In order to realize autonomous mating between ground umbilical connector and launch vehicle, improve dynamic tracking performance during the autonomous mating process, a cartesian autonomous mating equipment using servo control technology was presented, and the detection function, control function and pose adjustment function could be realized. Secondly, the mathematical simulation model was established by using MATLAB/Simulink software.Finally, a series of autonomous mating experiments were carried out under different motion laws of amplitude and frequency based on the practical autonomous mating equipment. The results show that under the motion frequency of 0.5 Hz, the autonomous mating equipment can track without attenuation, the phase delay is less than 0.5°, but the tracking error increases with the increase of movement velocity of launch vehicle.