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为实现无人机空中加油自主对接控制,建立了尾流影响下的UAV六自由度模型。基于非线性动态逆,设计了空中加油自主对接控制律。在常规非线性动态逆控制律设计的基础上,改进了航迹、姿态、角速率和自动油门等回路。通过设计航迹跟踪控制律和动态逆自动油门,实现了对锥套位置的跟踪和对接;考虑协调转弯约束和爬升速率约束,在设计过程中以姿态角代替气流角,克服了气流角控制带来的幅值、速率过大的问题,使受油机的控制更加稳定。最后通过仿真,验证了动态逆自主对接控制律的有效性。
In order to realize autonomous docking control of UAV air refueling, a six-DOF UAV model under wake influence was established. Based on the nonlinear dynamic inverse, an autarkic docking control law is designed. Based on the design of the conventional nonlinear dynamic inverse control law, the circuits such as track, attitude, angular velocity and automatic throttle are improved. By designing tracking control law and dynamic reverse auto-throttle, the position and position of the taper sleeve are tracked and docked. Considering the constraints of turning and jerk, the attitude angle is used instead of the air flow angle in the design process, To the magnitude of the problem of excessive speed, so that the control of the oil tanker more stable. Finally, the simulation verifies the validity of the dynamic inverse control law.