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Control Strategy of Hardware-in-the-Loop Simulator EPOS 2.0 for Autonomous Docking Verification

Zebenay, Mekak and Lampariello, Roberto and Boge, Toralf and Krenn, Rainer (2011) Control Strategy of Hardware-in-the-Loop Simulator EPOS 2.0 for Autonomous Docking Verification. 82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics, 18.-21. Apr. 2011, Graz, Österreich.

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Abstract

This paper briefly describes the hybrid simulator system called European Proximity Operation Simulator (EPOS 2.0) and the development of the hardware-in-the-loop (HIL) docking simulation concept. A critical requirement for the docking simulation of this HIL simulator is that the 6-DOF robots in the loop have to exactly mimic the dynamic response of the two satellites during a contact operation. The main challenges to meet this requirement are in the stiffness of the robots, which is unlike that of the satellites, as well as the time delay in the HIL simulator. The paper mainly presents the impedance parameter identification concept for matching the impedance between the satellites impact model and the EPOS robots. In addition it presents the contact dynamics model used, and the control strategies to meet the requirements of the docking simulator. Finally it presents the preliminary results and future work.

Item URL in elib:https://elib.dlr.de/74401/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Control Strategy of Hardware-in-the-Loop Simulator EPOS 2.0 for Autonomous Docking Verification
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zebenay, MekakDLRUNSPECIFIED
Lampariello, RobertoDLRUNSPECIFIED
Boge, ToralfDLRUNSPECIFIED
Krenn, RainerDLRUNSPECIFIED
Date:2011
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:rendezvous, docking, hardware in the loop, simulation,
Event Title:82nd Annual Meeting of the International Association of Applied Mathematics and Mechanics
Event Location:Graz, Österreich
Event Type:international Conference
Event Dates:18.-21. Apr. 2011
Organizer:GAMM (Gesellschaft für Angewandte Mathematik und Mechanik)
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 - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > GSOC-German Space Operations Center
Deposited By: Boge, Toralf
Deposited On:23 Jan 2012 12:33
Last Modified:31 Jul 2019 19:35

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