Rocket Off Automatic Docking Connector Servo Technology Research

Under the action of wind, Launch vehicle would be in swing randomly in erected before launch, and it caused trouble for charging lines’ automation docking and abscission. For improving the reliability&safety&convenience of charging lines and realizing rapidly launch, it is necessary to research the Automatically Docking and Abscission Mechanism which have the ability of active follow-up.First of all, carried out scheme design of the Automatically Docking and Abscission Mechanism and active follow-up system, then demonstrate it which including four subsystems:control system, supple system, executive system and signal examining system. Detailed analysis of the demand and scheme design is introduced for every subsystem in the paper, then design and analysis the hardware circuit of control system. Completed the selection of components after devising the hydraulic servo-system.In order to realizing the control of the Automatically Docking and Abscission Mechanism, the paper carried on the kinematic analysis and get the forward and inverse position solutions. Then the paper adopts a simple numerical method to solve the workspace of3-UPU mechanism and put it in order a centrum. At last, the Jacobian matrix and singular position are researched.The mathematical model of electro-hydraulic is established and simplified, then get the submodules’ mathematical and determination of parameters. Make the stability analysis by drawing the system’ bode diagram. Aiming at the defects of conventional PID controller, design the adaptive PID controller based on BP neural network, which realizing optimization the control parameters by means of the learning algorithm.Finally, the rocket in the rocking motion under the action of wind is analyzed, the paper get the equation of the hydraulic cylinder telescopic for dynamically tracking. Using Simulink respectively to the conventional PID control method and the neural network PID control method has carried on the contrast simulation, so it is confirmed that the dynamic performance and steady-state performance of system were improved compared to former, and it confirmed the feasibility of the hardware and software design.