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Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Compliant force control structure based on the inner position loop is introduced. The more systematic design methods of a serial PID type controller and...
Dynamics simulation system containing position control loop is studied for simulating dynamics process of space docking on the ground. Working principle of the combined general dynamics test platform is pictured. Equivalent dynamics simulation problem with space docking simulation is put forward conceptually. Stability analysis and reasonable configuration of physical parameters of dynamics simulation...
This paper present a new method for the integration of the HIL simulation system for on-orbit docking. First, the problems, such as stability, in the integration of the HIL simulation system arc discussed. The HIL simulation tasks are discussed based on the analysis of the characteristics of the docking mechanism. A new idea and procedural to integrate the HIL simulation system is presented. The two-degree-of-freedom...
In order to test the space docking mechanism on the ground, the docking process of two spacecrafts must be simulated. The hybrid simulation (hardware-in-loop simulation) is a preferred method for its great applicability to different spacecrafts. Therefore, a space docking hybrid simulation (SDHS) prototype system is established. In this system actual spacecrafts are replaced by virtual ones and the...
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