伸缩套臂式无人机空基回收建模与对接控制  

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

作　　者：苏子康 徐忠楠 李春涛[1] 陈海通[1] 王宏伦[2] SU Zikang;XU Zhongnan;LI Chuntao;CHEN Haitong;WANG Honglun(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《航空学报》2023年第1期221-238,共18页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61903190,61673042,62173022);航空科学基金(2019ZA052006);中央高校基本科研业务费专项资金资助(NT2020005);江苏省自然科学基金(BK20190401);中国博士后科学基金资助项目(2020M681588);江苏省博士后科研资助计划(2021K428C);无人机特种技术重点实验室基金(2022-JCJQ-LB-071)。

摘　　要：针对无可靠陆基/舰基回收平台情况下小型固定翼无人机(UAV)远程作战空基回收难题,提出一种伸缩套臂抓取式空基回收建模与对接控制方法。首先,受硬式空中加油技术启发,提出一种伸缩套臂式抓取无人机空基回收方法,并采用转动惯量质量投影法及拉格朗日方程法构建伸缩套臂仿射非线性模型;继而,分析了母机尾涡及常值风扰动综合作用下伸缩套臂的气动特性;其次,针对伸缩套臂三通道中扰流关联项和不可测瞬变模型扰动构成的系统集总扰动,分别设计了可在有限时间内收敛的非奇异快速终端滑模干扰观测器对其进行准确估计,并在控制器设计中予以前馈补偿;然后,为实现多重扰流下伸缩套臂快速精准空中对接,提出一种基于干扰观测的非奇异快速终端滑模对接控制方法,并分析了闭环系统稳定性。最后,通过仿真验证表明,所提出的方法能够在多重气流扰动下实现伸缩套臂的快速、精准空中对接控制,同时兼备较好的抗干扰性能。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.

关 键 词：空基回收 对接控制 伸缩套臂 滑模控制 干扰估计 

分 类 号：V249[航空宇航科学与技术—飞行器设计]