非线性动态逆空中加油自主对接控制  

Nonlinear dynamic inversion autonomous docking control for aerial refueling

作　　者：王健[1] 董新民[1] 王海涛[1] 窦和锋[1] 彭轲[1] 

机构地区：[1]空军工程大学航空航天工程学院,陕西西安710038

出　　处：《飞行力学》2015年第1期30-34,共5页Flight Dynamics

基　　金：国家自然科学基金资助(61473307)

摘　　要：为实现无人机空中加油自主对接控制,建立了尾流影响下的UAV六自由度模型。基于非线性动态逆,设计了空中加油自主对接控制律。在常规非线性动态逆控制律设计的基础上,改进了航迹、姿态、角速率和自动油门等回路。通过设计航迹跟踪控制律和动态逆自动油门,实现了对锥套位置的跟踪和对接;考虑协调转弯约束和爬升速率约束,在设计过程中以姿态角代替气流角,克服了气流角控制带来的幅值、速率过大的问题,使受油机的控制更加稳定。最后通过仿真,验证了动态逆自主对接控制律的有效性。Controller based on NDI is designed for the UAV nonlinear model in order to achieve autonomous aerial refueling. Considering the influence of wake,a 6-DOF dynamic model for UAV is set up.And based on the general NDI control,the loops are changed,the flight path control law and the NDI automatic accelerograph control law are designed in order to track and dock the drogue. Considering the constraints of coordinated turning and climbing rate,the attitude angle is used instead of the airflow angle to overcome the problems of over-large amplitude and over-high velocity. Finally,the simulation results show that the autonomous docking control law based on NDI is valid.

关 键 词：空中加油 自主对接控制 非线性动态逆 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]