Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (9): 2874-2882.doi: 10.13229/j.cnki.jdxbgxb.20250326

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Fidelity optimization of high⁃speed planetary rover dynamics simulation based on single⁃wheel experiment

Zhi-cheng JIA1(),Jing-fu JIN1,Xin-ju DONG1,Feng-di HAN2,Sheng JIANG2,Ying-chun QI1,Meng ZOU1()   

  1. 1.College of Biological and Agricultural Engineering，Jilin University，Changchun 130022，China
    2.Institute of Space Optoelectronic Technology，Changchun University of Science and Technology，Changchun 130022，China
  • Received:2025-04-16 Online:2025-09-01 Published:2025-11-14
  • Contact: Meng ZOU E-mail:jiazc22@mails.jlu.edu.cn;zoumeng@jlu.edu.cn

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Abstract:

In order to improve the reduction of driving scene and state in dynamic simulation of high-speed planetary rover， a rover dynamic simulation method based on single-wheel experiment is proposed. This method embeds the single-wheel experiment data of the planetary rover into the vehicle simulation to optimize the fidelity. Firstly， combined with the theory of planetary rover dynamics modeling， the influence of wheel-ground contact force accuracy on vehicle dynamics simulation is analyzed. Secondly， through the force analysis of the planetary rover wheel， the experiment-simulation associated parameters such as drawbar pull and friction coefficient are defined. Thirdly， the single-wheel experiment measurement scheme is systematically designed around the associated parameters， and the vehicle dynamics simulation principle and process based on single-wheel experiment are determined.Finally， in order to verify the effectiveness of this method， a single-wheel experiment was carried out based on the high-speed planetary rover prototype to obtain the parameter data， and the vehicle simulation test was carried out. The simulation results show that this method can better restore the driving state of high-speed planetary rover such as start acceleration， body yaw and wheel force change， and can effectively improve the accuracy of rover dynamics simulation results.

Key words: terramechanics, high-speed planetary rover, wheel experiment, dynamic simulation

CLC Number: 

  • V476

Fig.1

Force analysis of planetary rover wheel"

Fig.2

Single-wheel experiment bench scheme"

Fig.3

Measurement principle of single- wheel experiment"

Fig.4

Flow chart of vehicle dynamics simulation"

Fig.5

Calculation method of wheel forward speed"

Fig.6

Single wheel experiment bench"

Fig.7

The tested high-speed planetary rover wheel"

Fig.8

Single-wheel experiment results"

Fig.9

High-speed planetary rover for simulation test"

Fig.10

Planetary rover vehicle dynamics simulation based on single-wheel experiment"

Fig.11

Vehicle simulation test results"

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