Modeling Method and Control Strategy for Hose-Drogue Aerial Refueling System  

作　　者：Wu Ling Sun Yongrong Huang Bin Liu Jianye 

机构地区：[1]Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China [2]Department of Automation of Nanhang Jincheng College, Nanjing 211156, P. R. China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2018年第2期371-382,共12页南京航空航天大学学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(No.61533008);the Fundamental Research Funds for the Central Universities(No. NZ2016104);the Funding of Jiangsu Innovation Program for Graduate Education(No.KYLX15_0276)

摘　　要：Conventional method for hose-drogue model of aerial refueling system is known to be complex due to the flexible body of hose.And as reported,drogues are unstable in atmospheric turbulence,which greatly decreases docking success rates.This paper proposes a dynamic model for a hose-drogue aerial refueling system based on Kane equation and rigid multi-body dynamics,and analyzes its performance.Furthermore,the nonlinear dynamic model is linearized at the equilibrium point and simplified from full order to 2 nd order.Based on the simplified 2 nd order model,active control strategies,including proportion integral derivative(PID)and liner quadratic regulator(LQR)control laws,are designed to inhibit the pendulum movement of drogue due to,atmospheric turbulences.Numerical simulation results show the significant correctness of the proposed dynamic model by steady-state drag and balance position of drogue when the tanker flights under different conditions.Moreover,the steady state position error varies within 1 cm,thanks to either controller,when the drogue suffers from moderate-level atmospheric turbulences.Further,the PID controller exhibits better control effect and higher control precision than LQR controller.Conventional method for hose-drogue model of aerial refueling system is known to be complex due to the flexible body of hose.And as reported,drogues are unstable in atmospheric turbulence,which greatly decreases docking success rates.This paper proposes a dynamic model for a hose-drogue aerial refueling system based on Kane equation and rigid multi-body dynamics,and analyzes its performance.Furthermore,the nonlinear dynamic model is linearized at the equilibrium point and simplified from full order to 2 nd order.Based on the simplified 2 nd order model,active control strategies,including proportion integral derivative（PID）and liner quadratic regulator（LQR）control laws,are designed to inhibit the pendulum movement of drogue due to,atmospheric turbulences.Numerical simulation results show the significant correctness of the proposed dynamic model by steady-state drag and balance position of drogue when the tanker flights under different conditions.Moreover,the steady state position error varies within 1 cm,thanks to either controller,when the drogue suffers from moderate-level atmospheric turbulences.Further,the PID controller exhibits better control effect and higher control precision than LQR controller.

关 键 词：AERIAL REFUELING dynamic modeling HOSE drogue Kane equation PROPORTION integral derivative(PID)control liner quadratic regulator(LQR) 

分 类 号：V212.11[航空宇航科学与技术—航空宇航推进理论与工程]