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中文摘要：
以人控交会对接半物理仿真试验需求为背景,提出了可对人控交会对接控制系统单机敏感器性能和控制律设计方案进行仿真验证的人控交会对接九自由度半物理仿真试验系统的设计方法,给出了利用该设计方法对神舟九号飞船人控交会对接控制系统的仿真验证结果.神舟九号飞船与天宫一号目标飞行器首次在轨人控交会对接的工程实践结果表明,人控交会对接九自由度半物理仿真试验系统的设计方法正确.
英文摘要：
Considering the demand of the hardware-in-loop simulation for manual control rendezvous and docking, a simulation scheme is provided to validate the performance of sensors and the control law of manual control rendezvous and docking, named as 9-degree freedom hardware-in-loop simulation system for manual control rendezvous and docking. The scheme is applied to the design of the manual rendezvous and docking of ShenZhou-9 spaceship and the simulation results of the control system are provided. The results of the manual rendezvous and docking of ShenZhou-9 spaceship and Tiangong-1 on-orbit confirm the validity of this simulation system design.
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