Research On Detection And Tracking System Of Automatic Docking Connector

During the propellant filling process, tower structure would be open and launch vehicle would be swing dynamicly under wind condition.Therefore, in order to reduce the force acting on launch vehicle, improve safety and reliability, and adapt to the development tendency of launching rapidly, it is necessary to research a system of automatic docking connector to detect spatial location information of the launch vehicle’s valve in time and realize active tracking of the launch vehicle in swing dynamicly.First of all, make the whole design plan of automatic docking connector system, including executive system, signal detecting system and control system. Executive system use 3-(2PSS) structure which has three translational DOF.The 3-(2PSS) structure is drived by hydraulic cylinder, so it has to design the hydraulic system. Signal detecting system use the three-dimensional positioning scheme of two 2D laser displacement sensor. Control system complete the design of hardware circuits and software programs, analyze and design the fuzzy PID controller to adjust the control parameters in time aiming at the shortcomings of traditional PID controller. At the same time, the thesis simplify hydraulic servo position control system of automatic docking connector system, build the mathematical model for every part.Secondly, the thesis design the three-dimensional positioning scheme of the two 2D laser displacement sensor, including argumentation, theory, and sensor selection. Then verify the feasibility of signal detecting scheme through simulation experiments on detecting x-y and z-y coordinate of launch vehicle’s valve.Finally, the thesis analyze the motion condition of the launch vehicle in the docking and tracking process, and obtain three hydraulic cylinder piston displacement curves of launch vehicle in different directions to get simulate signal during tracking process. Then build the simulation model of PID controller and fuzzy PID controller in Matlab/Simulink, and analyze the response characteristics of step signal and sinusoidal signal. The results show fuzzy PID controller has better dynamic response characteristics, robustness, and higher tracking accuracy.