面向空间机械臂任务验证的硬件在环半物理仿真系统研究

Study on Hardware-in-the-loop Simulation Facility for Task Verification of Space Manipulator

针对空间机械臂在轨任务进行高保真地面仿真和验证的需求,搭建了空间机械臂操作任务验证平台(MTVF)系统。该系统基于硬件在环技术,将空间机械臂动力学仿真模型、两台地面模拟机械臂和测量系统通过实时仿真计算机实现软硬件的整合,具有响应速度快、跟踪精度高的特点。开发了闭环稳定算法和阻抗控制算法以保证MTVF系统的高保真性能,并通过搭建仿真计算模型以及设计地面试验等方法对MTVF系统的性能进行验证,结果表明,该系统能够反映真实微重力环境下空间机械臂的动力学特性,能够实现对真实微重力环境下的空间机械臂在轨操作任务进行高保真的地面试验和验证。

A Manipulator Task Verification Facility(MTVF)system was designed to carry out ground-based high fidelity simulation and verification of space manipulator′s proximity and contact tasks in space.Based on the hardware-in-the-loop(HIL)simulation technology,the dynamics simulation models,the ground robotic arms,and the measurement systems were integrated by a real-time simulation computer which could realize fast response and accurate tracking.The high fidelity performance of MTVF system was guaranteed by closed-loop stabilization algorithm and impedance control algorithm.The simulation and the ground test showed that the MTVF system could reflect the dynamic characteristics of the space manipulator and realize the high fidelity ground simulation and verification of space manipulator operations in micro-gravity environment.