航空学报 > 2023, Vol. 44 Issue (17): 328210-328210   doi: 10.7527/S1000-6893.2022.28210

软管连接约束下的加油机/无人机编队跟踪控制

刘博1,2, 孟中杰1,2()   

  1. 1.西北工业大学 航天学院,西安 710072
    2.西北工业大学 航天飞行动力学技术国家重点实验室,西安 710072
  • 收稿日期:2022-11-01 修回日期:2022-12-03 接受日期:2022-12-29 出版日期:2023-01-13 发布日期:2023-01-12
  • 通讯作者: 孟中杰 E-mail:mengzhongjie@nwpu.edu.cn
  • 基金资助:
    国家自然科学基金(62173273);陕西省自然科学基础研究计划(2020JC-19)

Tanker/UAV formation tracking control with hose connection constraints

Bo LIU1,2, Zhongjie MENG1,2()   

  1. 1.School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China
    2.National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi’an 710072,China
  • Received:2022-11-01 Revised:2022-12-03 Accepted:2022-12-29 Online:2023-01-13 Published:2023-01-12
  • Contact: Zhongjie MENG E-mail:mengzhongjie@nwpu.edu.cn
  • Supported by:
    National Natural Science Foundation of China(62173273);Natural Science Basic Research Plan in Shaanxi Province of China(2020JC-19)

摘要:

在自主空中加油任务中,针对受油无人机(UAV)与加油机对接后形成的软管约束下的编队跟踪控制问题,提出一种基于领航-跟随的加油编队跟踪控制方法。首先,建立软管约束下加油编队运动学/动力学模型。然后设计非奇异终端滑模编队快速收敛控制器,以满足软管约束下加油编队的快速收敛需求;再考虑复杂气流和软管未知扰动,结合扩张状态观测器和PI型动态逆控制,设计无人机轨迹跟踪控制器,并基于Lyapunov稳定性分析证明闭环系统可实现有限时间的快速稳定。最后,通过数值仿真来验证所设计加油编队控制方法的有效性。

关键词: 无人机, 自主空中加油, 编队跟踪控制, 非奇异终端滑模控制, 非线性动态逆

Abstract:

In autonomous aerial refueling mission, a leader-follower strategy based refueling formation flight control method is proposed for the formation flight problem under hose constraint after the docking of receiving Unmanned Aerial Vehicle(UAV) and the tanker. Firstly, a kinematic/dynamic model of the refueling formation under hose constraint is established. Then, a non-singular terminal sliding mode fast convergence controller is designed to meet the fast convergence requirements of refueling formation under hose constraint. For considering complex airflow disturbances and unknown hose disturbances, a trajectory tracking controller for UAV is designed by combining the extended state observer and PI type dynamic inversion control, and prove that the closed-loop system can achieve fast stabilization in finite time based on Lyapunov stability analysis. Finally, the effectiveness of the designed refueling formation tracking control method is verified by numerical simulation.

Key words: UAV, autonomous aerial refueling, formation tracking control, non-singular sliding mode control, nonlinear dynamic inversion

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