A hardware-in-the-loop (HIL) docking simulator is an important validation facility on the ground for space docking. To reproduce the space docking process, the HIL docking simulator needs to solve the simulation distortion problem. In this paper, a force and moment compensation approach is presented to achieve a high-fidelity HIL simulation for a six degree-of-freedom docking simulator. The whole loop in the HIL simulation is thoroughly analyzed, and the sources that lead to the distortion are illustrated. The force and moment compensation method considers the distortion sources from the time lag of the force sensor, the motion lag of the motion simulator and especially the deformation of the simulator mechanical structure. One key step in the force and moment compensation is the stiffness identification of the docking mechanism. The stiffness relationship among the whole system stiffness, the stiffness of the docking mechanism, and the structural stiffness of the simulator, is established. A stiffness identification model is deduced to obtain the stiffness of the docking mechanism from the whole system stiffness by excluding the structural stiffness of the simulator in real-time. The experimental results show the proposed compensation method can achieve a high-fidelity simulation for the docking simulator.

硬件在环（HIL）对接模拟器是地面上用于对接的重要验证工具。为了重现空间对接过程，HIL对接模拟器需要解决模拟失真问题。本文提出了一种力矩补偿方法，以实现六自由度对接模拟器的高保真HIL仿真。全面分析了HIL仿真中的整个环路，并说明了导致失真的原因。力和力矩补偿方法考虑了力传感器的时滞，运动模拟器的运动滞后以及尤其是模拟器机械结构的变形引起的变形源。力和力矩补偿的关键步骤之一就是对接机构的刚度识别。建立了整个系统刚度，对接机构的刚度和模拟器的结构刚度之间的刚度关系。通过实时排除模拟器的结构刚度，推导了刚度识别模型，以从整个系统刚度中获得对接机构的刚度。实验结果表明，所提出的补偿方法可以实现对接仿真器的高保真仿真。