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Vortex-Based Simulation and Evaluation for Mobility Performance of Lunar Rovers

Author: JiaYanHui
Tutor: GaoHaiBo
School: Harbin Institute of Technology
Course: Aviation Aerospace Manufacturing Engineering
Keywords: Lunar rover Mobile performance The wheel acts mechanics model Vortex simulation platform Fidelity
CLC: V476.3
Type: Master's thesis
Year: 2010
Downloads: 40
Quote: 1
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Abstract


Lunar rover mobile virtual simulation performance has a significant place in the evaluation of the lunar rover, the testing process and the future of remote detection process simulation fidelity and real-time are two very important indicators of the evaluation of the simulation platform. Virtual simulation fidelity in order to improve the mobility of the lunar rover, it is necessary to proceed from the wheel interaction mechanics model the ground mechanics module developed with fidelity; improve the real-time simulation platform, solving the dynamics / kinematics The optimized selection dynamics engine, so as to ensure the fidelity of the simulation platform and the real-time. With this in mind, the paper constructed a mechanical model of the lunar wheel ground-based mobile performance simulation platform. In this thesis, the overall design and implementation of the lunar rover mobile performance simulation platform. The simulation platform is based on the Vortex dynamics simulation engine, the main achievement of the simulation model of the lunar rover and lunar terrain simulation model of the building, wheel mechanical model realization of the mechanical parameters of the lunar soil amendment, the output of the simulation data storage and mobile performance evaluation six functional modules; lunar terrain modeling method. Several typical conditions, based on the analysis of the real environment of the moon, simplify the lunar terrain, abstract terrain of the lunar surface simulation and the establishment of a mathematical model of the typical conditions, and at the same time in order to improve the architecture of the lunar terrain generator, three with the specific function of a combination of terrain and random terrain construction method using Matlab and the 3DMax create a physical model of the lunar terrain and scene model, to achieve a variety of typical operating conditions of the lunar surface simulation terrain; realized Vortex round to the simulation environment interaction mechanics model of secondary development, the preparation of the the wheel acts region solving and wheel interaction mechanics solving subfunction, call the lunar rover simulation models and simulation topography of the lunar surface, set the mechanical parameters of the lunar regolith, integration dynamics simulation engine, completed the construction of a lunar rover mobility simulation platform, in the soft rugged terrain mobile performance simulation; ground-based mechanical knowledge to further improve the the mobile performance evaluation system of lunar rover in typical operating conditions, improve mobile systems by the lunar rover, maneuverability and ground adaptability index system; mobility of the lunar rover simulation platform, the plane topography of the lunar rover climbing performance, surface terrain, obstacle performance simulation and random terrain combined evaluation index, under the premise that meet certain indicators slip rate, a comprehensive evaluation of the performance of lunar rover climbing angle and maximum obstacle height.

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CLC: > Aviation, aerospace > Aerospace ( Astronauts ) > Spacecraft and their means of delivery > Space station and space probes > Lunar probe
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