Have a look at the awesome science-fiction startle Chris has posted over on his Firehouse. It’s not just any old SF whipping, it’s consensual kinky play, portrayed in a positive light:

“For a brief moment, Victor gave thanks that Thandi Palane enjoyed being sexually submissive. If she hadn’t, he’d probably be a corpse. ‘Dominating’ her had been like a mortal ‘dominating’ a goddess – a feat which was only possible because the goddess willed it herself.”

From “Crown of Slaves” by David Weber and Eric Flint

And then there’s more…