空间对接半物理仿真原型试验系统  

SPACE DOCKING HYBRID SIMULATION PROTOTYPE EXPERIMENT SYSTEM

作　　者：延皓[1] 叶正茂[1] 丛大成[1] 韩俊伟[1] 李洪人[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《机械工程学报》2007年第9期51-56,共6页Journal of Mechanical Engineering

基　　金：教育部新世纪优秀人才支持计划资助项目(NcET-04-0325)。

摘　　要：为研制用于对接机构地面测试的空间对接半物理仿真系统,建立能够体现其主要功能的原型试验系统。试验系统通过六维力传感器检测对接机构模拟元件的相互作用力和力矩,根据所建立的航天器动力学模型实时解算对接过程中两航天器的相对运动,并由6自由度运动平台模拟被动航天器来实现此相对运动。针对此原型试验系统,提出系统的动力学解算方案并据此构建动力学仿真大回路,着重对大回路仿真系统的稳定性进行分析,得到稳定性条件,讨论运动平台滞后对仿真的影响和解决方法。在此基础上,用所研究系统成功地模拟了航天器对接的全过程,从而为实际空间对接半物理仿真系统提供了必要的设计依据。For the purpose of developing the space docking hybrid simulation （SDHS） system used for testing the space docking mechanism on the ground, a prototype experiment system with key features of the SDHS system is established. The mutual force and torque of simulated docking components are measured by a 6D force sensor in this system, and the relative motion of two spacecrafts can be calculated according to the proposed dynamics model. Then this relative motion is implemented by a parallel manipulator. For the prototype system, the dynamics calculation method is presented to construct the dynamics simulation external loop. The stability of the external loop is analyzed to obtain the stability condition. The influence of the manipulator＇s phase lag on the docking simulation and the compensating method is discussed. On the basis of these analyses, the whole process of space docking of two spacccrafts is simulated successfully. Therefore this prototype system can provide essential designing rnlcs for the development of the actual SDHS system.

关 键 词：空间对接 半物理仿真 6自由度运动平台 对接动力学 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]