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A Force Compensation Approach Toward Divergence of Hardware-in-the-Loop Contact Simulation System for Damped Elastic Contact

机译:阻尼弹性接触的半实物接触仿真系统发散力补偿方法

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摘要

The simulation of contact process of flying objects in space is important for many space missions. The hardware-in-the-loop (HIL) simulation is an attractive approach because it integrates the fidelity of physical simulation and the flexibility of numerical simulation. But the HIL contact simulation is divergent due to the time delay, e.g., the dynamic response delay and the force measurement delay. In this study, a force compensation approach is proposed toward the HIL simulation divergence problem for the damped and elastic contact. The idea is to make the compensated force close to the ideal force corresponding to the numerical position computed from the dynamics model of flying objects. The approach includes the phase lead based force compensation for the force measurement delay, and the response error based force compensation for the dynamic response delay of the motion simulator. From simulations and experiments, it is shown that the proposed approach can effectively and satisfactorily compensate the simulation divergence.
机译:对于许多太空任务而言,模拟飞行物体在太空中的接触过程非常重要。硬件在环(HIL)仿真是一种有吸引力的方法,因为它集成了物理仿真的保真度和数值仿真的灵活性。但是,由于时间延迟,例如动态响应延迟和力测量延迟,HIL接触仿真是不同的。在这项研究中,针对阻尼和弹性接触的HIL仿真发散问题,提出了一种力补偿方法。这个想法是使补偿力接近理想力,该理想力对应于根据飞行物体动力学模型计算出的数值位置。该方法包括针对力测量延迟的基于相位超前的力补偿,以及针对运动模拟器的动态响应延迟的基于响应误差的力补偿。通过仿真和实验表明,该方法可以有效,满意地补偿仿真差异。

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  • 来源
    《Industrial Electronics, IEEE Transactions on》 |2017年第4期|2933-2943|共11页
  • 作者单位

    State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

    State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

    State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

    Institute of Aerospace System Engineering Shanghai, Shanghai, China;

    State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Force; Numerical models; Dynamics; Delays; Space vehicles; Force measurement; Computational modeling;

    机译:力;数值模型;动力学;延迟;航天器;力测量;计算模型;

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