The Realization Of Real Time Distributed Control For The Docking Experimental Platform

Adopting semi-physical simulation, the space docking mechanism comprehensive test platform can real-time simulate the docking process between the two space spaceflights based on initial docking condition, can simulate high and low temperature test environment for the development and evaluation test of space docking mechanism.The control subsystem is very important during the development process of the test platform, because it not only should finish the scheduling management and state monitoring of all subsystems, but also should finish whole real-time distributed control during the docking test process. The semi-physical simulation is based on the model computer. By acquisition parameters of force sensor and using the following mathematic models, such as trace planning, dynamics resolving, and position angle, to control the movement of the motion simulator and the movement of the dock mechanism.The work in the article is as following:1. it describes the composition, structure and function of the system.2. to determine the distributed multi-node control scheme based on the rapid control prototyping, RT_LAB and Simulink.3. it describes the mathematic models in detail.4. describes the digital simulation in order to validate the models, be used to the big loop debugging.