Contact stiffness and damping identification for hardware-in-the-loop contact simulator with measurement delay compensation.pdfVIP

Acta Astronautica 123 (2016) 171–180 Contents lists available at ScienceDirect Acta Astronautica journal homepage: /locate/aa Contact stiffness and damping identi?cation for hardware-in-the-loop contact simulator with measurement delay compensation Chenkun Qi a, Xianchao Zhao a, Feng Gao a,n, Anye Ren b, Qiao Sun a a State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China b Institute of Aerospace System Engineering Shanghai, Shanghai 201108, China article info Article history: Received 6 January 2016 Accepted 17 March 2016 Available online 26 March 2016 Keywords: Contact stiffness Contact damping Stiffness identi?cation Damping identi?cation Hardware-in-the-loop simulation Phase lead abstract The hardware-in-the-loop (HIL) contact simulator is to simulate the contact process of two ?ying objects in space. The contact stiffness and damping are important parameters used for the process monitoring, compliant contact control and force compensation control. In this study, a contact stiffness and damping identi?cation approach is proposed for the HIL contact simulation with the force measurement delay. The actual relative position of two ?ying objects can be accurately measured. However, the force measurement delay needs to be compensated because it will lead to incorrect stiffness and damping identi?cation. Here, the phase lead compensation is used to reconstruct the actual contact force from the delayed force measurement. From the force and position data, the contact stiffness and damping are identi?ed in real time using the recursive least squares (RLS) method. The simulations and experiments are used to verify that the proposed stiffness and damping identi?cation approach is effective. 2016 IAA. Published by Elsevier Ltd. All rights reserved. 1. Introduction The simulation of contact dynamics in space is important for the space on-orbit servicing missions, e.g., capturing, dockin