Dynamic Simulation For Lunar Rover Integrated Motor Drive On Moon Soft Soil

Lunar exploration rover is an important part of the moon exploration project, and it’s the indispensable medium in realizing the moon exploration target. As the technology of virtual reality evolves, designer can simulate any complex environment on the computer and establish various types of rover model. The technology of virtual reality is economic and effective for rover model kinematics and dynamics simulation analysis, and it also have great effects in verifying, evaluating and improving design plans of the prototype.As an important part of lunar rover dynamics, motor drive provide the power for lunar rover directly, and it’s also the direct control object of kinematics control algorithms, such as path planning, avoiding obstacles, resetting moving targets, etc. The simulation of motor drive provides the ideal integration environment for designing and optimizing the configuration of lunar rover and verifying those algorithms.This article aims to set up the system of dynamics simulation under motor drive control. Firstly, this paper uses simplified model of the interaction between solid wheels and soft-surface floor as the complement and betterment of dynamic calculation tools. The improved model can reflect the interaction of the tire-road when the lunar rover walks through on the lunar surface. Second, we build the model of motor drive which adopts the principle of work of double closed loop dc speed control system, and acquire our motor drive module to analog input and output of the power system. Thirdly, in the multi-body dynamics simulation environment based on the Vortex, We integrate the soft soil dynamics calculation module and motor drive module to analyze its kinematics and conducts simulation experiments under the conditions of complex lunar surface.This paper integrates the soft soil dynamics calculation module and motor drive module into the system of dynamics simulation which is based on the Vortex. Through a series of experiments, the development platform provide the ideal verification environment of dynamics analysis and control strategy for lunar rover which will land on moon in the future.