月球车动力学可视化仿真关键技术研究

Research on Key Technology of Visual Simulation System of Lunar Rover Dynamic

月球车动力学计算是月球车三维可视化仿真平台中的重要组成部分。行星探测车普遍采用刚性车轮而月球表面为粉状尘土。采用刚性车轮与软质地面相互作用的简化数学模型作为动力学计算工具的改进和补充。通过构建三维可视化仿真平台,实验证明使用该简化数学模型配合动力学计算工具,能够真实有效地模拟摇臂式月球车于月球表面行走时的轮-地相互作用,确切地反映月球车在巡游过程中的动力学特征。

The dynamic calculation method of lunar rover is an important part of the lunar rover 3D virtual environment platform.The wheels of the lunar rover are solid and the lunar surface is powdery soil.This paper uses the simplified model of the interaction between solid wheels and soft-surface floor as the complement and betterment of dynamic calculation tools. Through building the 3D virtual environment,simulation experiment supports the effectiveness of using the simplified model as reinforcement of the dynamic calculation tool.It can reflect the interaction of the tire-road and the dynamic properties of the lunar rover veritably when the lunar rover walks through on the lunar surface.