伸缩套臂式无人机空基回收建模与对接控制

doi:10.7527/S1000-6893.2021.26315

Abstract

Abstract:

To handle the problem of aerial recovery of small fixed-wing Unmanned Aerial Vehicle （UAV） without reliable land-based or sea-based landing platforms， a modeling and docking control method for grabbing aerial recovery with the telescopic boom is proposed. Firstly， inspired by the flying boom aerial refueling technology， a UAV recovery method based on telescopic boom grabbing is proposed. An affine nonlinear model for telescopic boom aerial recovery is constructed using the mass projection method of rigid body rotational inertia and the Lagrangian method. Secondly， the aerodynamic characteristic of the telescopic boom under the influence of tailing vortex and constant wind disturbance is analyzed. Thirdly， a finite-time convergence nonsingular fast terminal sliding mode disturbance observer is designed to accurately estimate the lumped disturbances including the effects of the turbulence related items and the unmeasurable transient model disturbances in the three channels of the telescopic boom. With the feed-forward compensations of these lumped disturbances， a disturbance observation based nonsingular fast terminal sliding mode docking control method is proposed to achieve rapid and accurate aerial docking between the telescopic boom and UAVs with multiple turbulences. Therewith， Stability of the closed-loop system is discussed with Lyapunov analysis. Finally， the simulation results show that the proposed method has higher control accuracy and better anti-disturbance ability.

Key words: aerial recovery, docking control, telescopic boom, sliding mode control, disturbance estimation

CLC Number:

V249

Zikang SU, Zhongnan XU, Chuntao LI, Haitong CHEN, Honglun WANG. Modeling and docking control of UAV aerial recovery in form of telescopic boom[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 326315.

Figures/Tables 18

Fig. 1

Fig. 2

Fig. 3

Table 1

Magnitude of flow in cartesian coordinates

偏航角/（°）	俯仰角/（°）
偏航角/（°）	42	48	54
0	$1000 10.94$	$1000 10.82$	$1000 10.70$
6	$100 0.13 10.94$	$100 0.12 10.82$	$100 0.11 10.70$
12	$100 0.25 10.94$	$100 0.24 10.83$	$100 0.22 10.71$
18	$100 0.38 10.98$	$100 0.36 10.84$	$100 0.33 10.72$
24	$100 0.50 11.01$	$100 0.48 10.87$	$100 0.44 10.73$
30	$100 0.63 11.05$	$100 0.60 10.89$	$100 0.54 10.75$

Table 1

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Table 2

Table 3

Parameters of telescopic boom control loop

控制方法		参数
ADRC	ESO	$k 1 = d i a g 20,30,50$ $k 2 = d i a g 40,60,80$ $k 3 = d i a g 600,800,850$


	控制器	$C 1 = d i a g 60,50,70$ $C 2 = d i a g 80,70,90$
		$C 1 = d i a g 60,50,70$ $C 2 = d i a g 80,70,90$
NFTSMC	NFTSMO	$α = d i a g 0.3,0.4,0.4$ $β = d i a g 0.1,0.2,0.3$ $η = 1.3 1.04 1.3$ $γ = 1.2 1.02 1.2$ $Q = d i a g 20,60,80$ $J = d i a g 40,60,80$ $σ = 0.9 0.9 0.9$






	指令滤波	$ω n = d i a g 4,5, 5$ $ζ = d i a g 0.95,0.95,0.95$
		$ω n = d i a g 4,5, 5$ $ζ = d i a g 0.95,0.95,0.95$
	控制器	$α c = d i a g 0.5,0.4,0.5$ $β c = d i a g 0.1,0.2,0.2$ $η c = 1.2 1.4 1.3$ $γ c = 1.1 1.2 1.2$ $Q c = d i a g 60,50,70$ $J c = d i a g 80,70,90$ $σ c = 0.9 0.7 0.9$

Table 3

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Fig. 12

Fig. 13

Fig. 14

Fig. 15

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部件名称	长度/m	半径/m	质量/kg
转动底座	0.1	0.15	30
套臂	8.7	0.10	250
伸缩臂	8.3	0.08	170
机械手			25

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Modeling and docking control of UAV aerial recovery in form of telescopic boom

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References 28

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