Pose Error Compensation for the Actuator of an Automatic Docking Connector
Abstract
To improve the automatic docking connector (ADC) of a launch vehicle docking accuracy and reduce the pose error of the actuator, an error compensation prediction model based on BP neural network is established. An error compensation method based on pseudo-object pose is developed to ensure the real-time performance of the control system. A prototype ADC is constructed, and a control system was set up to verify the effectiveness of the proposed error compensation method. A comparison of the measured positions before and after the application of error compensation and the theoretic position of the reference point revealed that the output error could be significantly reduced after application of the proposed error compensation method.
- Publication:
-
Journal of Physics Conference Series
- Pub Date:
- November 2019
- DOI:
- 10.1088/1742-6596/1345/3/032028
- Bibcode:
- 2019JPhCS1345c2028Z