Dynamic simulation of rms-assisted shuttle/mir docking

摘要

A large-angle, flexible, multibody dynamic modeling capability has been developed to simulate dynamic motion and forces which occur during berthing of a Docking Module to the orbiter. Dynamic forces modeled in the simulation of docking operation include: I. the arm and orbiter dynamics which includes RMS joint servo torques, arm flexibility, and MPM interface flexibility, II. Impact dynamics between docking interfaces, III. dynamics of the docking mechanism, and IV. PRCS dynamics. This paper outlines the modeling of the docking operation, the derivation of the system equations, the development of the simulation tool, and simulation results.