Abstract: In order to improve the salvage success rate and safety of the spacecraft return capsule under high sea conditions, a method of flexible side salvaging system was introduced. Aiming at the problem of salvaging stability and security of the interceptor arm caused by the rescue ship movement, a method to control the rolling motion of the interceptor arm with the variable amplitude oil cylinder of the crane as the actuator was proposed. Model test studies on horizontal attitude salvage compensation system were conducted by using traditional PID control methods and fuzzy PID control methods. The rolling motion of the model test system was simulated by a swing table. Results show that the traditional PID control is influenced by the reverse dead zone of electro-hydraulic proportional directional valve, and the retraction delay of the variable amplitude oil cylinder cannot be compensated in time, which seriously affects the salvaging efficiency. However, fuzzy PID control can greatly improve the control performance. The model test system has the characteristics of fast response and stable and reliable operation. The compensation accuracy of the simulated six-level sea condition is ±1.3 degree, which can meet the requirements of salvage under high sea conditions. The method theory and test data can provide reference for the control optimization design of prototype.

Key words: spacecraft return capsule, salvage, fuzzy PID, interceptor arm, variable amplitude oil cylinder, model test

摘要： 为提高高海况飞船返回舱打捞成功率与安全性，介绍了一种舷侧柔性打捞系统方法原理。针对救助母船运动对拦截臂打捞稳定安全性问题，提出了一种以吊机变幅油缸为执行机构控制拦截臂横摇运动方法，采用传统PID控制方法和模糊PID控制方法分别对打捞水平姿态补偿系统进行模型试验研究，模型试验系统的横摇运动通过摇摆台模拟实现。结果表明：采用传统PID控制受电液比例换向阀反向死区的影响，变幅油缸缩回延时不能及时补偿而严重影响打捞效率，而模糊 PID控制能大大改善了控制性能，模型试验系统具有响应速度快、运行稳定可靠特点，模拟六级海况下补偿精度达到±1.3°，能满足高海况打捞要求。该方法理论和试验数据可为原型样机的控制优化设计提供参考。

关键词: 飞船返回舱, 打捞, 模糊PID, 拦截臂, 变幅油缸, 模型试验