已有在轨服役的空间飞行器对接机构，由于其被动机械式的设计特点，多数只能针对一组固定吨位的对接任务进行设计研制。而载人月球探测任务和空间站对接任务，因其任务复杂，对接机构需要具备多任务、多吨位、多工况的对接适应能力。该任务规划中，含有各类吨位主被动飞行器的对接组合需求。经过精心设计的具有弹簧阻尼、差动组合系统的被动机械式对接机构无法同时兼顾完成大对小、小对大吨位的空间飞行器对接任务，并且传统的增益规划类跟踪控制律也无法满足快瞬态响应、高精度控制等动力学控制需求。已有的运动学跟踪控制方法大多需要经验调参过程，往往步骤繁琐且易造成系统失稳。在此任务背景下，对研制一类具有精确动力学控制性能的主动电驱式对接机构提出了迫切需求。设计了一种基于非线性动态逆方法的主动电驱式对接机构位姿跟踪方法，并进行了仿真验证。多体动力学与控制系统联合仿真试验结果表明，所设计的非线性控制律能够完成既定控制目标，相较于传统方法能够进行精确动力学控制，响应迅速、精度更高且无需重复调参，为后续工程研制阶段提供了参考。

Due to their passive mechanical design characteristics， most space vehicle docking mechanisms that have already been in orbit can only be designed and developed for a fixed tonnage docking task. The manned lunar exploration mission and space station docking mission， due to their complexity， require the docking mechanism to have the ability to adapt to multiple tasks， tonnage， and working conditions. In the planning of these tasks， there is a requirement for the docking combination of various tonnage active and passive aircraft. The carefully designed passive mechanical docking mechanism with spring damping and differential combination system cannot simultaneously complete the docking tasks of large-to-small and small-to-large tonnage space vehicles， and traditional gain planning tracking control laws cannot meet the dynamic control requirements of fast transient response and high-precision control. Most existing kinematic tracking control methods require an empirical parameter tuning process， and are often cumbersome and prone to system instability. In the context of these missions， there is an urgent need to develop a type of active motor driven docking mechanism with precise dynamic control performance. This article proposes a position and attitude tracking control method for an active motor driven docking mechanism based on the nonlinear dynamic inversion method， and conducts simulation verification. The joint simulation test results of multi-body dynamics and control systems show that the nonlinear control law designed in this paper can achieve the established control objectives. Compared with traditional methods， it can perform precise dynamic control with fast response， higher accuracy， and no need for repeated parameter tuning. This provides a reference for the subsequent engineering research and development stage.