TOWARDS SPACECRAFT DOCKING EMULATION USING HARDWARE-IN-THE-LOOPSIMULATION

摘要

Many demonstration missions such as Orbital Express,rnDART, XSS-11, TECSAS, and the possiblernrobotic servicing/decomissioning of Hubble have recentlyrnbeen planned. A common, important elementrnto many of these missions is the necessity of mechanicallyrninterfacing the spacecrafts involved. ThernCanadian Space Agency targets the utilization of arnhardware-in-the-loop simulation (HLS) to emulaternthe satellite-docking procedure. This paper describesrnthe spacecraft models implemented in the simulator,rnthe orbital mechanics module, as well as the attitudernand orbit control systems. The simulator can be usedrnin one of the pure simulation or the HLS modes. Inrnthe former, a contact-dynamics model computes thernforces and moments involved in the docking, whereasrnthe actual docking hardware is used in the latter tornobtain the contact forces and moments.