CN107352053A - A kind of carrier rocket, which adds, lets out connector automatic butt method for planning track - Google Patents
A kind of carrier rocket, which adds, lets out connector automatic butt method for planning track Download PDFInfo
- Publication number
- CN107352053A CN107352053A CN201710463722.4A CN201710463722A CN107352053A CN 107352053 A CN107352053 A CN 107352053A CN 201710463722 A CN201710463722 A CN 201710463722A CN 107352053 A CN107352053 A CN 107352053A
- Authority
- CN
- China
- Prior art keywords
- connector
- rocket
- carrier rocket
- repropellenting
- mouth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
Abstract
A kind of carrier rocket, which adds, lets out connector automatic butt method for planning track, automatic docking process is divided into three phases, respectively close to motion stage, slightly dock stage, smart docking stage, then it is the servo tracking campaign that can survey target at random by smart docking stage automatic butt sports immunology, and using the method for linear superposition, automatic butt motion is divided into two parts, the displacement to drawing automatic butt motion after two parts amount of exercise linear superposition, finally realizes that automatic butt is moved.In essence docking phase process, need plus let out connector and contacted with rocket body repropellenting mouth, rocked at random because carrier rocket occurs under the influence of wind load, therefore exist in docking operation plus let out the risk that connector docks the moment with rocket body repropellenting mouth and hit, method for planning track proposed by the present invention can effectively eliminate shock risk, improve automatic butt security.
Description
Technical field
Add the present invention relates to a kind of carrier rocket and let out connector automatic butt method for planning track, belong to carrier rocket ground
Equipment loading technique field.
Background technology
Air-liquid interface equipment between carrier rocket or guided missile and ground installation is commonly referred to as connector, liquid embarkation fire
The interface equipment of arrow rocket body repropellenting mouth and ground filing provision turns into plus lets out connector.Before transmission, carrier rocket
Let out connector all the time by adding and linked together with charging line, complete the filling work of propellant.
And add the connection for letting out connector and rocket body repropellenting mouth, it is necessary to carry out docking operation.Under the conditions of prior art,
Add and let out the connection of connector and rocket body repropellenting mouth by the manually operated completion of personnel, and the propellant one of carrier rocket
As be Hydrazine fuel or low temp fuel, personnel are manually operated to have larger security risk, therefore adds and let out connector and pushed away with rocket body
The automatic butt for entering agent filler is arisen at the historic moment.
Carrier rocket in filling, can be influenceed by wind load and cause it is unknown it is random rock, this gives automatic butt
Control add difficulty.In addition, rocket body valve has strict requirements with connector relative velocity, relative acceleration, therefore
Need to carry out trajectory planning to connector in the smart docking stage, add docking moment carrier rocket and let out connector and rocket body propellant
The relative velocity and relative acceleration of filler are in safe range, even if docking both moments stress and impact are in safety
In the range of, it will not be damaged with ensureing connector and rocket body repropellenting mouth docking moment.
The content of the invention
The technology of the present invention solves problem：Overcome the deficiencies in the prior art, there is provided a kind of to be easily achieved, be safe
Carrier rocket, which adds, lets out connector automatic butt method for planning track, eliminates carrier rocket and adds and lets out connector and carrier rocket rocket body pushes away
Enter the shock risk during docking of agent filler, realize safe and reliable docking.
The present invention technical solution be：A kind of carrier rocket, which adds, lets out connector automatic butt method for planning track, step
It is rapid as follows：
(1) known to carrier rocket ground with plus let out rocking in connector automatic docking process and local deformation
Largest enveloping scope, by measuring plus letting out the distance of connector and carrier rocket rocket body repropellenting mouth, control six in real time
Free degree motion is moved axially so to the edge of largest enveloping scope, make plus let out connector be located at largest enveloping scope it
Outer certain distance, complete close to motion；
(2) except plus let out connector along the freedom of motion moved to the direction of carrier rocket rocket body repropellenting mouth with
Outside, adjustment plus after letting out remaining five free degree of connector, makes plus lets out connector to exist with carrier rocket rocket body repropellenting mouth
The position of remaining five free degree is consistent with posture, completes thick docking；
(3) add the distance and largest enveloping scope let out connector and be located at outside largest enveloping scope according to step (1), make
The trajectory planning of essence docking motion is carried out with trajectory planning algorithm, that is, determines plus let out the equation of locus of connector；
(4) position and pose adjustment of remaining five free degree are kept, makes plus lets out connector and the propulsion of carrier rocket rocket body
Agent filler is consistent in real time all the time in the position of remaining five free degree and posture, is driven according to the trajectory planning close to motion
It is dynamic to add the straight line connecting line let out connector edge plus let out connector and carrier rocket rocket body repropellenting mouth, to carrier rocket rocket body
Repropellenting mouth moves, until plus let out connector along plus let out after connector contacts with carrier rocket rocket body repropellenting mouth
Docking is completed, makes plus to let out connector consistent with the speed of carrier rocket rocket body repropellenting mouth time of contact.
Trajectory planning algorithm in described step (3) is：
It is as follows to define constraints：
1. position constraint：z(t0)=z0, z (t0+ Δ t)=0
2. constraint of velocity：v(t0)=0, v (t0+ Δ t)=0
3. acceleration constrains：a(t0)=0, a (t0+ Δ t)=0
Wherein, t0It is to be carved at the beginning of trajectory planning moves for algorithm initial time, Δ t is Riming time of algorithm i.e. from thick
Docking completes the moment to the time for completing the docking moment, z0For known to carrier rocket rocket body repropellenting mouth and connector away from
Let out from completing to add close to after motion with a distance from connector and carrier rocket rocket body repropellenting mouth, z (t0) represent t0Moment adds
Let out the distance of connector and carrier rocket rocket body repropellenting mouth；v(t0) refer to t0Moment, which adds, lets out connector and carrier rocket arrow
The relative velocity of body repropellenting mouth；a(t0) refer to t0Moment, which adds, lets out connector and carrier rocket rocket body repropellenting mouth
Relative acceleration；
Equation of locus that is using quintic algebra curve interpolation method to be met constraint requirements plus letting out connector for：
Z (t) represents that t adds the real-time range for letting out connector and carrier rocket rocket body repropellenting mouth；
According to except add let out connector along the freedom of motion moved to the direction of carrier rocket rocket body repropellenting mouth with
Additional remaining five free degree for letting out connector let out the free degree linear superposition that the equation of locus z (t) of connector is represented with adding, and obtain
To adding the six degree of freedom variable quantity of letting out connector.
The mechanical structure of space six-freedom motion includes drive mechanism, according to the mechanical structure of space six-freedom motion
Geometrical relationship, the drive mechanism i.e. displacement of the lines of actuator or the angle position in mechanical structure are drawn by the computation of inverse- kinematics
Move, and drive ram acts.
Δ t acquiring method is：The limit velocity for the mechanical structure for moving hollow six-freedom motion is docked according to essence
And z0It is determined.
Add that to let out the certain distance that connector is located at outside largest enveloping scope in certain distance be 5mm~10mm.
It is described plus let out connector and refer to attachment means between carrier rocket and propellant loading equipment, add and let out connector and be
Including charging line and ancillary equipment, in cylindrical type, add that to let out connector automatic docking process be that plus will let out connector to be installed on one
In the individual mechanical structure for possessing space six-freedom motion, i.e. three translational degree of freedom, three rotational freedom motions, machinery knot
The mechanism that actively can be moved along a straight line or rotated in structure is actuator, drives this mechanical structure to complete to add by control algolithm
Let out the connection of connector and carrier rocket rocket body；
The present invention has the following advantages that compared with prior art：
(1) automatic docking process is divided into three phases by the present invention, and trajectory planning is carried out in the smart docking stage, in engineering
It can be achieved, filled up domestic carrier rocket and added the blank for letting out connector automatic butt control field.
(2) method for planning track of the invention is different from existing trajectory planning algorithm, and existing trajectory planning algorithm is mainly
The mobile target design known to static fixed target and the characteristics of motion, trajectory planning algorithm of the invention is exclusively at random may be used
Survey moving target and carry out trajectory planning design, for algorithm for it can survey the tracking of moving target at random, stability is good.
(3) present invention takes into account rapidity, the security requirement of automatic butt, only introduces trajectory planning side in the smart docking stage
For method to lift the security of docking motion, remaining stage does not consider trajectory planning problem, ensures the rapidity of docking motion.
(4) essence docking motion stage is separated into the close of rocket body repropellenting mouth by method for planning track of the invention
Motion and the pursuit movement with a known distance, achieve a butt joint in theory moment rocket body repropellenting mouth and plus let out connector
Relative velocity, relative acceleration zero, prevented shock risk in theory.
(5) method for planning track of the invention presets track different from existing trajectory planning algorithm, but according to about
Beam condition revised planning track in real time, rocked with adapting to the random of rocket body repropellenting mouth.
Brief description of the drawings
Fig. 1 is the flow chart of method for planning track of the present invention；
Fig. 2 is the flow chart in automatic butt of the present invention each stage；
Fig. 3 is the coordinate definition and configuration space schematic diagram of the present invention；
Embodiment
A kind of carrier rocket of the present invention, which adds, lets out connector automatic butt method for planning track, and automatic docking process is divided into three
In the individual stage, respectively close to motion stage, stage, smart docking stage are slightly docked, then moves smart docking stage automatic butt
It is described as to survey the servo tracking campaign of target at random, and using the method for linear superposition, automatic butt motion is divided into two
Point：Servo tracking campaign is carried out with a known distance first, adding and letting out connector and rocket body repropellenting mouth, connection is let out second, adding
Device and rocket body repropellenting mouth, close to motion, are controlled algorithm to two parts motion respectively and set based on trajectory planning algorithm
Meter, the displacement to drawing automatic butt motion after two parts amount of exercise linear superposition, finally realize that automatic butt is moved.Essence is right
Connect in phase process, it is necessary to plus let out connector and contacted with rocket body repropellenting mouth, because carrier rocket is in the influence of wind load
Under occur and rock at random therefore exist in docking operation plus let out connector and dock the moment with rocket body repropellenting mouth and hit
The risk hit, method for planning track proposed by the present invention can effectively eliminate shock risk, improve automatic butt security.
As shown in Fig. 2 basic ideas of the invention are：A kind of carrier rocket, which adds, lets out connector automatic butt trajectory planning
Method, it is characterised in that step is as follows：
(1) known to rocket ground with plus let out rocking with local deformation most in connector automatic docking process
Big envelope scope, by measuring plus letting out the distance of connector and carrier rocket rocket body repropellenting mouth in real time, control six is freely
Degree motion is moved axially so to the edge of largest enveloping scope, is made plus is let out connector and be located at one outside largest enveloping scope
Set a distance, complete close to motion；
(2) except plus let out connector along the freedom of motion moved to the direction of carrier rocket rocket body repropellenting mouth with
Outside, adjustment plus after letting out remaining five free degree of connector, makes plus lets out connector to exist with carrier rocket rocket body repropellenting mouth
The position of remaining five free degree is consistent with posture, completes thick docking；
(3) add the distance and largest enveloping scope let out connector and be located at outside largest enveloping scope according to step (1), make
The trajectory planning of essence docking motion is carried out with trajectory planning algorithm, that is, determines plus let out the equation of locus of connector；
(4) position and pose adjustment of remaining five free degree are kept, makes plus lets out connector and the propulsion of carrier rocket rocket body
Agent filler is consistent in real time all the time in the position of remaining five free degree and posture, is driven according to the trajectory planning close to motion
It is dynamic to add the straight line connecting line let out connector edge plus let out connector and carrier rocket rocket body repropellenting mouth, to carrier rocket rocket body
Repropellenting mouth moves, until plus let out connector along plus let out after connector contacts with carrier rocket rocket body repropellenting mouth
Docking is completed, makes plus to let out connector consistent with the speed of carrier rocket rocket body repropellenting mouth time of contact.
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 2, it is necessary to plus connector and rocket body repropellenting mouth will be let out in carrier rocket fills set-up procedure
Docked, and carrier rocket, under the influence of wind load, rocket body repropellenting mouth occurs to be rocked at random, for safety
Consider, let out connector adding and dock moment with rocket body repropellenting mouth, the relative velocity and relative acceleration of the two have sternly
The requirement of lattice, to prevent the generation of security incident caused by hitting.
Due to the limitation of rocket body rigidity and structure, rocket body repropellenting mouth rocks in certain spatial dimension at random,
Spatial dimension also includes spatial attitude in addition to locus, i.e. random rock of filler is rocked at random for space six degree of freedom,
This scope is largest enveloping scope, and rocking in largest enveloping scope and each free degree can be monitored by certain means
The angular speed of maximal rate.
Add and let out connector and be installed in a mechanism for possessing space six-freedom motion ability, be i.e. mechanism in six degree of freedom
On, the drive mechanism of six degree of freedom is actuator.Plus connector front end axle center will be let out as mechanism end position, then establish coordinate
System is as follows：To let out connector be in cylindrical shape due to adding, therefore selection establishes inertial coodinate system at the front end axle center of connector
Oi-XiYiZiWith the disjunctor coordinate system O in connector front end axle centerc-XcYcZc, the initial pose of two coordinate systems is completely superposed, wherein
Disjunctor coordinate system Oc-XcYcZcMoved in automatic butt system work process with connector, and disjunctor coordinate system is with adding
The relative position for letting out connector keeps constant, i.e., plus lets out coordinate of the connector each several part under disjunctor coordinate system and keep constant.Sit
Sign is intended to as shown in Figure 3.
As shown in figure 3, using connector front end axle center as origin of coordinates Oi(Oc)；Xi(Xc) axle positive direction point to vertical it is upward
Direction, Zi(Zc) axle is parallel with horizontal line, direction is pointed to outside connector, Yi(Yc) axle determines by the right-hand rule.
According to coordinate definition, disjunctor coordinate system Oc-XcYcZcRelative to inertial coodinate system Oi-XiYiZiPose can use
Generalized coordinates vector qcTo represent, whereintcIt is disjunctor coordinate origin in inertial coodinate system
Under coordinate vector tc=[xc,yc,zc]T, pcThe attitude angle (Eulerian angles) for being disjunctor coordinate system under inertial coodinate system system, whereinWherein,It is disjunctor coordinate system around XiThe axle anglec of rotation, also referred to as yaw angle or deflection angle；θcFor disjunctor
Coordinate is around YiThe axle anglec of rotation, the also referred to as angle of pitch；φcIt is disjunctor coordinate system around ZiThe axle anglec of rotation, also referred to as roll angle.
Under the conditions of not rocking, the generalized coordinates of initial pose of the rocket body repropellenting mouth under inertial coodinate system is
(0,0,1,0,0,0), rocket body repropellenting mouth rock envelope scope for (± 0.1, ± 0.1,1 ± 0.1, ± 1, ± 1, ±
1), wherein the unit of posture coordinate is radian, and the unit of position coordinates is rice.
The three phases of automatic butt are close to motion stage, slightly to dock stage, smart docking stage.As shown in Figure 3.
1) close to motion stage：Control mechanism in six degree of freedom makes plus lets out connector along ZiDirection of principal axis is moved to inertial coodinate system
Lower generalized coordinates (0,0,0.85,0,0,0) place, i.e., first move to and rock largest enveloping scope apart from rocket body repropellenting mouth
At 0.05m, outside largest enveloping scope, planned close to motion stage using constant speedpump, connector is moved at 0.85m
It can be accurately positioned when outside rocket body repropellenting mouth largest enveloping scope, will not cause to enter rocket body propellant because of overshoot
Filler is rocked in the range of largest enveloping, to reduce the potential risk hit.
2) stage is slightly docked：Under inertial coodinate system, Zi=0.85 and in the vertical guide of Z axis, control six degree of freedom
Mechanism makes plus lets out generalized coordinates of the connector in inertial coodinate system, i.e. generalized coordinates of the disjunctor coordinate system under inertial coodinate system,
Except ZiThe coordinate in direction is outer to be consistent with generalized coordinates of the rocket body repropellenting mouth in inertial coodinate system, i.e. control plus the company of letting out
Connect device and X is carried out to rocket body repropellenting mouthi、Yi, driftage, pitching, the follow-up motion in rolling direction, make five frees degree of the above
Smoothly it can enter within the error allowed band of servo follow-up tracing.Complete the thick docking stage.
3) the smart docking stage：Control mechanism in six degree of freedom makes plus let out connector keeping to rocket body repropellenting mouth used
X in property coordinate systemi、Yi, driftage, pitching, on the basis of the follow-up motion of rolling direction, along ZiAxle positive direction is moved, i.e., plus lets out connection
Device is moved to complete to dock to rocket body repropellenting mouth direction.In the smart docking stage, it is as follows to introduce trajectory planning algorithm：
As shown in figure 1, the flow chart of the method for planning track for the present invention.First, carrying out automatic butt Kinematic Decomposition is
Two parts, one is will be along ZiThe docking Kinematic Decomposition of axle is with the pursuit movement of 0.85m distance, i.e., plus lets out connector and arrow
Body repropellenting mouth remains the motion of 0.85m distance, the second is carrying out trajectory planning, track rule with 0.85m distances
The method of calculating is as follows：
Define constraints：
1. position constraint：z(t0)=z0, z (t0+ Δ t)=0
2. constraint of velocity：v(t0)=0, v (t0+ Δ t)=0
3. acceleration constrains：a(t0)=0, a (t0+ Δ t)=0
Wherein, t0For algorithm initial time, Δ t is Riming time of algorithm, z0For known to rocket body valve and connector away from
From, the present invention embodiment in be 0.85m.
Use quintic algebra curve interpolation method be met the equation of locus of constraint requirements for：
From above-mentioned constraints, this track may be implemented in t0+ time Δt, add and let out connector and rocket body propellant adds
Geat distance is 0, i.e. docking is completed, while now adds the relative velocity and phase for letting out connector front end and rocket body repropellenting mouth
Be 0 to acceleration, i.e., plus let out connector and rocket body repropellenting mouth docking the moment stress be 0, do not hit risk.
The specific run time of algorithm is determined by the way that Δ t minimum zones are calculated, is asked for by the method for optimization
Δtmin, i.e. the minimum value of Riming time of algorithm.The step of asking for of optimal method is：
First, kinematic calculation is carried out by mechanism in six degree of freedom actuator maximal rate and angular speed and obtains six degree of freedom machine
Maximal rate of the structure on six-freedom degree direction；
Secondly, rocket body repropellenting mouth all directions are rocked into speed limit and mechanism in six degree of freedom in six-freedom degree
Maximal rate on direction compares, and obtains under the conditions of meeting that rocket body repropellenting mouth rocks, the speed available for trajectory planning
Spend surplus, i.e. Z in trajectory planning algorithmiThe speed maximum of axle motion.
Again, by Z in trajectory planning algorithmiThe speed maximum and Z of axle motion0Calculated, you can ask for algorithm operation
Minimum time Δ tmin, in real process, take Δ t ＞ Δs tmin.
After obtaining Δ t, by track z (t) and with Z0The pursuit movement of distance carries out linear superposition, as ZiAxle positive direction is transported
It is dynamic.Make plus let out connector in holding to rocket body repropellenting mouth X in inertial coodinate systemi、Yi, driftage, pitching, rolling direction
On the basis of follow-up motion, make plus let out connector and moved along the trajectory planning after above-mentioned superposition, you can realize plus lets out connector essence
The trajectory planning in docking stage, the adjustment of connector real-time pose is carried out plus let out along the track after this planning, finally makes plus lets out connection
The distance of device and rocket body repropellenting mouth is 0, and now the two relative velocity and relative acceleration are 0, make plus let out connector
Docked safely with rocket body repropellenting mouth, avoid the risk hit.
Claims (7)
1. a kind of carrier rocket, which adds, lets out connector automatic butt method for planning track, it is characterised in that step is as follows：
(1) rocket on ground and adds the maximum bag rocked with local deformation in letting out connector automatic docking process known to
Network scope, by measuring plus letting out the distance of connector and carrier rocket rocket body repropellenting mouth, control six degree of freedom fortune in real time
Motivation structure is moved axially so to the edge of largest enveloping scope, is made plus is let out connector and be located at a spacing outside largest enveloping scope
From the close motion of completion；
(2) in addition to adding and letting out connector along the freedom of motion moved to the direction of carrier rocket rocket body repropellenting mouth, adjust
It is whole plus after letting out remaining five free degree of connector, make plus let out connector and carrier rocket rocket body repropellenting mouth remaining five
The position of the individual free degree is consistent with posture, completes thick docking；
(3) add the distance and largest enveloping scope let out connector and be located at outside largest enveloping scope according to step (1), use rail
Mark planning algorithm carries out the trajectory planning of essence docking motion, that is, determines plus let out the equation of locus of connector；
(4) position and pose adjustment of remaining five free degree are kept, is made plus is let out connector and add with carrier rocket rocket body propellant
Geat is consistent in real time all the time in the position of remaining five free degree and posture, is added according to the trajectory planning driving close to motion
The straight line connecting line that connector lets out connector and carrier rocket rocket body repropellenting mouth along adding is let out, is promoted to carrier rocket rocket body
Agent filler moves, and is completed until adding to let out connector edge plus let out after connector contacts with carrier rocket rocket body repropellenting mouth
Docking, makes plus to let out connector consistent with the speed of carrier rocket rocket body repropellenting mouth time of contact.
2. a kind of carrier rocket according to claim 1, which adds, lets out connector automatic butt method for planning track, its feature exists
In：Trajectory planning algorithm in described step (3) is：
It is as follows to define constraints：
1. position constraint：z(t0)=z0, z (t0+ Δ t)=0
2. constraint of velocity：v(t0)=0, v (t0+ Δ t)=0
3. acceleration constrains：a(t0)=0, a (t0+ Δ t)=0
Wherein, t0It is to be carved at the beginning of trajectory planning moves for algorithm initial time, Δ t is Riming time of algorithm i.e. from thick docking
The moment is completed to the time for completing the docking moment, z0Known distance for carrier rocket rocket body repropellenting mouth and connector is
Complete close to after motion plus let out the distance of connector and carrier rocket rocket body repropellenting mouth, z (t0) represent t0Moment adds the company of letting out
Connect the distance of device and carrier rocket rocket body repropellenting mouth；v(t0) refer to t0Moment, which adds, lets out connector and carrier rocket rocket body pushes away
Enter the relative velocity of agent filler；a(t0) refer to t0Moment, which adds, lets out the relative of connector and carrier rocket rocket body repropellenting mouth
Acceleration；
Equation of locus that is using quintic algebra curve interpolation method to be met constraint requirements plus letting out connector for：
Z (t) represents that t adds the real-time range for letting out connector and carrier rocket rocket body repropellenting mouth.
3. a kind of carrier rocket according to claim 1, which adds, lets out connector automatic butt method for planning track, its feature exists
In：Let out connector according to except adding and let out along the freedom of motion that is moved to the direction of carrier rocket rocket body repropellenting mouth with additional
Remaining five free degree of connector let out the free degree linear superposition that the equation of locus z (t) of connector is represented with adding, and obtain plus let out
The six degree of freedom variable quantity of connector.
4. a kind of carrier rocket according to claim 1, which adds, lets out connector automatic butt method for planning track, its feature exists
In：The mechanical structure of space six-freedom motion includes drive mechanism, according to the several of the mechanical structure of space six-freedom motion
What relation, the drive mechanism i.e. displacement of the lines of actuator or the angular displacement in mechanical structure are drawn by the computation of inverse- kinematics, and
Drive ram acts.
5. a kind of carrier rocket according to claim 2, which adds, lets out connector automatic butt method for planning track, its feature exists
In：Δ t acquiring method is：The limit velocity and z for the mechanical structure for moving hollow six-freedom motion are docked according to essence0Enter
Row determines.
6. a kind of carrier rocket according to claim 2, which adds, lets out connector automatic butt method for planning track, its feature exists
In：Add that to let out the certain distance that connector is located at outside largest enveloping scope in certain distance be 5mm~10mm.
7. a kind of carrier rocket according to claim 2, which adds, lets out connector automatic butt method for planning track, its feature exists
In：It is described plus let out connector and refer to attachment means between carrier rocket and propellant loading equipment, add that to let out connector be to include
Charging line and ancillary equipment, in cylindrical type, add that to let out connector automatic docking process be that plus will let out connector to be installed on a tool
In the mechanical structure of standby space six-freedom motion, i.e. three translational degree of freedom, three rotational freedoms move, in mechanical structure
The mechanism that actively can be moved along a straight line or rotated is actuator, drives this mechanical structure to complete to add the company of letting out by control algolithm
Connect the connection of device and carrier rocket rocket body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463722.4A CN107352053B (en) | 2017-06-19 | 2017-06-19 | Automatic docking trajectory planning method for carrier rocket add-and-drop connectors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463722.4A CN107352053B (en) | 2017-06-19 | 2017-06-19 | Automatic docking trajectory planning method for carrier rocket add-and-drop connectors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352053A true CN107352053A (en) | 2017-11-17 |
| CN107352053B CN107352053B (en) | 2019-12-20 |
Family
ID=60272940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710463722.4A Active CN107352053B (en) | 2017-06-19 | 2017-06-19 | Automatic docking trajectory planning method for carrier rocket add-and-drop connectors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107352053B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128801A (en) * | 2018-08-24 | 2019-01-04 | 北京航天发射技术研究所 | A kind of High Precision Automatic docking facilities and its interconnection method |
| CN111023916A (en) * | 2019-12-31 | 2020-04-17 | 蓝箭航天空间科技股份有限公司 | Arrow body connector capture device |
| CN112078829A (en) * | 2020-09-11 | 2020-12-15 | 天津航天长征火箭制造有限公司 | Precise docking coordination method for carrier rocket sections |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672394A (en) * | 1992-08-27 | 1994-03-15 | Mitsubishi Heavy Ind Ltd | Space rocket |
| CN101398277A (en) * | 2008-11-06 | 2009-04-01 | 上海交通大学 | Robot system for implementing amphibious automatic butt joint and releasing for rocket |
| CN104731015A (en) * | 2015-02-04 | 2015-06-24 | 北京航天发射技术研究所 | Fast centering method |
| CN105539887A (en) * | 2016-01-12 | 2016-05-04 | 南京理工大学 | Automatic docking fill-drain connector pose compensation mechanism for carrier rocket |
-
2017
- 2017-06-19 CN CN201710463722.4A patent/CN107352053B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0672394A (en) * | 1992-08-27 | 1994-03-15 | Mitsubishi Heavy Ind Ltd | Space rocket |
| CN101398277A (en) * | 2008-11-06 | 2009-04-01 | 上海交通大学 | Robot system for implementing amphibious automatic butt joint and releasing for rocket |
| CN104731015A (en) * | 2015-02-04 | 2015-06-24 | 北京航天发射技术研究所 | Fast centering method |
| CN105539887A (en) * | 2016-01-12 | 2016-05-04 | 南京理工大学 | Automatic docking fill-drain connector pose compensation mechanism for carrier rocket |
Non-Patent Citations (3)
| Title |
|---|
| 郑国昆等: "基于运载火箭加泄连接器自动对接系统的控制流程研究", 《导弹与航天运载技术》 * |
| 郑国昆等: "运载火箭加泄连接器自动对接尾段轨迹规划研究", 《第33届中国控制会议论文集（E卷）》 * |
| 黄小妮等: "运载火箭推进剂加注自动对接与脱离机器人本体设计", 《机器人》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128801A (en) * | 2018-08-24 | 2019-01-04 | 北京航天发射技术研究所 | A kind of High Precision Automatic docking facilities and its interconnection method |
| CN109128801B (en) * | 2018-08-24 | 2020-08-07 | 北京航天发射技术研究所 | High-precision automatic butt joint device and butt joint method thereof |
| CN111023916A (en) * | 2019-12-31 | 2020-04-17 | 蓝箭航天空间科技股份有限公司 | Arrow body connector capture device |
| CN112078829A (en) * | 2020-09-11 | 2020-12-15 | 天津航天长征火箭制造有限公司 | Precise docking coordination method for carrier rocket sections |
| CN112078829B (en) * | 2020-09-11 | 2022-10-14 | 天津航天长征火箭制造有限公司 | Precise docking coordination method for carrier rocket sections |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107352053B (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100565406C (en) | A kind of aircraft part pose Adjustment System and method based on four locater | |
| CN105787200B (en) | Large component automatic butt assembly method and system | |
| CN107352053A (en) | A kind of carrier rocket, which adds, lets out connector automatic butt method for planning track | |
| CN105183009B (en) | A kind of redundant mechanical arm method for controlling trajectory | |
| CN107145071B (en) | Lagrange power model and controller of space tether system | |
| CN113146610B (en) | Mechanical arm tail end track tracking algorithm based on zero space obstacle avoidance | |
| CN106444822B (en) | A kind of stratospheric airship path tracking control method based on space vector field guidance | |
| CN111208845B (en) | Path planning method and device for movable butt joint recovery of underwater robot | |
| CN101612734A (en) | Pipeline spraying robot and operation track planning method thereof | |
| Meng et al. | Vibration suppression control of free-floating space robots with flexible appendages for autonomous target capturing | |
| US20140288705A1 (en) | Humanoid Fall Damage Reduction | |
| CN103207566A (en) | Space teleoperation method dynamically assisted by speed type virtual force feedback | |
| CN103826807A (en) | Control method for a robot | |
| CN105382843A (en) | Coordination control method for mechanical arm and operation platform in final stage of grabbing | |
| CN109703768A (en) | It is a kind of based on the soft air refuelling interconnection method of posture/track complex controll | |
| CN113325859B (en) | Control method for vertically climbing and walking of walking hybrid underwater robot along inclined plane | |
| CN107052735A (en) | Self-adapting flexible dress calibration system based on self-balancing | |
| CN108089583B (en) | Method and device for motion transition of multi-legged robot | |
| Ba et al. | Balancing and translation control of a ball segway that a human can ride | |
| CN114019986B (en) | Path planning method of wall-climbing robot | |
| Watanabe et al. | Image-based visual PID control of a micro helicopter using a stationary camera | |
| CN109484676B (en) | Equivalent attitude control processing method for vertical take-off and landing rocket online trajectory planning | |
| Zhang et al. | A composite cog trajectory planning method for the quadruped robot walking on rough terrain | |
| CN107436605B (en) | Underwater robot control method considering multi-body coupling | |
| CN108454884A (en) | A kind of power rises safe method of guidance and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |