Title: Hardware-in-the-loop for power level estimation of planetary rovers

Authors: Bonnie Yue; Amir Khajepour

Addresses: Maplesoft, Waterloo, ON N2V 1K8, Canada ' Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Ontario, N2L 3G1, Canada

Abstract: A framework of a Hardware-In-the-Loop (HIL) simulation for power level estimation of planetary rovers is presented. Planetary rovers are completely autonomous, giving the ability to their designers to estimate power levels through software simulation crucial in determining daily tasks. HIL simulations can further the benefits by allowing designers to incorporate hardware components within traditionally pure software simulations. A test bench consisting of power system components on a rover is designed. Software component models are developed within MapleSim and imported within LabView for real-time simulations. Power levels are estimated using this technique and it was shown that hardware within the simulation loop facilitates more accurate results and can be performed at an early stage, before full system testing is available. Since the test bench was designed for complete modularity and the rover powertrain model is similar to that of electric vehicles, the presented framework can be easily adapted for electric vehicle applications.

Keywords: planetary rovers; power level estimation; HIL; hardware-in-the loop; autonomous vehicles; powertrain component modelling; real time simulation; solar arrays; batteries; motors; testing; power system components; electric vehicles.

DOI: 10.1504/IJVAS.2012.051272

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.4, pp.315 - 336

Received: 20 Apr 2011
Accepted: 25 Dec 2011
Published online: 31 Dec 2014 *

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