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Satellite docking simulation based on HIL hybrid contact model

Zebenay, Melak and Boge, Toralf and Lampariello, Roberto and Choukroun, Daniel (2013) Satellite docking simulation based on HIL hybrid contact model. 12th Symposium on Advanced Space Technologies in Robotics and Automation, 15.-17. Mai 2013, Noordwijk, The Netherlands.

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This paper briefly presents a hardware-in-the-loop (HIL) docking simulator concept. A critical requirement for the docking simulation of the HIL simulator is that its 6-degree of freedom (DOF) robots have to mimic the dynamic response of two satellites during contact/docking. However, the closed-loop response is influenced by the time delay of the robots controller, as well as by the robots high structural stiffness. This effects gives rise to unrealistically high impact forces, which not only jeopardize the safety of the facility, but also introduce a nondeterministic error in the docking simulation. Furthermore, the controller time delay will generally destabilize the HIL simulation. In order to mitigate these undesired effects, a new tool for emulating impacts is presented, which is based on a combination of passive and active compliance. This approach ensures safe operation of the simulation facility and also allows to reproduce impact dynamics with different values of stiffness and damping characteristics. This paper presents the extension of the method for more than one dimension. In addition, this paper presents the effect of parameters which are time delay, stiffness, damping and masses of the simulating satellites on the stability of the HIL docking simulator. The method is validated in simulation.

Item URL in elib:https://elib.dlr.de/87063/
Document Type:Conference or Workshop Item (Speech)
Title:Satellite docking simulation based on HIL hybrid contact model
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lampariello, RobertoDLRUNSPECIFIED
Choukroun, DanielDelft University of TechnologyUNSPECIFIED
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Hybrid contact dynamics model, Highstiffness, Time-delay
Event Title:12th Symposium on Advanced Space Technologies in Robotics and Automation
Event Location:Noordwijk, The Netherlands
Event Type:international Conference
Event Dates:15.-17. Mai 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Benninghoff, Heike
Deposited On:19 Dec 2013 14:03
Last Modified:31 Jul 2019 19:44

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