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针对空中加油任务中无人作战飞机(UCAV)的位置保持问题,进行了变质量UCAV的动力学建模与控制律设计。综合考虑了燃油传输对UCAV质量、惯性矩阵和质心位置的影响,基于相对惯性系的状态变量,推导了UCAV的动力学方程。建立了一个简单的油箱模型来模拟加油过程,设计了H∞最优控制律来实现UCAV的位置保持。通过非线性仿真,分析了燃油传输带来的动力学影响,仿真结果验证了模型的有效性和控制律的性能。
In order to solve the position preserving problem of Unmanned Combat Aircraft (UCAV) during the aerial refueling mission, the dynamic modeling and control law design of variable-mass UCAV are designed. The effects of fuel transmission on UCAV mass, inertia matrix and centroid position are considered. Based on the state variables of relative inertial system, the dynamic equations of UCAV are deduced. A simple fuel tank model was established to simulate the refueling process, and H∞ optimal control law was designed to maintain the position of UCAV. Through the nonlinear simulation, the dynamic influence of fuel transmission is analyzed. The simulation results verify the effectiveness of the model and the performance of the control law.