串联半物理仿真机构的刚度辨识与时滞误差补偿

Stiffness Identification and Error Compensation of Time Delay for Serial Hardware-in-the-Loop Simulation Mechanism

空间操作半物理仿真系统是在地面模拟太空环境验证空间技术有效性的常用方法之一,但是系统内存在不可避免的时间滞后会出现结果失真和能量发散的现象。针对串联半物理仿真机构系统失真问题,从力测量系统滞后和控制系统的动态响应延迟两个方面出发,建立了空间碰撞的动力学模型和基于刚度辨识的力补偿模型,提出了基于测量力方向投影辨识碰撞方向和接触刚度的补偿算法,将对测量力的补偿转化为串联半物理仿真机构的位置控制补偿。串联半物理仿真机构的单自由度碰撞进行数字仿真,验证了该力补偿方法的可行性,提高了半物理仿真的复现精度。该方法从力产生的原因出发建立补偿模型,为深入研究空间操作半物理仿真系统失真问题提供了一种新的思路。

Hardware-in-the-loop simulation system of aerospace operation is one of the common methods for simulating an aerospace environment to verify the availability of aerospace technology on the ground.However,it is inevitable that the time delay in the system results in distortion and energy divergence.In order to solve this problem,a dynamic model of aerospace collision and a force compensation model based on stiffness identification are established from two aspects:hysteresis of force measurement system and dynamic response delay of control system.Compensation algorithm based on directional projection of measuring force that identify the collision direction and contact stiffness is proposed,and then the result of force compensation is added to the position control compensation of the serial hardware-in-the-loop simulation mechanism.The feasibility of the force compensation method is verified and the reproduction accuracy of the system is improved by the digital simulation of single-degree-of-freedom collision of the serial hardware-in-the-loop simulation mechanism.Compensation model is established from the cause of force generation,which provides a new solution about the distortion problem of the hardware-in-the-loop aerospace operation simulation system.