Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

作     者：GAO Feng QI ChenKun REN AnYe ZHAOXianChao CAO Rui SUN Qiao WANG Qian HU Yan HE Jun JIN ZhenLin LIU RenQiang ZHANG Yong GUO WeiZhong HU ZhenYu TANG Ping NI Bo JING QianFeng WANG WeiJun GAO Peng 

作者机构：State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Institute of Aerospace System Engineering Shanghai Shanghai 201108 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2016年第59卷第8期

页      面：1167-1175页

核心收录：

学科分类：08[工学] 0825[工学-航空宇航科学与技术] 

基　　金：supported by the National Basic Research Program of China(“973”Project)(Grant No.2013CB035501) the National Natural Science Foundation of China(Grant Nos.51335007&61473187) 

主　　题：hardware-in-the-loop simulation hybrid simulation docking simulation contact dynamics parallel mechanisms simulation distortions distortions compensation 

摘      要：In the one-gravity environment on the ground, the simulation of the contact process of two flying objects in the zero-gravity environment of space has been a challenging issue since humans first explored space by flying objects. Hardware-in-the-loop （HIL） simulation is an important and effective method to test the usability, reliability, and safety of real docking mechanisms in space. There are four main issues for HIL simulation systems： Design of simulators capable of high frequency response, high motion precision, high velocity, and rapid acceleration; compensation for simulation distortion; design of a control model for the HIL simulation process; and experimental verification. Here, we propose a novel HIL simulator system with a 6-DOF 3-3 perpendicular parallel mechanism and a 3-DOF 3-PRS parallel mechanism; discover the principle of simulation distortion; present distortion compensation models for the force measurement system, dynamic response, and structural dynamics of the simulator; and provide a control model for the HIL simulation process. Two kinds of experiments were performed on the pas- sive-undamped elastic rod and the docking mechanisms to test their performances and to verify the effectiveness and usability of the HIL simulator. The HIL simulation system proposed in this paper is useful for developing space docking, berthing, refu- eling, repairing, upgrading, transporting, and rescuing technologies.