软式拖曳捕获器自主对接控制系统设计与车载试验
收稿日期: 2023-04-23
修回日期: 2023-06-12
录用日期: 2023-07-03
网络出版日期: 2023-07-07
基金资助
军科委创新基金(20-163-03-27-002-003-01)
Design and on⁃vehicle demonstration of autonomous docking control system for soft towed grabber
Received date: 2023-04-23
Revised date: 2023-06-12
Accepted date: 2023-07-03
Online published: 2023-07-07
Supported by
Innovation Fund of the Science and Technology Commission of the Central Military Commission of the Communist Party of China(20-163-03-27-002-003-01)
软式拖曳捕获器受尾流场扰动、刚柔耦合多体牵引系统约束、载机振动等扰动，导致捕获器末端运动复杂，自主对接与捕获控制难度高。针对软式拖曳捕获器自主对接与捕获控制系统，设计了满足自主对接与捕获控制要求的直接力位姿解耦控制，并集成基于机器学习的视觉定位传感系统，形成了整套软式拖曳捕获器自主对接与捕获无人机控制系统。通过按照相似准则搭建的车载试验测试平台，对所设计的软式拖曳捕获器自主对接控制系统进行地面车载试验测试，结合捕获器动力学建模分析，开展直接力位置阻尼与操纵控制模块仿真优化与多轮次车载试验参数整定，形成了适用于软式拖曳捕获器空中自主对接与捕获的控制系统，可用于下一步空基全尺寸软式拖曳捕获器自主对接与捕获试验。
罗飞 , 胡志勇 , 李军府 , 马泽孟 , 艾俊强 . 软式拖曳捕获器自主对接控制系统设计与车载试验[J]. 航空学报, 2023 , 44(20) : 628921 -628921 . DOI: 10.7527/S1000-6893.2023.28921
The soft dragging grabber is subject to the disturbances such as air wake field disturbance， rigid-flexible coupling multi-body traction system constraints and carrier vibration， resulting in a complex movement of the end of the grabber and severe difficulty in autonomous docking and capture control. In this paper， a position-attitute decoupling control based direct force is designed to meet the requirements of autonomous docking and capture control of the soft towed grabber. A visual positioning sensor system based on machine learning is integrated to form a complete set of control systems of the soft towed grabber for autonomous docking and capture of the UAV. Through the vehicle-mounted test platform built according to similar principles， the ground-mounted test of the autonomous docking control system of the designed soft drag grabber is carried out. Based on the dynamic modeling analysis of the grabber， the simulation optimization of the direct force position damping and position control module is carried out. With multiple rounds of vehicle test parameter setting， a control system suitable for autonomous docking and capture of soft towed grabber in the air is developed， which can be used for the next step of air-based autonomous docking and capture tests of the full-scale soft towed grabber.
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