou et al. / Physica A 269 (1999) 536–553 537
The bulk behaviour of a particle system depends on the collective interactions of
individual particles. Therefore, it is very useful to study the heaping process on the
particle scale. In the past, various computer simulation techniques have been developed
for this purpose, including Monte Carlo [12–15], cellular automation [16], and granular
dynamic simulations [17,18]. The latter is probably most realistic, because it explic-
itly takes into account not only the geometrical factors but also the forces involved.
In recent years, it has been used by various investigators to study the formation of
two-dimensional sandpiles [19–22]. However, to form a stable heap of particles with
a nite angle of repose, special treatments or assumptions have to be employed in a
simulation. For example, Lee and Herrmann [19] and Luding [20] ignored the rotation
of particles or tangential forces, Elperin and Golshtein [21] set the velocities of all
particles to zero after every 5000 –15 000 iterations and Baxter et al. [22] started their
simulation with a static substrate consisting of a row of equally spaced particles. The-
oretically, such treatments are arbitrary and may distort reality, leading to inaccurate
information.
The purpose of this paper is to propose a simulation method that can simulate the
formation of a stable heap of spheres under three-dimensional conditions. The method
is essentially that originally proposed by Cundall and Strack [17], but modied by
introducing a rolling friction torque based on the experimental and theoretical analysis
of Beer and Johnson [23] or Brilliantov and Poschel [24]. The eect of the rolling
friction coecient on the formation of a sandpile is studied in detail. The validity of
the proposed modication is conrmed by the good agreement between the simulated
and measured results under comparable conditions.
2. Simulation method
A particle can undergo translational and rotational motion, depending on the forces
and torques acting on it, which may come from its interactions with neighbouring par-
ticles, with conning walls or substrates and with surrounding uids. Strictly speaking,
this movement is aected not only by the forces and torques originated from its neigh-
bouring particles and vicinal uid but also the particles and uids far away through
the propagation of disturbance waves. The complexity of such a process has deed any
attempts to model this problem analytically. Even for the numerical approach, proper
assumptions have to be made in order that this problem can be solved eectively
without an excess requirement for computer memory or expensive iterative procedure.
It has been established that if a time step is chosen to be less than a critical value,
these forces and torques can be determined from the interactions between the particle
and its immediate neighbours as well as vicinal uid [17,25]. The interaction between
particle and uid and the long-range forces, such as van der Waals and electrostatic
forces, can be ignored in the present work which deals with large particles in a static,
low-viscosity uid (air). Therefore, the governing equation for the translational motion
538 Y.C. Zhou et al. / Physica A 269 (1999) 536–553
Fig. 1. Two-dimensional illustration of the forces acting on particle i in contact with particle j.
of particle i can be written as
m
i
dV
i
dt
= m
i
g +
k
i
X
j=1
(F
c;ij
+ F
d;ij
) ; (1)
where m
i
and V
i
are the mass and velocity of particle i and t is time. As shown in
Fig. 1, the forces involved are: the gravitational force, m
i
g, and the inter-particle forces
between particles i and j, which include the contact force, F
c;ij
, and the viscous contact
damping force, F
d;ij
. These inter-particle forces are summed over the k
i
particles in
contact with particle i.
The inter-particle forces act at the contact point between particles i and j rather than
the particle centre and they will generate a torque, T
i
, causing particle i to rotate. For
a spherical particle of radius R
i
; T
i
is given by T
i
= R
i
× (F
ct;ij
+ F
dt;ij
), where R
i
is a
vector of magnitude R
i
from the mass centre of the particle to the contact point. Thus,
the governing equation for the rotational motion of particle i is
I
i
d!
i
dt
=
k
i
X
j=1
T
i
; (2)
where !
i
is the angular velocity, and I
i
is the moment of inertia of particle i, given
by I
i
=
2
5
m
i
R
2
i
.
The inter-particle forces involved in Eq. (1) are determined from their normal and
tangential components, i.e. F
cn;ij
and F
dn;ij
, and F
ct;ij
and F
dt;ij
, which depend on the
normal and tangential deformations
n
and
t
. A number of models can be used to
quantify these forces. However, this is still an active research area, particularly for the
tangential forces [26,27]. The present simulation is based on the most widely accepted
force models [26–29], given in Table 1. These equations have been used by other
investigators in two-dimensional studies of heaping [21,22]. However, as mentioned
above, special treatments or assumptions were needed to form stable heaps in these
early studies. While the formation of stable heaps is a complicated problem that is not
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