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针对软管式空中加油过程中加油锥套受气流扰动影响,受油机受油插头难以与之实现精确对接的问题,提出基于参考观测器的全状态反馈控制方法设计了受油机的飞行控制系统。首先根据DGPS或者视觉传感器测量的加油机与受油机的相对位置,设计了参考轨迹生成模块,实时生成受油机期望的平滑飞行轨迹。然后通过一个输出跟踪观测器在线估算出前馈控制信号和参考状态量。基于估算的状态量设计一个全状态反馈控制器。最终实现对参考状态的精确跟踪,保证受油插头与加油锥套的精确对接和位置保持。仿真结果表明,在四种强度阵风干扰下,控制器能实现精确的双机空中加油设备跟踪对接,具有良好的动态性能与鲁棒性能。
Aiming at the problem that the fuel filler cone is disturbed by air flow during hose air refueling and the oil receiver plug is hard to be connected with accurately, a full state feedback control method based on reference observer is proposed. system. Firstly, according to the relative position of tanker and oil receiver measured by DGPS or vision sensor, a reference trajectory generation module is designed to generate the smooth flight trajectory expected by the oil receiver in real time. The feedforward control signal and the reference state quantity are then estimated online by an output tracking observer. A full state feedback controller is designed based on the estimated state quantities. Finally accurate reference to the state tracking to ensure that the fuel plug and refueling cone precise docking and position to maintain. The simulation results show that the controller can achieve accurate tracking and docking of dual air refueling equipment under the four kinds of intensity gust disturbance, and has good dynamic performance and robust performance.