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Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space.pdf
Acta Astronautica 128 (2016) 295–303
Contents lists available at ScienceDirect
Acta Astronautica
journal homepage: /locate/aa
Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space
Chenkun Qi a, Xianchao Zhao a, Feng Gao a,n, Anye Ren b, Yan Hu a
a State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China b Institute of Aerospace System Engineering Shanghai, Shanghai 201108, China
article info
Article history: Received 3 April 2016 Received in revised form 26 May 2016 Accepted 12 July 2016 Available online 14 July 2016
Keywords: Hardware-in-the-loop simulation Space contact Divergence compensation Delay compensation Discrete contact
abstract
The hardware-in-the-loop (HIL) contact simulation for ?ying objects in space is challenging due to the divergence caused by the time delay. In this study, a divergence compensation approach is proposed for the stiffness-varying discrete contact. The dynamic response delay of the motion simulator and the force measurement delay are considered. For the force measurement delay, a phase lead based force compensation approach is used. For the dynamic response delay of the motion simulator, a response error based force compensation approach is used, where the compensation force is obtained from the realtime identi?ed contact stiffness and real-time measured position response error. The dynamic response model of the motion simulator is not required. The simulations and experiments show that the simulation divergence can be compensated effectively and satisfactorily by using the proposed approach.
2016 IAA. Published by Elsevier Ltd. All rights reserved.
1. Introduction
The simulation of contact process on the ground is very important for many space missions [1,2], e.g., spacecraft docking and space robot manipulation. The active spacecraft docks with the target spacecraft (e.g., space station) thro
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