Dynamic modeling of a hose-drogue aerial refueling system and integral sliding mode backstepping control for the hose whipping phenomenon  

作　　者：Wang Haitao Dong Xinmin Xue Jianping Liu Jiaolong 

机构地区：[1]Aeronautics and Astronautics Engineering College, Air Force Engineering University

出　　处：《Chinese Journal of Aeronautics》2014年第4期930-946,共17页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61304120)

摘　　要：Dynamic modeling of a hose-drogue aerial refueling system（HDARS） and an integral sliding mode backstepping controller design for the hose whipping phenomenon（HWP） during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon.Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose＇s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly,relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally,the simulation results show the effectiveness of the proposed model and control laws.Dynamic modeling of a hose-drogue aerial refueling system（HDARS） and an integral sliding mode backstepping controller design for the hose whipping phenomenon（HWP） during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon.Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose＇s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly,relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally,the simulation results show the effectiveness of the proposed model and control laws.

关 键 词：Aerial refueling BACKSTEPPING Hose drogue assembly Permanent magnet synchronous motor Sliding mode Whipping phenomenon 

分 类 号：V228.17[航空宇航科学与技术—飞行器设计]