Research On The Space-docking Hard-ware In-the-loop Simulation System

Space-Docking-Hardware-in-the-Loop simulation system is using tosimulate and reappear the real process of Space-Docking before developingthe docking mechanisms.The system include the Six degrees of freedom、Docking Dynamics System、 Motion Control System and Temperaturesystem. It can simulate the real docking process with different temperatureand initialization conditions. Research on the space-docking on the groundwill greatly help the Lunar project and Aerospace project of our country. Theresearch of my paper is as the following:1. The overall proposal of the Space Docking Simulation System.Firstly, I will analyze the demands of the system,and design the overallproposal according to the demands. The overall proposal includes: thesystem principle、the components of system、communication network andthe subsystems.2. The Kinematics and Dynamics of6-PSS Parallel Mechanism. Themechanism is the hardward of the Hardware-in-the Loop. Analyzing thedegree of freedom of the6-PSS, calculate the kinematics and working space.After analyzing the Jacobi Matrix and Speed/acceleration, the paperestablishs the dynamics equation using Lagrange-Equation. Finally,analyzing the dynamics feature with the calculating a example of the6-PSSparallel mechanism.3. The communication design of the system.For the demands of thesystem,a Real-Time date communication network based the Reflective Memory Network is designed. According the demand the topology of thenetwork is selected. After introducing the driving setting between theReflective Memory Network and other hardware, the communicationproposal of the network is introduced in detail. Finally,the system with theReflective Memory Network is proved to work very well by testing and theactual application.4.The mathematical model of servo-drive and Dual-Drive,the PID andNonlinear-PID.Building the mathematical model of servo-drive andDual-Drive,will be helpful for controlling the system.PID and Nonlinear PIDhave their own advantages and will help us control the system greatly.5. The motion control design and the motion test. The motion controlproposal is the analog control with “Industrial control computer+Motioncontrol board+Drive”. LabVIEW and NI-Motion is used. The Dual-Drivecan exert the greatly feature of the drive, and the proposal is proved to workvery well by testing the Dual-Drive motion.