Interative algorithm is used to calculate the tire deformation and sinkage, tractive force, rolling resistance, torque, tractive coefficient, tractive efficiency under different soft terrains.

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。

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An in-situ experiment method for determining the tractive effort coefficient was proposed.

根据制动滑移率与附着系数的关系，设计了现场测试附着系数的实验方法。

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