Fig.1

A two-degree-of-freedom telescoping link restrained by universal joint composite hinge

Fig.2

Complex coordinate transformation relation caused by multiaxial composite structure with universal joints

Fig.3

Control block of telescopic position channel

Fig.4

Step attitude tracking responses of flying boom

Table 1

Three-axis displacement motion of simulated platform of aerial refueling receiver

Fig.5

Automatic attitude tracking responses of flying boom

Fig.6

Relative displacement characteristics of the aerial refueling receiver during approaching

Fig.7

Automatic docking tracking response of attitude and telescopic control channel

Fig.8

Three-axis relative errors responses during automatic docking and tracking

Fig.9

Three-axis airflow disturbance during the approach of the aerial refueling receiver

Fig.10

Three-axis relative displacement errors during the approach of the disturbed aerial refueling receiver

Fig.11

Attitude and telescopic automatic tracking responses under air disturbance

Fig.12

Three-axis relative displacement tracking errors under air disturbance

Table 2

Comparison of attitude tracking error

Fig.13

Equivalent second-order model of actuator

Fig.14

Ground longitudinal-horizontal verification test bench

Fig.15

Key state responses of STEP controllers in two test environments

Fig.16

Test model status and control surface responses under two types of test environments

Fig.17

Pitch command and response under two types of test environments

Fig.18

Test model status and on-board aerodynamic models responses under two types of test environments

Fig.19

Step command response and control surface response of two kinds of controller

Fig.20

Pitch attitude tracking characteristics and control surface responses

Fig.21

Roll attitude tracking characteristics and control surface responses

Fig.22

automatic docking telescope position response and telescope speed command

Fig.23

Three-axis relative distance tracking errors under two verification environments