Figure 7.8. Hybrid complex test unit (executive part). 1. drive control block; 2. weight compensator for APDA ring; 3. thermal regulation system chamber; 4. hybrid casing (in elevated state); 5. mobile platform; 6. force cylinder of drive. required relative position and have the given linear and angular velocities in accordance with the chosen parameters of initial conditions. These initial conditions are also used in the computer in integrations of the equations of motion of the modeled spacecraft. At first contact the sensors begin to measure the force of interaction, and signals for the sensors enter the computer. Integrating the equations of motion of the spacecraft affected by the force of the real interaction of the docking assemblies, and the forces and momenta of simultaneously modeled control systems of these spacecraft, the computer, which operates in real time, continuously determines the relative coordinates of the two docking assemblies, and issues commands to the tracking drives, so that the docking assembly on the moving
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