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基于受油机与加油机的空间位置及视线角,采用比例制导方法解算出满足加油会合飞行要求的受油机法向加速度与侧向加速度指令,根据会合速度的要求得出受油机前飞加速度指令,通过积分得到前飞速度指令信号。在飞控系统设计中,首先采用反馈线性化方法实现三轴角速率的解耦与控制,在此基础上,分别设计了法向加速度控制、侧向加速度控制及速度控制系统,并具有侧向协调控制的功能,实现了对制导指令的跟踪。对设计的制导与控制系统,采用六自由度非线性动力学模型进行了仿真验证,结果表明该系统能够引导受油机实现与加油机的会合,具有良好的动态性能。
Based on the spatial position and line of sight of the oil acceptor and the dispenser, the method of proportional guidance is used to solve the normal and lateral acceleration instructions of the oil acceptor that meets the requirements of the jointing flight. According to the requirement of convergence speed, Acceleration command, through the points before the flight speed command signal. In flight control system design, the feedback linearization method is used to decouple and control the angular velocity of the three axes. On the basis of this, the normal acceleration control, lateral acceleration control and speed control system are designed respectively. Coordinate the control function, to achieve the guidance of the instruction tracking. The guidance and control system of the design is simulated by the nonlinear dynamics model of six degrees of freedom. The results show that the system can guide the oil receiver to realize the meeting with the dispenser, and has good dynamic performance.