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The theoretical framework of Hertzian contact model for soft sphere collisions is well-established； however limited research has been done on the collision between rigid particles and elastoplastic materials. In this study，a novel damping form is introduced by incorporating the elastoplastic half-space contact constitutive relationship，and a viscoelastoplastic collision model between hard spherical particles and polyurethane surfaces is established. The nonlinear dynamic equations for particle and elastoplastic surface collision are derived. Furthermore，by conducting experiments to measure the coefficient of restitution for coal pellets colliding with polyurethane，the Meyer's index of the polyurethane material and the damping coefficient in the dynamic equations are determined. Additionally，the correctness of the damping model proposed in this study is validated by considering different damping forms in the equations. The changes in contact force at different stages are analyzed under various damping coefficients. The variations of displacement，velocity，and contact force during the collision process between particles and elastoplastic polyurethane are investigated. The results reveal that with an increase in the initial collision velocity，the irreversible plastic deformation of polyurethane increases from 1.636×10-4 m to 5.657×10-4 m，the coefficient of restitution decreases from 0.583 2 to 0.501 2，the collision time decreases from 6.963×10-4 s to 4.737×10-4 s，and the proportion of plastic compression stage decreases from 59.81% to 59.04%.The model established in this paper can be used in scenarios where particles collide with softer planes，such as the separation of metal ores and particle dampers. This paper provides theoretical support for the transportation，collision，impact，and separation of particle systems.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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