运载火箭气液组合连接器动态自动对接技术

为实现未来重型运载火箭地面组合连接器与箭上接口的自动对接，提高发射准备流程安全性、可靠性，降低人员保障要求，开展了组合连接器自动对接的技术研究及总体策略分析，提出了由检测、智能控制、位姿调整系统组成的技术方案及非接触式检测+主动位姿调整+被动随动的自动对接策略，并开展了组合连接器自动对接试验系统研制，进行了组合连接器自动对接、低温加注、自动分离等全流程试验验证工作。结果表明:自动对接装置检测、智能控制、位姿调整等各项功能正常，自动对接策略准确、可行，解决了大载荷组合连接器在箭上接口大范围、高速运动条件下的自动对接难题，综合跟踪范围达±600 mm，综合跟踪速度达500 mm/s，各综合工况下完成自动对接时间约为3~5 min。 

Dynamic automatic docking technology of gas-liquid composite umbilical connector for launch vehicle

In order to realize the automatic docking of ground composite umbilical connector for heavy launch vehicle with rocket interface, enhance the safety and reliability, and reduce safeguards of launch preparation process, first, the technology and overall strategy of automatic docking of composite umbilical connector were analyzed in this paper, the technical scheme which is composed of detection, control and pose adjustment system was proposed, and the strategy of non-contact detecting, active tracking and passive servo was designed. Then, the experimental automatic docking system of composite umbilical connector was developed. Finally, a series of experimental verification work were carried out including automatic docking, low temperature filling and automatic separating. The results show that the detection, control and pose adjustment function of the automatic docking equipment are normal, the automatic docking strategy is accurate and feasible, the automatic docking problem of heavy-load composite umbilical connector under large scale and high speed condition is solved, the comprehensive tracking range reaches±600 mm, the comprehensive tracking speed reaches 500 mm/s, and the time for automatic docking under various operation conditions is about 3-5 min.