自主空中加油能力需求及关键评价指标分析

doi:10.16182/j.issn1004731x.joss.22-0655

摘要/Abstract

摘要：

从飞行试验角度而言，如何评价自主空中加受油能力，以及采用哪些关键指标进行评价是自主空中加受油试飞亟待解决的关键问题。从国内外空中加油相关标准要求出发，同时借鉴有人机空中加油的成功经验，分析了自主空中加油总体能力需求，提出了会合、编队、对接、加油及脱离等全过程关键评价指标，在数值仿真和硬件在回路两种环境下对评估方法进行了试验验证，结合试验结果，对影响自主空中加油对接成功的关键因素进行了分析并提出了评价指标建议，试验结果可为自主空中加受油流程设计、试飞验证等方面提供参考和借鉴。

关键词: 自主空中加油, 能力需求, 对接阶段, 评价指标, 硬件在回路

Abstract:

From the perspective of flight tests, how to evaluate the autonomous aerial refueling (AAR) capability and select key indicators for evaluation is a key problem to be solved for AAR trials. The standards requirements of aerial refueling and manned aircraft aerial refueling experience in China and abroad are analyzed. The total capability of AAR is studied, and key evaluation indicators in the AAR whole process including rendezvous, formation, docking, refueling, and disengagement are proposed. The evaluation method is demonstrated in both numerical simulation and hardware-in-loop test environments. Finally, the key indicators affecting the docking success of AAR are analyzed, and suggestions for evaluation indicators are proposed.The test results can provide a reference for the process design and flight test verification of AAR.

Key words: autonomous aerial refueling(AAR), capability requirements, docking process, evaluation indicators, hardware-in-loop(HIL)

中图分类号:

TP391.9

邹泉,华艺欣,邵翥等 . 自主空中加油能力需求及关键评价指标分析[J]. 系统仿真学报, 2023, 35(11): 2385-2396.

Zou Quan,Hua Yixin,Shao Zhu,et al . Analysis of Autonomous Aerial Refueling Capability Requirements and Key Evaluation Indicators[J]. Journal of System Simulation, 2023, 35(11): 2385-2396.

图/表 14

图1

表1

图2

表2

图3

图4

图5

图6

图7

图8

图9

图10

表3

表4

参考文献 25

1	廖南杰. MQ-25无人机完成首次空中供油试验[N]. 中国航空报, 2021-07-06(A09).
2	钟德星, 李永强, 李严桵. 无人机自主空中加油技术现状及发展趋势[J]. 航空科学技术, 2014, 25(5): 1-6.
	Zhong Dexing, Li Yongqiang, Li Yanrui. State-of-the-art and Tendency of Autonomous Aerial Refueling Technologies for Unmanned Aerial Vehicles[J]. Aeronautical Science & Technology, 2014, 25(5): 1-6.
3	李明. 美国海军舰载无人空中加油系统项目及动力[J]. 航空动力, 2018(2): 40-44.
	Li Ming. U.S. Navy Carrier-based Unmanned Tanker MQ-25 and It's Engine Selection[J]. Aerospace Power, 2018(2): 40-44.
4	Dibley R P, Allen M J, Dr Nassib Nabaa. Autonomous Airborne Refueling Demonstration Phase I Flight-test Results[C]//AIAA Atmospheric Flight Mechanics Conference and Exhibit. Reston, VA, USA: AIAA, 2007: AIAA 2007-6639.
5	Ro K, Basaran E. Aerodynamic Investigations of Paradrogue Assembly in Aerial Refueling System[C]//44th AIAA Aerospace Sciences Meeting and Exhibit. Reston, VA, USA: AIAA, 2006: AIAA 2006-855.
6	全权, 魏子博, 高俊, 等. 软管式自主空中加油对接阶段中的建模与控制综述[J]. 航空学报, 2014, 35(9): 2390-2410.
	Quan Quan, Wei Zibo, Gao Jun, et al. A Survey on Modeling and Control Problems for Probe and Drogue Autonomous Aerial Refueling at Docking Stage[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(9): 2390-2410.
7	国防科学技术工业委员会. 插头-锥管式空中加油系统通用规范: [S]. 北京: 国防科学技术工业委员会, 1993.
	The Commission of Science, Technology and Industry for National Defense. In-flight Refuelling System, Type Probe and Drogue, General Specification for: [S]. Beijing: The Commission of Science, Technology and Industry for National Defense, 1993.
8	国防科学技术工业委员会. 插头-锥管式空中加油吊舱规范: [S]. 北京: 国防科学技术工业委员会, 1997.
	The Commission of Science, Technology and Industry for National Defense. Air to Air Refuelling (AAR) Pod Type of Probe and Drogue, Specification for: [S]. Beijing: The Commission of Science, Technology and Industry for National Defense, 1997.
9	国防科学技术工业委员会. 飞机燃油系统飞行试验要求: [S]. 北京: 国防科学技术工业委员会, 1998.
	The Commission of Science, Technology and Industry for National Defense. Flight Test Requirements for Aircraft Fuel System: [S]. Beijing: The Commission of Science, Technology and Industry for National Defense, 1998.
10	华艺欣, 邹泉, 田海铭. 软式自主空中加油控制策略仿真[J]. 北京航空航天大学学报, 2021, 47(2): 262-270.
	Hua Yixin, Zou Quan, Tian Haiming. Control Strategy and Simulation for Probe-and-drogue Aerial Autonomous Refueling[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 262-270.
11	潘科, 潘宣宏, 郭新奇, 等. 空中加油机作战效能设计参数的主成分分析[J]. 舰船电子工程, 2017, 37(4): 21-24.
	Pan Ke, Pan Xuanhong, Guo Xinqi, et al. Principal Component Analysis on Design Parameters of Aerial Refueling Aircraft Operational Effectiveness[J]. Ship Electronic Engineering, 2017, 37(4): 21-24.
12	陈乐乐, 刘学强. 不同对接速度下软式加油管锥套运动特性数值模拟研究[J]. 空气动力学学报, 2017, 35(1): 115-122.
	Chen Lele, Liu Xueqiang. Dynamic Characteristics Analysis of Refueling Drogue at Various Docking Velocities[J]. Acta Aerodynamica Sinica, 2017, 35(1): 115-122.
13	陆宇平, 杨朝星, 刘洋洋. 空中加油系统的建模与控制技术综述[J]. 航空学报, 2014, 35(9): 2375-2389.
	Lu Yuping, Yang Chaoxing, Liu Yangyang. A Survey of Modeling and Control Technologies for Aerial Refueling System[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(9): 2375-2389.
14	王健, 董新民, 徐跃鉴, 等. 软式空中加油受油机头波数值仿真分析[J]. 飞行力学, 2016, 34(1): 54-58.
	Wang Jian, Dong Xinmin, Xu Yuejian, et al. Simulation and Analysis of the Bow Wave Effect of the Receiver in Hose-drogue Aerial Refueling[J]. Flight Dynamics, 2016, 34(1): 54-58.
15	王海涛, 董新民. 空中加油动力学与控制[M]. 北京: 国防工业出版社, 2016: 56-63.
16	徐坚, 张晓非. 软式空中加油头波效应建模与仿真[J]. 飞行力学, 2019, 37(5): 40-44.
	Xu Jian, Zhang Xiaofei. Dynamic Modeling and Simulation of Bow Wave Effect in Hose-drogue Aerial Refueling System[J]. Flight Dynamics, 2019, 37(5): 40-44.
17	谢磊, 孙绍山, 金智, 等. 无人自主空中加油相对引导技术[N]. 中国航空报, 2018-11-01(A05).
18	张博连. 无人机自主空中加油对接控制技术研究[D]. 哈尔滨: 哈尔滨工业大学, 2019.
	Zhang Bolian. Docking Control Method for Autonomous Aerial Refueling for Unmanned Aerial Vehicles[D]. Harbin: Harbin Institute of Technology, 2019.
19	陈娟, 赵君伟, 付永领, 等. 受油机运动模拟系统设计与建模仿真分析[J]. 机床与液压, 2017, 45(15): 10-14.
	Chen Juan, Zhao Junwei, Fu Yongling, et al. Design and Modeling Simulation Analysis of Motion Simulation System of Refueled Aircraft[J]. Machine Tool & Hydraulics, 2017, 45(15): 10-14.
20	秦勇, 王宏伦, 苏子康, 等. 基于视觉的自主空中加油锥套检测与跟踪[J]. 战术导弹技术, 2016(6): 2390-2410.
	Qin Yong, Wang Honglun, Su Zikang, et al. Drogue Detection and Tracking Based on Vision for Autonomous Aerial Refueling[J]. Tactical Missile Technology, 2016(6): 2390-2410.
21	李柱. 基于双目视觉的无人机自主空中加油对接导航方法[D]. 厦门: 厦门大学, 2018.
	Li Zhu. Binocular-vision-based Docking Navigation Method for UAV Self-refueling[D]. Xiamen: Xiamen University, 2018.
22	单尧. 空中加油对接系统视觉处理与飞行验证[D]. 南京: 南京航空航天大学, 2018.
	Shan Yao. Research on Detection Identification Algorithm of Drogue Images and Flight Verification[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2018.
23	周清, 许悦雷, 加尔肯别克. 无人机软管式自主空中加油视觉导航技术[J]. 导航定位与授时, 2020, 7(1): 40-47.
	Zhou Qing, Xu Yuelei, Jia Erkenbieke. Visual Navigation Technology for UAV Autonomous Hose-drogue Aerial Refueling[J]. Navigation Positioning and Timing, 2020, 7(1): 40-47.
24	解洪文, 王宏伦. 基于双目视觉的自动空中加油近距导航方法[J]. 北京航空航天大学学报, 2011, 37(2): 206-209.
	Xie Hongwen, Wang Honglun. Binocular Vision-based Short-range Navigation Method for Autonomous Aerial Refueling[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(2): 206-209.
25	纪超, 王庆. 基于双目视觉的自主空中加油算法研究与仿真[J]. 系统仿真学报, 2013, 25(6): 1327-1331.
	Ji Chao, Wang Qing. Stereo Vision System and Simulation for Autonomous Aerial Refueling[J]. Journal of System Simulation, 2013, 25(6): 1327-1331.

评价项目	评价指标
总体能力	受油机编队飞机数量特定气象条件下的对接成功率
自主会合	会合时间到达会合控制点的控制精度
自主编队	编队位置保持精度编队效率
自主对接	加受油机相对位置测量精度相对对接速度对接保持控制精度对接保持时间
自主加油及脱离	加油编队位置保持精度脱离编队位置保持精度
其他	自主防撞能力等

初始位置		A	B	C	D
速度/ (km/h)	坡度/ (°)	计划会合时间/实际会合时间/s
396	20	334/357	318/325	283/307	408/425
432	20	345/367	324/351	269/282	400/437
396	30	335/353	311/319	272/298	375/411
432	30	321/342	300/312	257/269	364/390

紊流强度	相对速度/(m·s^-1)
紊流强度	0.6	0.9	1.2	1.5
轻度紊流	5/6	6/6	6/6	5/6
中度紊流	4/6	4/6	4/6	3/6

[1]	奇格奇, 刘思劲, 何一康, 王猛, 黄爱玲. 基于仿真驱动的高速公路主动限速效用评价与推荐[J]. 系统仿真学报, 2022, 34(12): 2522-2534.
[2]	李新利, 邹昌铭, 杨国田, 刘禾. 基于生成式对抗网络的发票图像超分辨率研究[J]. 系统仿真学报, 2021, 33(6): 1307-1314.
[3]	曹东风, 王艳. 基于组合权重的制造系统能效贝叶斯评价方法[J]. 系统仿真学报, 2018, 30(11): 4313-4322.
[4]	彭竹清, 王艳, 纪志成. 基于改进熵值法的离散制造系统能效评价方法[J]. 系统仿真学报, 2017, 29(9): 2121-2127.
[5]	谢士琴, 赵天忠, 王威, 史京京. 高分二号卫星影像融合方法比较研究[J]. 系统仿真学报, 2017, 29(11): 2742-2747.
[6]	侯堃, 李志龙, 冯玉超, 陈谊. 一种面向层次数据可视化的圆形空间填充算法[J]. 系统仿真学报, 2016, 28(9): 2035-2041.
[7]	武兆斌, 陈黎, 赵春霞. 基于灰色聚类和层次分析的模拟训练成绩评定[J]. 系统仿真学报, 2016, 28(2): 416-424.
[8]	陈彦, 王艳. 基于改进主成分分析法的离散制造能耗分析[J]. 系统仿真学报, 2016, 28(12): 3087-3094.
[9]	李昕龙, 向毛. 基于DEVS理论的指控系统建模与分析[J]. 系统仿真学报, 2015, 27(8): 1708-1714.