火箭推进剂输送连接器自动对接装置及其动态特性研究

为实现航天发射场地面推进剂输送连接器与运载火箭上接口的自动对接,提高自动对接过程动态跟踪性能,构建一种采用伺服控制技术的直角坐标式自动对接装置方案,可以实现检测、控制及位姿调整功能;基于MATLAB/Simulink软件搭建了数学仿真模型,开展了装置的阶跃及频率特性分析,并通过研制的自动对接试验平台进行了一系列连接器自动对接试验。结果表明:在箭上接口晃动频率不大于0. 5 Hz时,自动对接装置跟踪运动幅值无衰减,相位滞后不超过0. 5°;装置跟踪误差随箭上接口正弦运动速度的增加而增大,跟踪性能降低。

Research on Dynamic Characteristics of the Autonomous Mating Equipment of Launch Vehicle’s Umbilical Connector

In order to realize autonomous mating between ground umbilical connector and launch vehicle, improve dynamic tracking performance during the autonomous mating process, a cartesian autonomous mating equipment using servo control technology was presented, and the detection function, control function and pose adjustment function could be realized. Secondly, the mathematical simulation model was established by using MATLAB/Simulink software.Finally, a series of autonomous mating experiments were carried out under different motion laws of amplitude and frequency based on the practical autonomous mating equipment. The results show that under the motion frequency of 0.5 Hz, the autonomous mating equipment can track without attenuation, the phase delay is less than 0.5°, but the tracking error increases with the increase of movement velocity of launch vehicle.