A Ground Semi-physical Simulator For Satellite Autonomous Rendezvous And Space Robot Capture

摘要

The architecture of a ground semi-physical simulator is proposed, which can test the methodologies of the satellite formation flying, autonomous rendezvous and docking, and space robot capture. There are five subsystems in the ground simulator: the console system, the translation system, the rotation system, the target system, and the vision system. The console system is the most important part in the underlying system, which generates control commands based on the control algorithm. The translation system and the rotation system simulate 6 DOF motion of the follower, and the target system simulates 6 DOF motion of the target. The vision system is included in the feedback block. Through the Ethernet, the whole closed-loop system is developed and the provided real-time network communication for the system is introduced.