Research On Hydraulic Servo Control System Of Automatic Docking Connector

A launch vehicle’s automatic docking umbilical connector is controlled by hydraulic servo system. In the process of docking, exists two problems of rocket swing and hydraulic cylinders suffer from large uncertain load force. To improve the control accuracy、the docking reliability、satisfy the development of rapid launch and to make the connector to accomplish docking assignment better, it is necessary to do research on the control of automatic docking connector’s hydraulic serve system.Designed the hydraulic circuit for the research hydraulic serve system and make sure the distribution of each hydraulic component. Aiming at the load problem, build state space typed mathematical model of hydraulic serve system. Calculate and simulate kinematics and dynamics analysis of 3-PSS which is drove by hydraulic cylinder. Considering the effect of huge load on the actuator, flex the key parts with ABAQUS and have rigid-flexible coupling analysis with ADAMS.Simplify hydraulic mathematical model and identify the uncertain parameters of hydraulic system with MATLAB system identification toolbox which is used in the reference parameters of control algorithm. Design a extended state space disturbance observer(ESDO) to observe the uncertain load disturbance of the system and compensate with back-stepping robust algorithm. Simulate single-cylinder in MATLAB/Simulink to verify the control result. In the end, use combined simulation with ADAMS-MATLAB to verify the control result of 3-PSS drove by hydraulic serve system. From the result, the method with ESDO back-stepping robust algorithm has good load compensation result and tracking follow-up performance. The hydraulic serve system has good control accuracy.