Study On6-DOF Simulator Dynamics For Half-physical Synthetic Docking Simulation Precision

Space docking is one of the most complex technologies in the space activity, to obtain areliable docking system, a large number of simulation tests are essentially. The process of spacedocking is a movement with12degrees of freedom in the zero-gravity circumstance, it includescontact, capture, cushion emendation, lockup and separation between the two docking aircrafts.It is very difficult to simulate the aircraft's comparative movement on the earth. Accordingly, the6-DOF Half-physical synthetic simulation test bed can accomplish these tasks.This paper takes space docking half-physical synthetic simulation as the research object.Firstly, the development survey of space docking half-physical synthetic simulation areintroduced. In this simulation, the6-DOF simulator is the main part which simulate thecomparative movement of the two aircrafts, it requires the6-DOF simulator has very goodorientation precision and dynamic characteristic and control performance, it is necessary toobtain the6-DOF simulator's kinematics and dynamics model and analysis system recurrenceprecision.So this paper using Euler parameter and the Lagrange method and presents a newdynamics model, which has clear structure and physical meaning. For the full parallel, hydraulicdriven construction is applied for the6-DOF simulator, the model of symmetric valve controlsymmetric hydraulic actuator is presented. Combining the dynamic model and hydraulic model,the6-DOF simulator's system model is built. On the base of this model, frequency characteristicis analyzed. Finally this paper give three guidelines to judge of6-DOF Half-physical syntheticsimulation test bed simulation precision. To validate the simulative result, base on flexibilitystiek experiments are done. The experiment results show that the mathematics model in thisthesis is accurate and simple, it can satisfy the necessary of space docking half-physical syntheticsimulation.