软管连接约束下的加油机/无人机编队跟踪控制  

Tanker/UAV formation tracking control with hose connection constraints

作　　者：刘博 孟中杰[1,2] LIU Bo;MENG Zhongjie(School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China;National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]西北工业大学航天学院,西安710072 [2]西北工业大学航天飞行动力学技术国家重点实验室,西安710072

出　　处：《航空学报》2023年第17期258-268,共11页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62173273);陕西省自然科学基础研究计划(2020JC-19)。

摘　　要：在自主空中加油任务中,针对受油无人机(UAV)与加油机对接后形成的软管约束下的编队跟踪控制问题,提出一种基于领航-跟随的加油编队跟踪控制方法。首先,建立软管约束下加油编队运动学/动力学模型。然后设计非奇异终端滑模编队快速收敛控制器,以满足软管约束下加油编队的快速收敛需求;再考虑复杂气流和软管未知扰动,结合扩张状态观测器和PI型动态逆控制,设计无人机轨迹跟踪控制器,并基于Lyapunov稳定性分析证明闭环系统可实现有限时间的快速稳定。最后,通过数值仿真来验证所设计加油编队控制方法的有效性。In autonomous aerial refueling mission,a leader-follower strategy based refueling formation flight control method is proposed for the formation flight problem under hose constraint after the docking of receiving Unmanned Aerial Vehicle(UAV)and the tanker.Firstly,a kinematic/dynamic model of the refueling formation under hose con⁃straint is established.Then,a non-singular terminal sliding mode fast convergence controller is designed to meet the fast convergence requirements of refueling formation under hose constraint.For considering complex airflow distur⁃bances and unknown hose disturbances,a trajectory tracking controller for UAV is designed by combining the ex⁃tended state observer and PI type dynamic inversion control,and prove that the closed-loop system can achieve fast stabilization in finite time based on Lyapunov stability analysis.Finally,the effectiveness of the designed refueling for⁃mation tracking control method is verified by numerical simulation.

关 键 词：无人机 自主空中加油 编队跟踪控制 非奇异终端滑模控制 非线性动态逆 

分 类 号：V249[航空宇航科学与技术—飞行器设计]