空间操作任务的分布式仿真系统

A Distributed Simulation System for Space Operation Missions

针对非合作目标抓捕、在轨维护、空间装配等复杂空间操作任务的地面验证需求,构建一套分布式仿真系统,主要由后台仿真模型、前端视景演示系统和前端主控制器组成。为实现不同建模工具或编程语言之间的多学科模型耦合与交互,引入FMI(functional mock-up interface)标准进行系统集成,提高了系统的模块化程度、通用性与可移植性。为充分利用计算资源、提高仿真效率,分布式部署仿真子系统与模块,利用DDS(data distribution service)通信机制实现高效、可靠的数据交互。双臂空间机器人抓捕非合作目标的演示案例表明,该仿真系统能够高保真模拟从远距离导引到近距离操作的全过程,满足实时仿真的要求。

For the ground verification requirements of complex space operation missions such as non-cooperative target capture,on-orbit maintenance,and in-space assembly,a distributed simulation system is developed,which mainly consists of a back-end simulation model,a front-end visual demonstration system,and a front-end main controller.In order to realize the multidisciplinary model coupling and interaction among different modeling tools or programming languages,the functional mock-up interface(FMI)standard is introduced for system integration,improving the modularity,generality,and portability of the system.To fully utilize computing resources and improve the simulation efficiency,simulation subsystems and modules are deployed in a distributed manner,and the data distribution service(DDS)communication mechanism is used to achieve efficient and reliable data interaction.A demonstration case of a dual-armed space robot capturing a non-cooperative target shows that the simulation system can simulate the whole process from long-range guidance to close operation in real time,with high fidelity.