Self-Docking Characteristics and Sliding Mode Control on Space Electromagnetic Docking Mechanism

Electromagnetic docking technology can realize the flexible and safe separation of spacecraft, presents broad application prospects. However, an electromagnetic force with nonlinearity uncertainty properties increases difficulties control. In this work, magnetic dipole far-field model a single coil has been established by simplifying device. Afterward, torque models were obtained during space docking. The dynamics was analyzing influences disturbance caused geomagnetic field. According to one-dimensional reference trajectory, sliding mode variable structure controllers based on exponential reaching law proposed verified. quasi-sliding control method adopted solve chattering problem in simulation results show that it is necessary design add controller achieve quasi docking, have made good tracking effect trajectory. Compared law, reduce phenomenon process. strategy presented robustness. Therefore, provide theoretical guidance for process between satellites.