Design And Implementation For Rendezvous And Docking Control System Of Air-Bearing Table

With the rapid development of science and technology, the exploration of space has been proceeded forward and forward. At the same time, the strategic position of outer space is becoming increasingly significant. The space rendezvous and docking has become an important mission for the establishment of large space station as well as other space tasks. Till now it is still a brand new challenge for our country's space technology. The ground rendezvous and docking simulation air-bearing platform is an important approach to test and verify the rationality and effectiveness of guidance and control method and theory in the final stage. The main task of the paper is that it achieves the design for software and hardware function of the 5-DOF rendezvous and docking air-bearing platform, meanwhile, it respectively designs the attitude and displacement controllers.First, the paper designs the circuit board of the flotation control system based on TI's F2812 DSP chip. It completes nRF24L01-based wireless network. With the assistance of the AT89S51 SCM system and the ground industrial institutions, a monitoring system is established. Therefore these parts consist of the hardware electric platform of the control system.Secondly, in accordance with the hardware designed above and the rendezvous and docking mission requirements, the paper implements the software programming based on DSP, microcontroller and industrial computer in C/C++ language. Then the sub-modules of the program are respectively given several possible tests. Furthermore, some preliminary overall debugging has been carried out for the entire software system.Finally, according to the requirements of the attitude control, with the method of Rodrigues parameters the attitude controller is designed based on linear feedback. For the displacement control, a translational tracking error equation is acquired, and a displacement controller is also obtained with the Adaptive Disturbance Rejection Control technique. According to the simulation results, both the controller we designed satisfy the performance requirement..