Time Problems in HIL Simulation for On-orbit Docking and Compensation

Chang, Tongli; Cong, Dacheng; Ye, Zhengmao; Han, Junwei

doi:10.1109/iciea.2007.4318527

Cited by 28 publications

(8 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A linear spring-dashpot contact model is known for its relative simplicity and ease of analysis of dynamic systems in contact 17 . Spring-dashpot contact model, as well as an even simpler mass-spring model, has often been employed for analysis and evaluation of HIL simulations 10,16,[21][22][23][24][25] . 1 German Aerospace Center, German Space Operations Center, 82234…”

Section: The Interaction Of Two Bodies In Contact Is Central To Thementioning

confidence: 99%

“…17 Spring-dashpot contact model, as well as an even simpler mass-spring model, has often been employed for analysis and evaluation of HIL simulations. 10,16,[21][22][23][24][25] Combining time delays and high contact stiffness in a closed-loop HIL simulator might cause instability, hardware damages, and eventually safety hazards. 26 Osaki et al 22 have shown analytically that a closedloop HIL system simulating an elastic collision does not obey energy conservation.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.

show abstract

Section: The Interaction Of Two Bodies In Contact Is Central To Thementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

show abstract

“…Chang et al designed a compensator according to the transfer function of the time delay. [21][22][23][24][25] Osaki et al added a virtual damping force to the system to reduce spare energy and proved the effectiveness in uniaxial collision. [26][27] Abiko et al developed Osaki's compensation method for coupled translational and rotational motion 28 ; however, the delay time is assumed to be a fixed parameter and the contact stiffness is measured in advance.…”

Section: Introductionmentioning

confidence: 99%

Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

Wang

Gao

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mainly focused on a uniaxial or three-dimensional contact. In this paper, a force-based delay compensation method is proposed for the hardware-in-the-loop simulation of a six degree-of-freedom space contact. A six degreeof-freedom dynamic model of the spacecraft motion is derived, and a six degree-of-freedom delay compensation method is proposed. The delay is divided into track delay and measurement delay, which are compensated individually. Experiment results show that the proposed delay compensation method is effective for the six degree-of-freedom space contact.

show abstract

“…Chang et al developed 2 DOF control system to compensate a delay time of a system. The compensator was developed based on quantitative feedback theory [4]. The bilateral teleoperation is also known to have a similar instability problem in contact.…”

Section: Introductionmentioning

confidence: 99%

Accuracy improvement of delay time compensation based on the coefficient of restitution for a hybrid simulator

Satake

Abiko

Jiang

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

A hybrid simulator is a simulator which embeds a hardware experiment in a numerical simulation. However, the hybrid simulator is generally subjected to an inherent problem of energy increase in collision of two hardwares in the loop because of delay times. To solve this problem, Osaki et al. proposed a compensation method of delay time that can realize a variable coefficient of restitution [1]. However, the above method has a drawback that a model error of the system degrades the accuracy of the compensation method. This paper describes the influence of the model error and proposes a new approach to improve the accuracy of delay time compensation based on the coefficient of restitution by introducing a new model of the system. A collision experiment by the hybrid simulator is carried out to validate the accuracy of the proposed compensation method compared with the conventional compensation method.

show abstract

Time Problems in HIL Simulation for On-orbit Docking and Compensation

Cited by 28 publications

References 4 publications

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact

Accuracy improvement of delay time compensation based on the coefficient of restitution for a hybrid simulator

Contact Info

Product

Resources

About