空间对接地面半物理仿真台系统仿真研究

 飞行器空间对接地面半物理(HIL)仿真台是进行空间对接技术研究、对接机构地面检测以及对接过程的故障复现等多种用途的关键设备。论文阐述了飞行器空间对接地面半物理仿真台系统建构思想。在此基础上推导出空间对接地面半物理仿真台的空间对接动力学模型。基于物理建模的思想，用SimMechanics工具箱建立了空间对接地面半物理仿真台的机械系统，用Matlab/Simulink建立了控制系统模型，建构了虚拟空间对接地面半物理仿真台。采用滞后补偿等使系统的闭环动态性能达到要求。在空间对接地面半物理仿真台虚拟样机上，采用无阻尼振荡模型对空间对接动力学模型等进行了验证，对空间对接的缓冲过程进行了仿真。仿真结果表明空间对接动力学模型是正确的，空间对接地面半物理仿真台系统的建构思想是可行的。

Simulation on HIL Ground Experiment Simulator for On-orbit Docking

The hardware in the loop(HIL)ground experiment simulator for on-orbit docking plays a very important role in some research fields.These fields include the research on spacecraft docking/berthing,the testing of docking/berthing mechanism,the problems reappearing of docking/berthing maneuvers and so on.This paper presents a new idea of the ground experiment simulation for on-orbit docking.The dynamic model for spacecraft docking for the HIL simulator is established.At last,the mechanical system of a virtual ground experiment simulator for on-orbit docking is established with SimMechanics block-set.The controller of the system is also established with Matlab/Simulink.Lag compensation is used to ensure the close loop performance.The result of simulation with virtual simulator shows that the above dynamic model for spacecraft docking is correct and the idea of the HIL ground experiment simulator for on-orbit docking is feasible.