Satellite Docking Simulator based on Hardware-inthe-loop Hybrid Contact Model

Transcription

1 Chart > ASTRA3 >May 7, 3 Satellite Doking Siulator based on Hardware-inthe-loop Hybrid Contat Model M. Zebenay, T. Boge, R. Lapariello, and D. Choukroun th Syposiu on Advaned Spae Tehnologies in Robotis and Autoation ASTRA 3, 5-7 May, ESA/ESTEC, Noordwijk, the Netherlands

2 Chart > ASTRA3 >May 7, 3 Outline - Introdution - Hardware-in-the-loop Doking Siulator Conept - Hybrid Contat Model - Conlusion

3 Chart 3 > ASTRA3 >May 7, 3 Introdution On-Orbit Serviing Missions - Extension o the operational lietie or iproveent o the perorane o a spaerat (S/C) - Possible tasks o a serviing satellite: - Rendezvous and inspetion o a non-ooperative lient S/C - Doking with the lient and take over attitude & orbit ontrol - Exaples o uture On-Orbit issions - DEOS - A Geran tehnology deonstration ission in Low Earth Orbit - SMART-OLEV - Orbital lietie extension o geostationary satellites

4 Chart 4 > ASTRA3 >May 7, 3 Introdution HIL ontat/doking siulators Hydrauli Stewart plator (NASA) Hydrauli anipulator (CSA) Air-loating test bed Tohoku University Industrial robots (DLR)

5 Chart 5 > ASTRA3 >May 7, 3 Introdution The new European Proxiity Operations Siulator (EPOS.) aility design onept - Robot with 6 DOF - Carrying lient satellite ok-up - Motion siulation o lient satellite -PC-based real-tie aility ontrol syste - Robot with 6 DOF on a 5 rail syste - Carrying RV sensors and doking syste o serviing satellite - Motion siulation o serviing satellite

6 -Contat Dynais=Syste dynais + Modeling o ontat ores -Modeling o Contat Dynais - Dynais o the syste - Contat ore Introdution Contat Dynais Iw w v w w v I E q n bg k ) ( Chart 6 > ASTRA3 >May 7, 3

7 Chart 7 > ASTRA3 >May 7, 3 Introdution Models on the ontat ores k n bg( ) q With daping Without daping Hertz (896) Linear daping Non-Linear daping n k g Spring-Dashpot k b ( g, q, n ) Ipat pair b n k ( g, q ) Lea and Wang (983) Hunt-Crossley odel (975) bg n n n k k b n ( ) ( g, q ) g exp Q, g, i, g, i, q

8 Chart 8 > ASTRA3 >May 7, 3 Hardware-in-the-loop Doking Siulator Conept Doking siulator onept based on EPOS aility Robots with highly aurate position ontrol Doking interaes exaples: probe and nozzle Fore/torque sensor Free loating dynais o Satellites Challenges Tie delay High stiness

9 Chart 9 > ASTRA3 >May 7, 3 Hardware-in-the-loop Doking Siulator Conept -Doking siulator onept in D: T k b S k T S T S b

10 Chart > ASTRA3 >May 7, 3 Hardware-in-the-loop Doking Siulator Conept u + + Fin s x r e sh x e sh x C( s, h) F s b ( -(k sb ) k s ) e sh T S T S -Stability analysis-based on delay sweeping ethod. - Steps: - exaine the stability at h=. - hek the - axis rossings o the roots o C(s,h). j

11 Hardware-in-the-loop Doking Siulator Conept -Stability when h= -Stability when h> - Coputing a rossover requeny and a rossing tie : -Stability window o the syste is:,) ( k s b s s C ) ( tan 4 4 k w b w h k b b w ) ( tan k w b w h h w h h h h Chart > ASTRA3 >May 7, 3 ) ( ), ( sh e k s b s h s C

12 Chart > ASTRA3 >May 7, 3 Hybrid Contat Model D doking siulator - Hybrid Contat Model obines: - Contat ores data ro F/T sensor - Virtual ontat odel - Allows - Easy tuning o ontat paraeters - Physial onsisteny

13 Chart 3> ASTRA3 >May 7, 3 Hybrid Contat Model Test setup - Applied a onstant ontat ore o N. - Relative otion oand is sent to the haser robot - The target is siulated by the stationary struture - Initial paraeters: - Chaser - ass o 75kg - initial veloity o.3/s - Target - ass o ^6 kg - zero initial veloity

14 Chart 4> ASTRA3 >May 7, 3 Hybrid Contat Model Results - Unstable siulation - k = 5N/ - b = Ns/ - =749.4kg - h = 6s and - h=8s - Stable siulation - k=5 N/ - b=6ns/ - =749.4kg: - h=6s - h=3.8s

15 Chart 5> ASTRA3 >May 7, 3 Hybrid Contat Model 3D doking siulator - Extend the doking siulator to 3D: - Design a passive opliane devie that supports: - D doking siulation - D/3D doking siulation - Copensate the non-ontat ores ro F/T sensor - Rigid body dynais o the satellites - Extend the virtual ontat odel oputation - ontat ore=f/t sensor + virtual ontat odel - ontat torque oputed ro the ontat ore

16 Chart 6> ASTRA3 >May 7, 3 Hybrid Contat Model 3D doking siulator - Virtual ores an oputed in two ways: - Copute the virtual ore parallel to eah o the passive opliane legs S S v S v kvx k S vy dx bvx dy k dz vz b vy dx dy b dz vz E P O S F/T sen sor k v b v CoM - Coputing the virtual noral ore at the ontat point ( k b n S v v b ) b v v k v

17 Chart 7> ASTRA3 >May 7, 3 Hybrid Contat Model Test setup - Doking interaes o : - Probe - Cone - Assued desired ontat paraeters: - Stiness o 3N/ and - Zero daping - The robots are siulated by tie delay - Initial paraeters: - Chaser - initial position o [ ] - linear veloity o [.3/s] - angular position and veloity o [ ] - ass o 75kg - Target - initial position o [ ] - angular position o [ 8degree] - linear and angular veloity o [ ] - ass o 5kg

18 Chart 8> ASTRA3 >May 7, 3 Hybrid Contat Model Results

19 Chart 9> ASTRA3 >May 7, 3 Hybrid Contat Model Results x[n] Contat ore ro F/T sensor vx[n] Contat ore ro virtual ontat odel Torque-x[N] Contat torque ro F/T sensor Torque-vx[N] Contat torque ro virtual ontat odel y[n] vy[n] Torque-y[N] - Torque-vy[N] z[n] - - vz[n] - - Torque-z[N] Torque-vz[N]

20 Chart > ASTRA3 >May 7, 3 Hybrid Contat Model Results x+vx[n] y+yv[n] z+zv[n] vz[/s] vy[/s] vx[/s] x -3 - x -3 - x -3 - Torque-z[N] Torque-y[N] Torque-x[N] wx[rad/s] wy[rad/s] wz[rad/s]

21 Chart > ASTRA3 >May 7, 3 Conlusion - Presented a doking siulator onept based on Hybrid ontat odel - The siulator - Allows to tune the ontat paraeters in sotware - Can be used or D, D and 3D - Stability window is deterined as a untion o: - Robots ontroller tie delay - Contat paraeters and - Siulated satellite asses - Future work: - Validate the 3D onept experientally

22 Thank You!