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A Robotic Hardware-in-the-Loop Simulation System for Flying Objects Contact in Space

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

The hardware-in-the-loop (HIL) simulation (also called hybrid simulation) is a useful and flexible approach for the simulation of contact dynamics in space. In this study, a HIL contact simulation system including the motion simulator, control system and algorithm is introduced. The simulation divergence problem due to the time delay is studied. To compensate the time delay, the phase lead method is used compensate the force measurement delay, and the response error based force compensation is used to compensate the dynamic response delay of the motion simulator. The compensation requires the force measurement delay value, but does not require the dynamic response model. The effectiveness of the HIL simulation system and the delay compensation approach are verified by the simulations and experiments.

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Acknowledgements

The work is partially supported by grants from National Basic Research Program 973 of China (Grant No. 2013CB035501), National Natural Science Foundation of China (Grant No. 51335007, 61473187, 51675328) and Shanghai Natural Science Foundation (Grant No. 14ZR1422600).

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Chenkun Qi, Xianchao Zhao, Feng Gao & Yan Hu

  2. Institute of Aerospace System Engineering Shanghai, Shanghai, 201108, China

    Anye Ren

Authors
  1. Chenkun Qi
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  2. Xianchao Zhao
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  3. Feng Gao
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  4. Anye Ren
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  5. Yan Hu
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Corresponding author

Correspondence to Chenkun Qi .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Qi, C., Zhao, X., Gao, F., Ren, A., Hu, Y. (2017). A Robotic Hardware-in-the-Loop Simulation System for Flying Objects Contact in Space. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_53

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_53

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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