Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verifi...Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.展开更多
为在月球建立长期驻留的月面科研基地,实现局部网络的通信覆盖,提出了月球通信塔(lunar communication tower,LCT)的模型设计方法和多基站的部署方案。通过对月面探测任务与月表多设施通信网络的需求分析,设计了LCT的功能模块和模型结...为在月球建立长期驻留的月面科研基地,实现局部网络的通信覆盖,提出了月球通信塔(lunar communication tower,LCT)的模型设计方法和多基站的部署方案。通过对月面探测任务与月表多设施通信网络的需求分析,设计了LCT的功能模块和模型结构。引入基于地理信息的覆盖场强预测模型,结合月表地形对通信链路的损耗影响,评估了多基站通信塔的有效覆盖与传输速率指标。在部署方案上,首先,在月球南极光照区范围内采用遍历法得到覆盖平均场强最大的主基站部署位置;随后,采用遗传算法最大化主基站半径10 km范围内的覆盖场强,对月球表面特定区域进行搜索,获取多个副基站的最佳部署位置;最后,针对集中式和分布式通信塔主、副基站的部署方案,进行了对应于CCSDS Proximity-1协议、长期演进(long term evolution,LTE)、Wi-Fi制式下覆盖性和传输速率的仿真分析,充分验证了月表多设施通信网络建设的可行性。展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50975059, Grant No. 61005080)Postdoctoral Foundation of China (Grant No. 20100480994)+1 种基金Postdoctoral Foundation of Heilongjiang Province, Foundation of Chinese State Key Laboratory of Robotics and Systems (Grant No. SKLRS200801A02)College Discipline Innovation Wisdom Plan of China (111 Project, Grant No. B07018)
文摘Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.
文摘为在月球建立长期驻留的月面科研基地,实现局部网络的通信覆盖,提出了月球通信塔(lunar communication tower,LCT)的模型设计方法和多基站的部署方案。通过对月面探测任务与月表多设施通信网络的需求分析,设计了LCT的功能模块和模型结构。引入基于地理信息的覆盖场强预测模型,结合月表地形对通信链路的损耗影响,评估了多基站通信塔的有效覆盖与传输速率指标。在部署方案上,首先,在月球南极光照区范围内采用遍历法得到覆盖平均场强最大的主基站部署位置;随后,采用遗传算法最大化主基站半径10 km范围内的覆盖场强,对月球表面特定区域进行搜索,获取多个副基站的最佳部署位置;最后,针对集中式和分布式通信塔主、副基站的部署方案,进行了对应于CCSDS Proximity-1协议、长期演进(long term evolution,LTE)、Wi-Fi制式下覆盖性和传输速率的仿真分析,充分验证了月表多设施通信网络建设的可行性。
