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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。
Hose - cone with the tanker in the air when the swing movement increases the difficulty of docking by oil machine safely and accurately docking cone, the use of multi-body dynamics to establish air refueling hose - cone in the wake of eddy current and In the air turbulence under the swinging movement of the mathematical model, analysis of the tanker in different flight conditions, the hose-taper balance towing trail and airflow on the hose - Taper impact. In order to reduce the hovering motion of the hose-cone, the controller of the hose-cone motion is designed. Based on the linearization and reduction of non-linear model, a PID (proportion-integration-differentiation) controller is designed. The simulation results show that the designed controller can effectively reduce the movement range of the hose - taper sleeve, so as to reduce the difficulty of air docking and improve the safety of aerial refueling.