Analysis And Experimental Research Of Docking Mechanism Test-Bed System

Docking mechanism test-bed is mainly used to simulate dynamics process of two aerocraft's docking on the ground, validate rationality of the mechanism's design and estimate stability of the docking process. It's components are: 6-DOF motion platform, docking mechanism and computer measure control system. The test-bed can accurately simulate two aerocraft's relative motion in the process of docking. Because of"cone-pole"docking mechanism's simple structure and widely application, this paper takes test-bed with this mechanism as the research object.Firstly, the components, and principle of docking mechanism test-bed are introduced. Then based on development of spatial docking technology, main structures about docking mechanism and it's characteristics, development survey are introduced. Because test-bed is a typical multi-input and multi-output nonlinear system, there are lots of difficulties in the modeling system. In the paper, dynamics model by using the Kane method and 6-DOF platform virtual prototype based on hydraulic servo system by using the ADAMS dynamics simulation software is presented.when mass of docking mechanism simulator is too small to be calculated comparing to the mass of two aero crafts, docking of the aero crafts can be equal to collision between two rigid bodies. Based thorough analysis in space docking dynamics and loop control, test-bed's virtual prototype is presented in paper. With the help of ADAMS and Simulink's union simulation technology, docking dynamics simulation in the initial conditions (pose and velocity) is given. By compare them with the result of the spatial two aerocraft's docking model, principle of loop control system based on dynamics is proofed correct. By compare them with the experiment's result, the virtual prototype model is certified correct. In addition, influence caused by variety of buffering mechanism parameters (stiffness and damping) are also analyzed.