This paper describes the Dynamics Algorithms for Real-Time Simulation (DARTS) real-time hardware-in-the-loop dynamics simulator for the National Aeronautics and Space Administration's Cassini spacecraft. The spacecraft model consists of a central flexible body with a number of articulated rigid-body appendages. The demanding performance requirements from the spacecraft control system require the use of a high fidelity simulator for control system design and testing. The DARTS algorithm provides a new algorithmic and hardware approach to the solution of this hardware-in-the-loop simulation problem. It is based upon the efficient spatial algebra dynamics for flexible multibody systems. A parallel and vectorized version of this algorithm is implemented on a low-cost, multiprocessor computer to meet the simulation timing requirements.


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    Title :

    Real-Time Dynamics Simulation of the Cassini Spacecraft Using Darts. Part 1: Functional Capabilities and the Spatial Algebra Algorithm


    Contributors:
    A. Jain (author) / G. K. Man (author)

    Publication date :

    1993


    Size :

    10 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English