大型运载火箭部段自动对接装备及工艺流程设计

Design of Automatic Docking Equipment and Process Flow for Large Launch Vehicle

为实现中国新一代大型运载火箭部段自动化对接,设计了一套主要由测量系统、控制系统和执行系统组成的自动对接装备。首先介绍大型运载火箭对接系统的总体设计思路以及测量系统、控制系统、执行系统的组成和工作原理。随后介绍了测量系统和控制系统的工艺流程。测量系统工艺流程共包括联合建站、关联全局坐标系、获得产品位姿数据、活动部段特征点测量、实时位姿测量5个步骤;介绍了位姿控制的工作原理和各驱动轴的耦合性分析。最后,针对该部段自动对接系统,提出了对接准备、产品吊装与状态确认、自动对接、撤收的自动对接工艺流程。经实际验证,自动对接装备和工艺流程能够满足新一代大型运载火箭自动对接要求。

In order to realize automatic docking of the new generation large launch vehicle of China,a set of equipment is designed.The automatic docking equipment is mainly composed of measurement system,control system and execution system.Firstly,the overall design ideas of the docking system for large launch vehicles are introduced,the composition and the working principle of the measurement system,the control system and the execution system.Then the technological process of measurement system and control system is introduced.The technological process of the measurement system includes five steps:building of joint station,association of global coordinate system,acquisition of product pose data,measurement of the feature of active parts and measurement of real-time pose.The working principle of pose control and coupling analysis of each driving axis are also introduced in this part.Finally,the preparation of docking,hoisting of product,confirmation of status,process of automatic docking and withdrawal are proposed specifically for the automatic docking system.The actual verification shows that the equipment is able to meet the requirements of automatic docking for the new generation large launch vehicle of China.