Track planning method for automatic butting joint of fill-drain connector of launch vehicle

Abstract

The invention discloses a track planning method for automatic butting joint of a fill-drain connector of a launch vehicle. The automatic butting joint process is divided into three stages, namely the approximating movement stage, the rough butting joint stage and the fine butting joint stage; then the automatic butting joint movement of the fine butting joint stage is described as servo tracking movement of a random measurable target, and a linear superposition method is adopted to divide the automatic butting joint movement into two parts; the displacement of the automatic butting joint movement is obtained after the movement amount of the two parts is subjected to linear superposition; and the automatic butting joint movement is finally realized. During the fine butting joint stage, the fill-drain connector needs to make contact with a vehicle body propellant filling opening, random shaking of the launch vehicle exists under the influence of the wind load, thus in the butting joint process, the risk that when the fill-drain connector is in butting joint with the vehicle body propellant filling opening, collision occurs exists, the track planning method provided by the invention can effectively eliminate the collision risk, and the safety of automatic butting joint is improved.

Description

technical field [0001] The invention relates to an automatic docking trajectory planning method for a launch vehicle filling and releasing connector, and belongs to the technical field of launch vehicle ground equipment filling. Background technique [0002] The gas and liquid interface equipment between the launch vehicle or missile and the ground equipment is generally called a connector, and the interface equipment of the propellant filling port of the rocket body of the liquid launch vehicle and the ground filling equipment is called a filling and draining connector. Before launching, the launch vehicle has been connected with the filling pipeline through the filling and venting connector to complete the filling of propellant. [0003] The connection between the filling and draining connector and the propellant filling port of the rocket body needs to be docked. Under the existing technical conditions, the connection between the filling and draining connector and the pr...

AI Technical Summary

Problems solved by technology

[0004] When the launch vehicle is refueling, it will be affected by the wind load and cause unknown random shaking, which increases the difficulty of automatic docking control

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