Ground test for space berthing and docking mechanism plays crucial roles in their stable operation in orbit. In this paper, a hardware-in-the-loop based ground test system is presented for economic reliability test for space berthing and docking mechanism of small spacecraft. In the system, the support and adapter unit is employed to fix the active part of the berthing and docking mechanism, and the end-effector of the manipulator connects the passive part. The manipulator is driven according to the relative motion calculated by the hardware-in-the-loop model after gravity compensation, to simulate motion of space berthing and docking mechanism in space. A Smith predictor is introduced for control system delays compensation. A berthing and docking mechanism was employed in the experiment to evaluate the performance of the test system. The results validated the effectiveness of the test system. Since only one manipulator is exploited in the test system, compared with existing systems using two manipulators, the system cost can be greatly decreased.
Flores-AbadAMaOPhamK, et al.A review of space robotics technologies for on-orbit servicing. Prog Aero Sci2014; 68: 1–26. DOI: 10.1016/j.paerosci.2014.03.002
2.
LinL. Development of space rendezvous and docking technology in past 40 years. Spacecraft Engineering2007; 16(04): 70–77. DOI: 10.3969/j.issn.1673-8748.2007.04.013
3.
ZhuRWanghXuY. Study on classification of spacecrafts rendezvous trajectories. Manned Spaceflight2012; 18(03): 8–17. DOI: 10.16329/j.cnki.zrht.2012.03.007
4.
ZhuRWangHCongY, et al.Comparative study of chinese and foreign rendezvous and docking technologies. Spacecraft Engineering2013; 3: 8–15. DOI: 10.3969/j.issn.1673-8748.2013.03.002
5.
WiedemannSMKirkCL. Eigenvalue analysis and optimised numerical simulations of the space shuttle remote manipulator system. J Sound Vib2007; 307(1-2): 265–279. DOI: 10.1016/j.jsv.2007.07.002
6.
KaiserCSjöbergFDelcuraJM, et al.SMART-OLEV-An orbital life extension vehicle for servicing commercial spacecrafts in GEO. Acta Astronaut2008; 63(1-4): 400–410. DOI: 10.1016/j.actaastro.2007.12.053
7.
IrvingBMcSorleyAPatonM, et al.Virtual prototyping of human mars missions with the orbiter space flight simulator. In: Mars society conference. Washington, DC: Citeseer, pp. 1–12.
8.
ZhaoQGaoF. Bond graph modelling of hydraulic six-degree-of-freedom motion simulator. Proc IME C J Mech Eng Sci2012; 226(C12): 2887–2901. DOI: 10.1177/0954406212440067
9.
HanWHuangYYChenXQ, et al.Flexible cone impact dynamics based on space probe-cone docking mechanism. Sci China Phys Mech Astron2014; 57(1): 128–137. DOI: 10.1007/s11433-013-5265-4
10.
ZhangXHuangYYChenXQ, et al.Modeling of a space flexible probe-cone docking system based on the kane method. Chin J Aeronaut2014; 27(2): 248–258. DOI: 10.1016/j.cja.2014.02.020
11.
ZhangXHuangYYHanW, et al.Research of flexible beam impact dynamics based on space probe-cone docking mechanism. Adv Space Res2012; 49(6): 1053–1061. DOI: 10.1016/j.asr.2011.12.030
12.
SyromiatnikovVS. Manipulator system for module re docking on the mir orbital complex. In: Proceedings 1992 IEEE International Conference on Robotics and Automation. Nice, France. 12-14 May 1992. IEEE Computer Society, pp. 913–914. DOI: 10.1109/ROBOT.1992.220180
13.
LangeGAMcmanamenJPSchliesingJA. Docking mechanism for spacecraft, Patent NASA-CASE-MSC-21386-1|US-PATENT-4,858,857, USA, 1989.
14.
KarnoppDMargolisDLRosenbergRC. System dynamics. Hoboken, NJ: Wiley, 1990.
15.
MaTWeiC. Development of space rendezvous and docking measurement technology. Aero China, 2004, 7: 30–34.
16.
ZhouQLianS. Progress of spacecraft space rendezvous and docking technology. Space Med Med Eng1998; 4. DOI: 10.16289/j.cnki.1002-0837.1998.04.018
17.
WangGXieZMuX, et al.Docking strategy for a space station container docking device based on adaptive sensing. IEEE Access2019; 7: 100867–100880. DOI: 10.1109/ACCESS.2019.2930558
18.
RomanoMFriedmanDAShayTJ. Laboratory experimentation of autonomous spacecraft approach and docking to a collaborative target. J Spacecraft Rockets2007; 44(1): 164–173. DOI: 10.2514/1.22092
19.
YangHJinMXieZ, et al.Ground micro-gravity verification of free-floating non-cooperative satellite docking. 2015 IEEE international conference on advanced intelligent mechatronics (AIM). Busan, Korea (South). 07-11 July 2015. IEEE, pp. 1253–1258. DOI: 10.1109/AIM.2015.7222710
20.
RegoliLRavandoorKSchmidtM, et al.On-line robust pose estimation for rendezvous and docking in space using photonic mixer devices. Acta Astronaut2014; 96: 159–165. DOI: 10.1016/j.actaastro.2013.12.005
21.
GarciaJGonzalezDRodriguezA, et al.Application of impedance control in robotic manipulators for spacecraft on-orbit servicing. In 2019 24th IEEE international conference on emerging technologies and factory automation (ETFA). Zaragoza, Spain. 10-13 September 2019, IEEE, pp. 836–842. DOI:10.1109/ETFA.2019.8869069
22.
MaMFlores-AbadABogeT. Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking. Acta Astronaut2012; 81(1): 335–347. DOI: 10.1016/j.actaastro.2012.08.003
23.
BogeTMaO. Using advanced industrial robotics for spacecraft rendezvous and docking simulation. IEEE international conference on robotics and automation. Shanghai, China, 09-13 May 2011. IEEE, 2011, pp. 1–4. DOI: 10.1109/ICRA.2011.5980583
24.
YuSHanJQuZ, et al.A force and displacement compensation method toward divergence and accuracy of hardware-in-the-loop simulation system for manipulator docking. IEEE Access2018; 6: 35091–35104. DOI: 10.1109/ACCESS.2018.2842106
25.
GolubevYYaskevichA. Simulation of spacecraft berthing with a robotic arm. In: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Moscow, Russian Federation, 24-26 August 2020, pp. 137–144. DOI: 10.13180/clawar.2020.24-26.08.27
26.
ChangTCongDYeZ, et al.Time problems in hil simulation for on-orbit docking and compensation. In: 2nd IEEE conference on industrial electronics and applications.Harbin, China, IEEE, 23-25 May 2007. 841-846. DOI: 10.1109/ICIEA.2007.4318527
27.
HardtMMasCAyusoA, et al.Validation of space vehicle docking with the international berthing & docking mechanism and a kuka robot. In: 14th european space mechanisms and tribology symposium,Konstanz. pp. 113–120.
28.
ZhangXWangJJiangC, et al.Hardware-in-the-loop simulation system for space information networks. J. Commun. Inf. Netw2017; 2(4): 131–141. DOI: 10.1007/s41650-017-0046-2
29.
PimentelJTirat-GefenY. Real-time hardware in the loop simulation of aerospace power systems. In: 5th International Energy Conversion Engineering Conference and Exhibit IECEC,St. Louis, Missouri, 25 - 27 June 2007. 4716. DOI: 10.2514/6.2007-4716
30.
KiesbyeJMessmannDPreisingerM, et al.Hardware-in-the-loop and software-in-the-loop testing of the move-ii cubesat. Aerospace2019; 6(12): 130. DOI: 10.3390/aerospace6120130
31.
SmithO. Closer control of loops with dead time. Chem Eng Prog1957; 53(5): 130.
