空中加油软管-锥套空中飘摆运动建模与控制

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (2): 388-395.

空中加油软管-锥套空中飘摆运动建模与控制

张进, 袁锁中, 龚全铨

南京航空航天大学自动化学院,南京 210016

收稿日期:2014-10-20 修回日期:2015-01-20 出版日期:2016-02-08 发布日期:2020-08-17
作者简介:张进(1990-),男,江苏淮安,硕士,研究方向为空中加油;袁锁中(1970-),男,江苏丹阳,博士,副教授,硕导,研究方向为无人机飞行控制。
基金资助:
国家自然科学基金资助(61273050); 航空科学基金资助(20121352026)

Modeling and Control of Shaking Motion of Aerial Refueling Hose-Drogue

Zhang Jin, Yuan Suozhong, Gong Quanquan

College of Automation Engineering, Nanjing university of Aeronautics and Astronautics, Nanjing 210016, China

Received:2014-10-20 Revised:2015-01-20 Online:2016-02-08 Published:2020-08-17

摘要/Abstract

摘要： 软管-锥套随加油机在空中飞行时产生的飘摆运动增加了受油机安全准确地对接加油锥套的难度, 采用多刚体动力学建立空中加油软管-锥套在尾涡流场及大气紊流下的空中飘摆运动的数学模型,分析了加油机在不同飞行条件下软管-锥套的平衡拖拽尾迹以及气流对软管-锥套的影响。为了减小软管-锥套空中飘摆运动的幅度,对软管-锥套运动设计了控制器。在对非线性模型线性化及降阶处理的基础上,设计了PID(proportion-integration-differentiation)控制器。仿真表明所设计的控制器能有效减小软管-锥套的运动幅度,从而能够降低空中加油对接的难度,提高空中加油的安全性。

关键词: 空中加油, 软管-锥套飘摆运动, 多刚体动力学, PID控制器

Abstract: Hose-Drogue fly with the tanker in the air can produce shaking motion which increases the difficulty of coupling with a refueling drogue for a receiver plane safely and accurately. A mathematical model of shaking motion of aerial refueling hose drogue under the tanker wake and atmospheric turbulence was proposed by the method of rigid multibody dynamics. Then the balance drag wake of hose-drogue and the atmospheric turbulence on hose-drogue in different flight conditions were analyzed based on this model. To reduce the movement amplitude of the hose-drogue in the air, the controller to the motion of the hose-drogue was designed. The no-linear model was linearized and reduced to design PID (proportion-integration-differentiation) controller. The simulation results show the effectiveness of the control to the shaking motion of the hose-drogue, and then it can reduce the difficulty of aerial refueling docking enhancing the security of aerial refueling.

Key words: aerial refueling, shaking motion of hose-drogue, rigid multibody dynamics, PID controller

中图分类号:

V212.1

张进, 袁锁中, 龚全铨. 空中加油软管-锥套空中飘摆运动建模与控制[J]. 系统仿真学报, 2016, 28(2): 388-395.

Zhang Jin, Yuan Suozhong, Gong Quanquan. Modeling and Control of Shaking Motion of Aerial Refueling Hose-Drogue[J]. Journal of System Simulation, 2016, 28(2): 388-395.

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