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建立弹性轮胎与松软地表的相互作用的数学模型，研究土壤参数、轮胎参数和车辆性能的关系，对轮式越野车辆的设计选型和性能预测具有重要意义。该数学模型，考虑了轮胎与土壤交界面上的切向应力对垂直方向力的平衡，提出了体积变形量的概念，将在硬路面上测量到的弹性轮胎的变形特性转化到松软地表上。采用迭代算法，对弹性轮胎在不同松软地表上的轮胎变形、下陷，轮胎的牵引力、滚动阻力、扭矩、牵引因数、牵引效率进行了计算。利用研制的轮胎牵引驱动性能的电测实验装置和土壤特性的车载测量系统，在塔克拉玛干沙漠腹地分别对土壤特性和轮胎性能进行了现场实验。实验表明，计算结果和实验结果符合的较好。利用数学模型对弹性轮胎在松软地表的性能进行了预测分析。
Establishing the mathematical model of the interaction between elastic tire and soft ground, studying the relationship between soil parameters, tire parameters and vehicle performance is of great significance to the design, selection and performance prediction of wheeled off-road vehicles. The mathematical model takes into account the balance of the tangential stress on the tire-soil interface with the vertical force and proposes the concept of volumetric deformation, which transforms the deformation characteristics of the elastic tire measured on a hard road surface into a soft surface. The iterative algorithm is used to calculate the tire deformation, sag, tire traction, rolling resistance, torque, traction factor and traction efficiency of elastic tires on different soft ground surfaces. The field experiment and the tire performance were carried out respectively in the hinterland of Taklamakan desert by using the electric test device and the in-vehicle measuring system with soil characteristics. Experiments show that the calculated results are in good agreement with the experimental results. The mathematical model was used to predict the performance of elastic tire on soft ground surface.