spacecraft and the initial docking conditions. Only in the presence of this automated system is it possible to obtain sufficiently long preparation and testing (3-5 tests per work shift) and rapid detection and elimination of flaws and errors. The complex test unit can be used to train spacecraft pilots to visually recognize pictures of the possible range of relative displacements of the spacecraft during docking, and to develop habits of control of the engines of the jet control system on “entry” and “exit”, and to change the work modes of the control system after the first contact and linkage (Figure 7.10) [29]. 7.7.4. Mathematical Model of the Hybrid Test Unit In modeling of docking, signals enter the input of the computer with a programmed mathematical model. The signals are of the six components of the force of interaction in the system of coordinates of the force sensors. This system and other systems of coordinates used in the model are shown in Figure 7.11. The position of the center of the moving platform, with which the system of coordinates is associated, is defined by the vector and the velocity of its center is defined by the derivative of the radius vector , which defines the position of center of mass 2 in system of coordinates 1 (immobile, associated with the base of the test unit) and the relative angular velocity that is where is the transformation matrix from the second to the first system of coordinates (see (4.2)). Tn the examined model, the spacecraft are represented by solid bodies (although in principle it is possible to consider elasticity, mass distribution, etc.), thus the computer integrates the equations of motion, which are similar to those presented in section 4.4.2. The action of the control system is also modeled, and this system creates momenta and forces of longitudinal thrust of the jet control system in accordance with the control algorithm (see section 4.5.4).
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