空间对接动力学试验台控制与精度考核

Control and Accuracy Assessment of Dynamic Space Docking Test System

空间对接动力学试验台,采用半物理仿真方法模拟两个航天器对接的动力学过程,但试验台仿真周期和模拟器响应滞后会造成试验台仿真精度失真和不稳定,为此提出了基于对接撞击力辨识补偿的控制算法。建立从油缸伸长量到撞击力之间的映射关系,并通过实时辨识来拟合撞击力偏差进行补偿。依据空间对接动力学原理设计试验台精度考核试验,精度考核仿真及试验结果表明,该控制算法有效提高试验台仿真精度和对接过程稳定性。

The dynamic space docking test system adopts the hardware-in-the-loop （HIL） simu- lation method to simulate the dynamic docking processes of two spacecrafts. The simulation cycle and simulator response lag could bring low precision and instability into the test system. This paper presented a control method based on docking force identification and compensation. Map- ping relations was built between the contact force and elongation of the cylinder. Fitting and compensating the contact force was realized by identifying in real time. The precision assessment test was designed based on the principle of the space docking. The results of precision assess- ment test showed that this control method effectively improved the precision and stability during the dynamic simulation.