Design and Research Co-Simulation Platform of Navigation and Dynamics on Planetary Rovers

星球车导航与动力学联合仿真平台设计研究

¹ School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
² Beijing Institute of Control Engineering, Beijing 100190, China

Received: 18 November 2018

Abstract

The overall design idea of simulation platform of the planetary rover coupling navigation and dynamics is proposed to address the dilemma faced in the design of a navigation control system for Mars and other planetary exploration tasks. Based on the modified Bekker model, through subroutine secondary development, the dynamics model for the wheel-soil contact planetary rover in soft soil environment with the MSC.ADAMS software was established. Following the establishment of the interactive parallel simulation system via C++, the dynamic model worked in parallel collaboration with the navigation control system to resolve the closed-loop system where co-simulation was formed, achieving the seamless linkage between and parallel efficient operation of the navigation control system and the dynamic model. Simulation was conducted on the special working conditions of the planetary rover, such as body lift, wheel lift and creep, after suitable selection of soil characteristic parameters. The results showed that the platform enabled the dynamics simulation of the planetary rover to be completed, laying the foundation for designing the navigation control system of the planetary rover.

摘要

针对火星及其他星球探测复杂通过性任务使导航控制系统设计面临的困境，提出星球车导航与动力学联合仿真平台的总体设计思路。基于修正的Bekker理论模型，以MSC.ADAMS软件为基础，通过子程序二次开发，建立含松软土壤环境下轮壤接触星球车动力学模型；采用C++建立交互式并行仿真系统，协同调用动力学模型与导航控制模型并行解算形成联合仿真的闭环系统，实现导航控制系统与动力学模型的无缝链接和并行高效解算。选取合适土壤特性参数，给定导航指令，对星球车特殊工况，如车体抬升、抬轮、蠕动进行仿真，结果表明，平台能够真实实现星球车导航与动力学的联合仿真，为星球车导航控制系统的设计奠定基础。