This is a model of the Perseverance rover.
The model package is based on Vehicle Dynamics Library and Electrification Library from Modelon. All prerequisites are included in an installation of Modelon Impact Pro. The models can also be used in Dymola with separate installations of the required libraries, though the visualizers (glb files) are not supported.
In Perseverance.Experiments there are six example experiments that can be simulated out of the box:
- FlatPad - Standing still on flat ground
- DrivingFlat - Driving forward on flat ground at a constant speed
- DrivingCleats - Driving over a rectangular cleat at a constant speed
- Spin - Spin in place by driving wheels on each side in opposite directions and adding the appropriate steering angles to the corner wheels
- DrivingUneven - Driving forward over uneven ground generated using the Spirit_landing_site 3D model
- DrivingUneven2 - Driving forward over uneven ground generated using the M2020 ZCAM -- Hogwallow Flats, Sol 461 3D model
The visualization elements are extracted from https://github.com/nasa/NASA-3D-Resources/tree/master/3D%20Models/perseverance-GLB. This is also where the main geometrical parameters are gathered.
The visualizer Perseverance/Resources/Spirit_landing_site.glb is extracted from https://github.com/nasa/NASA-3D-Resources/tree/master/3D%20Models/Spirit%20Landing%20Site. This is also used to generate the VDL ground model data used in Perseverance.Experiments.DrivingUneven.
"M2020 ZCAM -- Hogwallow Flats, Sol 461" (https://skfb.ly/ovp6s) by Mastcam-Z is licensed under Creative Commons Attribution (http://creativecommons.org/licenses/by/4.0/).
This is a model of the Ingenuity helicopter.
The model package is based on Vehicle Dynamics Library and Electrification Library from Modelon. All prerequisites are included in an installation of Modelon Impact Pro. The models can also be used in Dymola with separate installations of the required libraries, though the visualizers (glb files) are not supported.
In Ingenuity.Experiments there are six example experiments that can be simulated out of the box:
- ConstantThrust - Constant thrust achieved by using Linear thrust force model
- Yaw - Yaw motion achieved using a torque differential between the two rotors
- Hover - Hovering motion at a constant altitude using AltitudeVelocityAnglesController and LinearPitchRoll thrust force model
- HoverRollPitch - Roll and pitch motion at a constant altitude using AltitudeVelocityAnglesController and LinearPitchRoll thrust force model
- HoverVelocity - Lateral and longitudinal velocity inputs at a constant altitude using AltitudeVelocityAnglesController and LinearPitchRoll thrust force model
- HoverPosition - Lateral, longitudinal positon, altitude controller using AltitudePositionAnglesController and LinearPitchRoll thrust force model
The visualization elements are extracted from https://mars.nasa.gov/resources/25043/mars-ingenuity-helicopter-3d-model/. This is also where the main geometrical parameters are gathered.
This package contains experiments showing how both the Perseverance and Ingenuity models can be simulated together.
