空间对接半物理仿真原型试验系统

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.

SPACE DOCKING HYBRID SIMULATION PROTOTYPE EXPERIMENT SYSTEM

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 rela- tive motion of two spacecrafts can be calculated according to the proposed dynamics model.Then this relative motion is im- plemented 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 spacecrafts is simulated successfully.Therefore this prototype system can provide essential designing rules for the development of the actual SDHS system.