对接综合试验台轨迹规划算法研究

为实现模拟空间两飞行器对接动力学过程的对接综合试验台的平稳对接，提出了一种基于加速度控制的轨迹规划算法。给出了不同初始条件下的规划方法，以及时转动自由度的特殊处理。物理试验结果表明，规划模型能精确控制平台从初始零位运动到主被动对接机构初次接触位置，且最后时刻平台姿态与对接试验的初始条件完全吻合。该算法可直接用于对接综合试验台的控制。

Study on Locus Planning Algorithm about Docking General Test Stand

To realize the joint of docking general test stand smoothly which simulated docking kinetics process of two flying vehicles in space, a locus planning algorithm was put forward on the basis of acceleration control in this paper. The planning under different initial conditions was given, and the special treatment for freedom degree of rotation was also presented. The physical results showed that the planning module could control the test stand from the initial position to the contact position of active and passive docking mechanism accurately, and attitude of the test stand was agreed with the initial conditions well. The algorithm could be used in control of docking general test stand directly.