In order to determine the possible range of initial parameters (deviations and velocities), all types of error are analyzed. The dynamic components are defined by modeling. Table 1.1 gives the maximum values of deviations and velocities along various coordinates, which are, in principle related to different combinations. However, in planning and testing of the docking device, one usually examines the worst combinations, for example, those in which the kinetic energy of relative movement is maximal, or for which linkage may not occur. Maximum values are used for several parameters. This approach to the creation of a docking device leads to a certain excess of its characteristics (larger energy capacity of the shock absorbers, etc.). Sometimes it becomes necessary to use this excess, for example, to decrease size and lighten construction. Analysis of the visibility zones of the target during manual control or possible combinations of maximum deviations and velocities in various coordinates in automatic control make it possible to judge the range of initial conditions. This approach was demonstrated by NASA specialists in one of the stages of testing of the APDA. Based on the analysis of data obtained in the training of astronauts on trainers (Table 1.2) the maximum values of the angular deviations and lateral velocity were reduced. Analysis of the results of flight testing in fully automatic control mode and with the participation of the pilot confirmed that usually the initial parameters are signifiicantly less than the given maximum values. Table 1.2. Initial docking conditions obtained in the training of astronauts on an APDA trainer at the NASA Johnson Space Flight Center, 7 December 1974. a. Test number; b. m/s; c. m; d. degrees; e. degrees/second.
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