| Performance simulation for lunar rover play an essential role in the process of evaluation, testing and teleoperation of lunar rover. Fidelity and real-time are two very important indexes in evaluating simulation platform. To improve the fidelity of performance simulation of lunar rover, research must be started from model of wheel-soil interaction terramechanics, to develop terramechanics model of high fidelity. To improve the real-time of performance simulation of lunar rover, it need to optimize the dynamics / kinematics algorithm, select fast dynamic server, and this is to ensure the simulation platform with high-fidelity and real-time. With that in mind, this paper constructs performance simulation platform for c rover based on the wheel-soil interaction terramechanics.This paper carry out the overall design of performance simulation for lunar rover and make it out. This simulation platform is based on Vortex dynamics server, mainly achieved seven function modules: construction of simulation model for lunar rover and moon environment,realization for model of wheel-soil interaction terramechanics,amendent for mechanical properties of lunar soil,export and storage for simulation data,evaluation for Performance simulation.This paper carries on research about general modeling method for lunar terrain. Based on the analysis of the real lunar environment, it simplifies lunar terrain, abstracts several typical working conditions and their mathematical models. And in order to perfect the lunar terrain generator, it puts forward constructing methods for combined terrain and random terrain, and achieves the constructing of simulation terrain on typical working conditions using Matlab and 3DMax.It carries on the secondary development for model of wheel-soil interaction terramechanics in Vortex simulation environment, compiles two subfunctions which achieve regional solution and interaction force calculation between wheels and soil, calls the simulation models of lunar rover and terrain, amends mechanical properties of lunar soil, integrates dynamic server, completes the construction for performance simulation platform for lunar rover, achieves the performance simulation on bumpy terrains.Based on the terramechanics, it improved the mobile performance evaluation system in typical working conditions, perfected indexes system for traversability, maneuverability and terradaptability. Using the simulation platform, did the performance simulation in flat,slope,sine,obstacles and random terrain, combining with evaluation system, evaluated the indexes for maximum climbing angle and biggest obstacle height of lunar rover, under the premise of certain slip ratio. |
PDF Full Text Request