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Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal, Prateek and Choukroun, Daniel and Benninghoff, Heike and Gill, Eberhard (2019) Three-dimensional modeling and time-delay stability analysis for robotics docking simulation. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering. SAGE Publications. DOI: 10.1177/0954410019846049 ISSN 0954-4100

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Official URL: https://journals.sagepub.com/doi/10.1177/0954410019846049

Abstract

Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.

Item URL in elib:https://elib.dlr.de/127587/
Document Type:Article
Title:Three-dimensional modeling and time-delay stability analysis for robotics docking simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sazawal, PrateekDLRUNSPECIFIED
Choukroun, DanielTU DelftUNSPECIFIED
Benninghoff, HeikeHeike.Benninghoff (at) dlr.dehttps://orcid.org/0000-0003-0836-9171
Gill, EberhardTU DelftUNSPECIFIED
Date:2019
Journal or Publication Title:Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1177/0954410019846049
Publisher:SAGE Publications
ISSN:0954-4100
Status:Published
Keywords:Contact model, time-delay system, compliance device, hardware-in-the-loop docking simulator
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt OOS-E2E
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Benninghoff, Heike
Deposited On:27 May 2019 09:42
Last Modified:06 Sep 2019 15:21

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