灵敏且鲁棒性好的控制器是高效安全对接的核心技术之一。本文聚焦复杂气流扰动下硬式加油装置快速精准对接控制，建立了具有万向节复合铰链副的加油装置高保真度模型，并在反步控制与滑模观测组成的控制器基础上，考虑机载模型与滤波器设计等嵌入式硬件移植因素，实现了面向硬件可实现的空中对接先进控制器设计，最后，通过地面模拟试验和风洞飞行试验，对比分析了具有机载模型动态反馈的控制器，在两类试验环境下动态响应特性，为类似先进控制器验证开发提供有效设计参考，接着对比分析在风洞试验环境下，比例-积分控制器与先进抗干扰控制器在对接特性方面的响应区别，表明了先进抗干扰控制器在实现硬式加油装置空中对接任务时具有的显著优势。
A sensitive and robust controller is pivotal for achieving efficient and safe aerial docking. This study focuses on the rapid and precise docking control of a flying boom refueling system under complex airflow disturbances. A high-fidelity model of the flying boom system, incorporating gimbal composite hinge pairs, is developed. Building upon a controller framework combining backstepping control and a sliding mode observer, the design incorporates considerations for embedded hardware implementation, such as onboard models and filter design, resulting in an advanced controller viable for real-world hardware. Ground simulation tests and wind tunnel flight tests were conducted to comparatively analyze the dynamic response characteristics of controllers with onboard model dynamic feedback. The results provide valuable design references for developing and validating similar advanced controllers. Furthermore, a comparative analysis between a Proportional-Integral (PI) controller and the advanced disturbance-rejection controller under wind tunnel conditions highlights the significant superiority of the latter in executing the aerial docking mission for the flying boom system.
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