Hardware-in-the-loop based ground test system for space berthing and docking mechanism of small spacecraft

IF 1 4区工程技术 Q3 ENGINEERING, AEROSPACE

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering Pub Date : 2023-08-27 DOI:10.1177/09544100231198152

Yaqiang Wei, X. Yang, Xinlin Bai, Zhigang Xu

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Abstract

Ground test for space berthing and docking mechanism plays crucial roles in their stable operation in orbit. In this paper, a hardware-in-the-loop based ground test system is presented for economic reliability test for space berthing and docking mechanism of small spacecraft. In the system, the support and adapter unit is employed to fix the active part of the berthing and docking mechanism, and the end-effector of the manipulator connects the passive part. The manipulator is driven according to the relative motion calculated by the hardware-in-the-loop model after gravity compensation, to simulate motion of space berthing and docking mechanism in space. A Smith predictor is introduced for control system delays compensation. A berthing and docking mechanism was employed in the experiment to evaluate the performance of the test system. The results validated the effectiveness of the test system. Since only one manipulator is exploited in the test system, compared with existing systems using two manipulators, the system cost can be greatly decreased.

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基于硬件在环的小型航天器空间停泊与对接机构地面试验系统

空间靠泊对接机构的地面试验对其在轨道上的稳定运行起着至关重要的作用。提出了一种基于半实物的小型航天器空间靠泊与对接机构经济可靠性试验系统。在该系统中，采用支撑和转接单元固定靠泊机构的主动部分，机械手的末端执行器连接被动部分。根据重力补偿后硬件在环模型计算的相对运动来驱动机械臂，模拟空间靠泊与对接机构在空间中的运动。引入Smith预测器对控制系统进行时延补偿。实验中采用了靠泊机构对测试系统的性能进行了评价。实验结果验证了该测试系统的有效性。由于在测试系统中只使用一个机械手，与现有的使用两个机械手的系统相比，可以大大降低系统成本。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering 工程技术-工程：机械

CiteScore

2.40

自引率

18.20%

发文量

212

审稿时长

5.7 months

期刊介绍： The Journal of Aerospace Engineering is dedicated to the publication of high quality research in all branches of applied sciences and technology dealing with aircraft and spacecraft, and their support systems. "Our authorship is truly international and all efforts are made to ensure that each paper is presented in the best possible way and reaches a wide audience. "The Editorial Board is composed of recognized experts representing the technical communities of fifteen countries. The Board Members work in close cooperation with the editors, reviewers, and authors to achieve a consistent standard of well written and presented papers."Professor Rodrigo Martinez-Val, Universidad Politécnica de Madrid, Spain This journal is a member of the Committee on Publication Ethics (COPE).