Research On Compliance Control Technology Of Low Impact Docking Mechanism

The docking control technology of space docking mechanism can help the docking mechanism to complete docking more stably in space docking and improve the success rate of space docking mechanism.At present,the increasingly complex and diversified space missions put forward higher technical requirements for space docking technology,but there is still a gap between China’s space docking technology and foreign advanced technology,so it is necessary to study the docking technology of new docking institutions.Aiming at the docking control technology of new docking mechanism,the research contents of this paper are as follows:The composition,working principle and control process of low impact docking mechanism are introduced in detail.The technical requirements of docking control.are also given.The kinematics of the docking mechanism is introduced,and the velocity and force Jacobian matrix are deduced.The control method is analyzed.Considering the docking characteristics,the position-based impedance control is chosen as the compliance force control method.The criterion for selecting control parameters is analyzed by simulation,and the control law of collision force is given.The position impedance controller is designed,the three-dimensional model is established in ADAMS,and the docking control model based on position impedance controller is established in MATLAB.According to the joint simulation results,the problem of excessive collision force in docking under position impedance control strategy is analyzed.,and the inertia compensation scheme is given.The optimal docking control system based on inertia-impedance control is built.The simulation results of MATLAB and ADAMS under different working conditions show that the controller has good restraint effect on collision force in different docking environments.The feasibility of applying inertia-impedance controller to the docking control system is verified.On the basis of the docking control model based on inertia-impedance control,an adaptive impedance control model is constructed.The adaptive controller is designed according to model reference adaptive controller and Lyapunov stability theory.The joint simulation results show that the adaptive control can optimize the control effect of inertial-impedance controller,which fully verifies the feasibility of the adaptive control scheme.