Research On The Compensation And Control Of The Pose Error Of The Automatic Docking And Falling Connector

The automatic docking and disconnecting connector of the launch vehicle uses the 3-PSS mechanism as the actuator to make the integrated connector panel automatically dock and separate the upper panel of the rocket to realize the automatic filling of the propellant in the rocket launching stage.In order to improve the docking accuracy of the system and the high-precision tracking of the trajectory of the rocket,this paper focuses on the pose error compensation and control strategy of the 3-PSS actuator.This way can effectively solve the low accuracy and poor active servo performance of the system,and further improves the automatic filling technology of propellants.Firstly,the kinematics analysis of 3-PSS mechanism is carried out.Then,established the error model as vector method,analyzed the influence of one-way error and structural parameter error on the pose.The relationship between pose and the driving rod error is proposed under the error coupling.Then,established the prediction model to estimate the rod error in real time and correct the desired trajectory of each joint.The method of compensating the pose error is to realize the high-precision trajectory tracking by each driving rod.Then,designed a position measurement system based on simple CMM,and a method of establishing prediction model based on neural network algorithm is proposed.Then,verified the method by simulation.The desired trajectory is corrected base on the prediction model established by simulation,and verified the accuracy of the established model.Then,based on the joint strong coupling interference and parameter uncertainty in the joint space control of the actuator,a robust controller based on the extended observer is designed to observe the joint disturbance to achieve stable tracking of the desired trajectory of each joint.Based on MATLAB and ADAMS,the simulation of three cylinders is carried out to verify the observation effect and the tracking performance of the robust controller.Finally,the motion control platform of the prototype is built based on xPC target,and experiments are carried out based on the prototype,which verifies the good trajectory tracking performance of the controller and the effectiveness of the error compensation method proposed.