【作者】 贾彦辉；

【导师】 高海波；

【作者基本信息】 哈尔滨工业大学 ， 航空宇航制造工程， 2010， 硕士

【摘要】 月球车移动性能虚拟仿真在月球车的评价、测试过程和未来的遥控探测过程中有着举足轻重的地位,而仿真的保真度和实时性则是评价仿真平台的两项非常重要的指标。为了提高月球车移动性能虚拟仿真的保真度,必须从轮地相互作用力学模型出发,开发具有高保真度的地面力学模块;提高仿真平台的实时性,则需要对动力学/运动学求解进行优化,选用快速的动力学求解引擎,这样才能保证仿真平台的高保真度和实时性。出于这种考虑,本论文构建了基于月球车轮地力学模型的移动性能仿真平台。本论文进行了月球车移动性能仿真平台的总体设计及实现。该仿真平台基于Vortex动力学仿真引擎,主要实现月球车仿真模型和月面地形仿真模型的构建,轮地力学模型的实现、月壤力学特性参数修正、仿真数据的输出存储以及移动性能的评价六个功能模块;进行了月表地形通用建模方法的研究。基于对月球的真实环境的分析,简化月面地形,抽象出月面仿真地形的几种典型工况,并建立了各典型工况的数学模型,同时为了完善月面地形生成器的体系结构,提出了三种具有特定功用的组合地形和随机地形的构建方法,利用Matlab和3DMax分别创建月面地形的物理模型和场景模型,实现月面各种典型工况下仿真地形的构建;实现了Vortex仿真环境中轮地相互作用力学模型的二次开发,编写轮地作用区域求解和轮地相互作用力学求解子函数,调用月球车仿真模型和月面仿真地形,设定月壤力学特性参数,整合动力学仿真引擎,完成了月球车移动性能仿真平台的构建,实现了在松软崎岖地形中的移动性能仿真;基于地面力学知识进一步改进了月球车在典型工况下的移动性能评价体系,完善了月球车移动系统通过性、可操纵性和地面适应性指标体系;利用月球车移动性能仿真平台,进行了月球车的平面地形、爬坡性能、曲面地形、越障性能及在随机地形中的仿真,结合评价指标,在满足一定滑转率指标的前提下,对月球车最大爬坡角度和最大越障高度等性能进行了综合评价。更多还原

【Abstract】 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.更多还原