TY - JOUR
T1 - Three-dimensional modeling and time-delay stability analysis for robotics docking simulation
AU - Sazawal, Prateek
AU - Choukroun, Daniel
AU - Benninghoff, Heike
AU - Gill, Eberhard
PY - 2019
Y1 - 2019
N2 - Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.
AB - Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.
KW - compliance device
KW - Contact model
KW - hardware-in-the-loop docking simulator
KW - time-delay system
UR - http://www.scopus.com/inward/record.url?scp=85067784691&partnerID=8YFLogxK
U2 - 10.1177/0954410019846049
DO - 10.1177/0954410019846049
M3 - Article
AN - SCOPUS:85067784691
SN - 0954-4100
VL - 233
SP - 5438
EP - 5455
JO - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
IS - 14
ER -