Hardware-in-the-Loop Simulation System for Space Manipulator Docking: Model, Stability and Experimental Evaluation

A manipulator-type docking hardware-in-the-loop (HIL) simulation system is proposed in this paper, with further development of the space docking technology and corresponding requirements of the engineering project. First, the structure of the manipulator-type HIL simulation system is explained. The mass and the flexibility of the manipulator has an important influence on the stability of the HIL system, which is the premise of accurately simulating actual space docking. Thus, the docking HIL simulation models of rigid, flexible and flexible-light space manipulators are established. The characteristics of the three HIL systems are studied from three important aspects: the system parameter configuration relation, the system stability condition and the dynamics frequency simulation ability. The key conclusions obtained were that the system satisfies stability or reproduction accuracy. Meanwhile, the influence of different manipulators on the system stability is further analyzed. The accuracy of the calculated results is verified experimentally.