Modeling And Simulation Of Lunar Rover Communication System Based On Modelica

The second phase of moon exploration project will realize the first direct exploration ofheavenly body in our country. The lunar rover is the complicated spacecraft which combinesspace system project and intelligent robot. In order to describe the lunar rover system clearly,modeling its physical system is necessary. Base on the physical model, verifying the lunarrover’s reliability and safety. And verifying the applying result of CPS (Cyber-physicalsystem) technology on the lunar rover system. Therefore, modeling and simulation of thelunar rover system is necessary.Firstly, the thesis analyses the detail of a multi-domain engineering language Modelica.The thesis discusses some common methods of modeling, including object-orientedmodeling, declarative modeling, continuous discrete hybrid modeling, and multi-domainmodeling. An example is given to each method. In the end, the superiority of multi-domainmodeling is given.In the second part, the thesis discusses the functions and running environment of thelunar rover. Then present the model of the lunar rover using multi-domain modeling methodin one platform, including the lunar rover’s information layer and physical layer. Base onModelica, the thesis designs CAN2.0B communication system. The physical layer, the datalink layer and the lunar rover components are modeled. Thus, the whole library of lunarrover model is established.Depending on the different running conditions, this thesis designs different systemmodels using the lunar rover library. The system models simulate the effects on CAN2.0Bcommunication system in different running conditions. The running conditions includes thelength of twisted-pair, the resistance of each terminal, the number of communication pointsand the conflict of two points communication. This thesis also simulates the entire lunarrover.Finally, the thesis summarize the whole research, introduce the achievement and shortageof the research.