Development Of The Electrical Simulator For Space Station Manipulator

Our controy plans to complete the space station around 2020. And in the usage and maintenance of the station space,space manipulator plays a quite important role. Considering the specical work enviroment and significant investment, a ground experiment system is neccessary. While tradiational methods are quite complex and cost much, although electric emulator system is a good choice but complex for Multi-DOF.In this situation, an electrical simulator in order to simulate space station manipilator convenieccely was developed.Firstly, the hardware and software designs of the electrical simulator were finished. According to the real situation of the space manipulator and the requirement of the elctrical simulator, CPCI structure with high compactness and extensibility was chosen. Meanwhile overall plan for software with every functional module was taken.And the development enviroment for manipulator modeling and task hadling was built. And every functional module and host computer software was desgined in details.Secondly, a unified multi-domain model of the space manipulator was created. In order to build a manipulator model with high accuracy, SimulationX based on Modelica language was used. According to the real situtation, PMSM servo motor, flexible joint of the manipulator and 6-DOF sensor model were bulit. The SVPWM module and 6-DOF sensor model were optimized in comparition with the same model based on other modeling softwares.Then a unified multi-domain model was built with instantaneity and accuracy.Finally, a test platform for the electrical simulator was built. In consideration of the reqirement of the elctrical simulator, instantaneity and accuracy of the simulator was tested with the assistance of the host computer and the test platform. The result indicated that the simulator meet the reqirements.