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This paper presents the research on the experimental testing system of the space docking HIL (Hardware-In-the-Loop) simulation, which is based on a Stewart 6-DOF (Degree-Of-Freedom) motion system. First of all, spacecraft dynamics is analyzed. Because of the under-damping characteristic, stability of the HIL simulation system is analyzed, and control strategy of the 6-DOE-motion system, which is based on the phase compensation, is put forward to improve system stability. The influence created by the frequency characteristics of the 6-DOE-motion system on the accuracy and stability of the HIL simulation system is also analyzed. The characteristics of the spacecraft dynamics and the accuracy and feasibility of the HIL simulation system are verified with a non-damp collision device.

This paper presents an idea on the simulation/hardware interface of Hardware-In-the-Loop (HIL) simulation for spacecraft on-orbit docking. The obstacles that hinder the design of the HIL simulation system are discussed. Then the design criteria of the HIL simulation system are presented based on them. Since the practical HIL simulation system for on-orbit docking is very complicated, the verification about the criteria was done on 1 Degree-Of-Freedom (DOF) case with the nonlinear docking mechanism model. To put the design criteria into practice, the two-degree-of-freedom control structure is required as a control structure for the HIL simulation system for on-orbit docking. The relation ship between the distortion of the HIL simulation and the transfer characteristics of the simulation/hardware interface is qualitatively discussed. The simulation results on 1 DOF case demonstrated that the ideas and the methods discussed above are feasible and practical.

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