𝑭 i j T , p r e = − k i j T 𝝃 i j − d i j T 𝝃 ˙ i j 𝐢𝐟 ‖ 𝑭 i j T , c o n s ‖ ≤ μ ‖ 𝑭 i j N ‖ 𝐭𝐡𝐞𝐧 𝑭 i j T = 𝑭 i j T , p r e , 𝐞𝐥𝐬𝐞 𝑭 i j T = μ ‖ 𝑭 i j N ‖ 𝒕 , 𝐰𝐡𝐞𝐫𝐞: 𝑭 i j T , c o n s = − k i j T 𝝃 i j , 𝝃 i j = 𝒙 C j i − 𝒙 C i j , 𝝃 ˙ i j = ⟨ 𝒗 i − 𝒗 j , 𝒕 ⟩ 𝒕 , 𝒕 = 𝝃 i j ‖ 𝝃 i j ‖ , k i j T = k i j N / 1.2 , k i j N = π 2 r i + r j 2 E N , d i j T = 2 D T k i j N m i m j m i + m j .
𝑭 i j T ∈ ℝ 3
𝒗 i ∈ ℝ 3
𝒙 C i j ∈ ℝ 3
D T
E N
k i j T
k i j N
m i
r i
tangential interaction force of two particles
force component acting tangentially at the contact interface between two particles