Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 27, Issue 4, Pages 2367-2378Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3101451
Keywords
Manipulators; Manipulator dynamics; Delays; Force; Space stations; Mathematical model; Delay effects; Delay compensation; hardware-in-the-loop (HIL) simulation; hybrid simulation; space capture; space manipulator
Categories
Funding
- National Natural Science Foundation of China [51975351, 51927809]
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In this article, a distributed delay compensation approach is proposed for the hybrid simulation system of space manipulator capture, which can compensate for various delays in the system loop, ensuring the stability and simulation accuracy of the system.
The simulation of the target capture process of space manipulator is of great significance for the manipulator and task verification. By integrating the physical and numerical simulation, the hardware-in-the-loop (HIL) simulation is very suitable to simulate the complicated contact dynamics of the target capture process of the multibody manipulator in three-dimensional space. However, the time delays in the system loop lead to HIL simulation error and even system instability. In this article, a distributed delay compensation approach is proposed for the hybrid simulation system of space manipulator capture. The force delay, calculation delay, actuation delay, and mechanism delay in the system loop are compensated in situ. Compared with lumped compensation, distributed compensation has stronger robustness to the signal noise and better adaptability to the varying contact natural frequency. Simulations and experiments show that the proposed compensation approach can guarantee the system stability and simulation accuracy.
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