Design And Analysis Of Control System For Docking Test Stand Motion Simulator

The docking of spacecrafts in the space has always been the main subject in the astronautics, and six degree freedom docking synthetic test stand is one of the key technologies. In this paper, six degree freedom motion simulator of the docking mechanism synthetic test stand was the research object. The design and analysis of control system for the six degree freedom motion simulator is the point.First, the development of the six degree freedom parallel mechanics is presented. The research contents were proposed according to the current engineering project.Due to the electrohydraulic servo mechanism was used to drive the motion deck of the semi-physical simulator on the ground. Therefore, the model of electrodraulic servo mechanism was built based on the fundamental equations of hydraulic jar and servo valve. The feedbacks of position, velocity, acceleration and dynamic pressure were applied to adjust the model, so the control system of single jar electrodraulic servo mechanism was built. To reduce the system error and interference error, the compound control was designed. The results of simulations showed that the magnitude attenuation and phase lag of the system come to the project demand.To improve the performance of control, the coordinated control system of six degree freedom motion simulator was designed to make six jars collaborate to drive the motion deck. First, it's necessary to analyze the position inverse solution and positional solution. Because of the nonuniqueness in the positional solution, it's not easy to test the performance of the coordinated control system. So the model of NN was built to convert the vector of the length of 6 jars into the vector of the position of the motion deck. It's fast and accurate for the lengthwise direction.The state space system model of the six degree freedom motion simulator was built by the equations of electrodraulic servo mechanism and the multi-body dynamics equation of the six degree freedom motion simulator,the vector of the length of 6 jars was the control variable. The stability and controllability of the...