Optimization within and with the DLR Rover Simulation Toolkit

Abstract

Optimizing a modeling tool such that it becomes capable to perform optimization is not a trivial task. An example where this was achieved successfully is the DLR Rover Simulation Toolkit RST, a set of libraries implemented in Modelica. The toolkit aims at helping engineers with elements to assemble models of planetary exploration rovers for simulation throughout all project phases. It also serves as control software of hardware prototypes and has been in use at DLR for the last years. Optimization is now possible in the Modelica modeling environment or through export as executable in other software such as MATLAB. The results that now can be obtained, how RST was updated such that optimization on parameters and models can be applied, are good examples for engineers in modeling and simulation. This claim is substantiated first with a simple, academic example to verify the parameter optimization. Then, the usefulness is shown on a real-world example where the optimization capability successfully improved the accuracy of the DLR Scout rover wheel simulation model.