关键词: 半物理仿真, 失真, 滞后, 刚度辨识, 补偿

Abstract:  Hardwareintheloop simulation system of aerospace operation is one of the common methods for simulating an aerospace environment to verify the availability of aerospace technology on the ground. However, it is inevitable that the time delay in the system results in distortion and energy divergence. In order to solve this problem, a dynamic model of aerospace collision and a force compensation model based on stiffness identification are established from two aspects: hysteresis of force measurement system and dynamic response delay of control system. Compensation algorithm based on directional projection of measuring force that identify the collision direction and contact stiffness is proposed, and then the result of force compensation is added to the position control compensation of the serial hardwareintheloop simulation mechanism. The feasibility of the force compensation method is verified and the reproduction accuracy of the system is improved by the digital simulation of singledegreeoffreedom collision of the serial hardwareintheloop simulation mechanism. Compensation model is established from the cause of force generation, which provides a new solution about the distortion problem of the hardwareintheloop aerospace operation simulation system.