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F. Rems
The complexity and reliability needs of space rendezvous, especially with uncooperative targets in typical On-Orbit-Servicing scenarios like Active Debris Removal, require sophisticated Hardware-in-the-Loop simulation on ground for development support and verification. This has to include real sensor hardware, the real rendezvous GNC algorithms as well as real target surface materials. Such complex closed-loop rendezvous simulations involve numerous interacting components, which leads to various problems and poses an enormous challenge to the overall system. The European Proximity Operations Simulator (EPOS), located at GSOC, DLR, in Oberpfaffenhofen near Munich, is the perfect tool for coping with these challenges. It is a robotic Hardware-in-the-Loop simulator for the final 20 meters of rendezvous maneuvers. It consists of two industrial robots, one of which is mounted on a linear rail. It can handle true-to-scale satellite mockups and provides realistic illumination conditions via a powerful daylight spotlight. This paper describes the strongly upgraded EPOS control system. Raising EPOS simulation capabilities to a totally new level, the new features include: collision avoidance; real-time robot joint optimization to avoid robot singular configurations and other laboratory constraints; flexible connection handling with remote command sources; a convergence algorithm for seamlessly reaching dynamic starting conditions; flexible mapping of commanded satellite positions given in any arbitrary coordinate system into the EPOS laboratory. The enhancements transform EPOS into a "Plug-and-Play" facility that can easily handle complex Hardware-in-the-Loop rendezvous simulations with many components in a robust and flexible manner. The paper concludes with a closed-loop simulation example of a typical uncooperative approach.
Deutscher Luft- und Raumfahrtkongress 2017, München
Verlag, Ort:
Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V., Bonn, 2017
Conference Paper
21,0 x 29,7 cm, 10 Seiten
Stichworte zum Inhalt:
Robotic Hardware-in-the-Loop Simulation, Spacecraft Rendezvous
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