Traction control design for off-road mobility using an SPH-DAE cosimulation framework
Traction control design for off-road mobility using an SPH-DAE cosimulation framework
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DOI：
10.1007/s11044-022-09815-2
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发表时间：
2022-03
影响因子：
3.4
通讯作者：
Weihua Hu;Zhenhao Zhou;S. Chandler;D. Apostolopoulos;K. Kamrin;R. Serban;D. Negrut
中科院分区：
文献类型：
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作者：
Weihua Hu;Zhenhao Zhou;S. Chandler;D. Apostolopoulos;K. Kamrin;R. Serban;D. Negrut
我们描述了一个分析框架，实现了通用的移动性仿真平台，使控制策略的设计，提高流动站在粒度地形环境中的流动性。我们采用均匀化的颗粒材料，并使用弹塑性连续模型来捕捉动态的变形地形。采用光滑粒子流体动力学方法求解连续介质问题。Currency漫游车车轮几何形状通过网格定义。每个车轮和颗粒状地形之间的相互作用是通过使用所谓的边界条件，强制粒子附着到漫游车车轮的协同仿真处理。牵引力控制算法的实施，以减少车轮打滑和电池消耗在爬坡的情况下。几个参数进行了研究，以评估漫游车模拟的鲁棒性在上坡移动性的情况下，不同的高度和摩擦系数的操作。分析是在内部开发的模拟框架称为Chrono。本文描述的方法和模型的实现在GitHub上作为开源提供，可免费使用，修改和重新分发，以及再现性研究。
We describe an analytical framework implemented in a general-purpose mobility simulation platform for enabling the design of control policies for improved rover mobility in granular terrain environments. We employ a homogenization of the granular material and use an elasto-plastic continuum model to capture the dynamics of the deformable terrain. The solution of the continuum problem is obtained using the smoothed particle hydrodynamics method. The Curiosity rover wheel geometry is defined through a mesh. The interaction between each wheel and the granular terrain is handled via cosimulation using so-called boundary conditions enforcing particles attached to the rover wheel. A traction control algorithm is implemented to reduce wheel slip and battery drain in hill-climbing scenario. Several parametric studies are carried out to assess rover simulation robustness for operation in uphill mobility scenario with different heights and friction coefficients. The analysis is carried out in an in-house developed simulation framework called Chrono. The implementation of the methods and models described herein is available on GitHub as open source for free use, modification, and redistribution, as well as reproducibility studies.