对接机构综合试验台运动模拟器建模分析

空间对接机构六自由度综合试验台，是对接机构研制所必须的地面试验设备之一，用于对接机构空间对接过程的仿真试验，全面考核对接机构的捕获与缓冲校正能力。利用虚功原理建立了对接机构综合试验台运动模拟器的多体动力学模型，该模型全面地表征了六自由度运动模拟器的动力学特性，且具有简单、通用的形式，对六自由度运动平台的液压驱动系统进行了建模，从而建立六自由度运动模拟器系统模型。在建立该模型的基础上，使用Simulink对运动模拟器的位置跟踪特性进行了仿真分析，结果表明所设计的控制系统满足工程试验的需求。

Movement Simulator Modeling and Simulation in Integrate Test Platform for Docking Mechanism

Six freedom integrate test platform for space docking mechanism is a key test equipment in developing docking mechanism on earth, being employed in the simulation of space docking process, to access the capture, cushion and emendation capability entirely. First, the multibody dynamic model established based on the virtual-work principle, in which the six-freedom movement simulator dynamic characteristic fully expressed in a simplified and universal format; then, the hydraulic drive system for the six freedom movement platform modeled, and the six freedom movement simulator model established accordingly as basis, the position tracking performance of the movement simulator simulated and analyzed in MatLab/Simulink environment in following, results show that the designed control system can meet the requirements of a engineering demand.