Research on co-simulation system of omni intelligent mobile equipment

A novel method of co-simulation is proposed to raise the exploration efficiency of driver and control circuit (D&CC) which is the electric part of Omni intelligent mobile equipment (OIME) with four freedoms. A three-dimension model of it is established for kinematic and dynamic simulation by using the dynamic simulation software Adams and consequently, the software interface with inputs and outputs is configured and exported from Adams, which is used to achieve the communication between MATLAB/Simulink software and Adams software. The control model of co-simulation system is set up through a variety of Simulink blocks, which is able to collect and handle the four different signals from D&CC and output to the interface. Consequently, the model of OIME in Adams is controlled by D&CC timely and directly via control model and software interface. Meanwhile, the whole simulation process is cooperatively controlled through Graphical User Interface (GUI) of MATLAB software and wireless remote-controller determining the four outputs of D&CC. The simulation results indicate that the co-simulation system of OIME has preferable and awesome animation effects, and the accuracy of D&CC is also validated simultaneously.