位置约束下软式自主空中加油的抗干扰控制  

Anti-disturbance control of hose-drogue autonomous aerial refueling with position constraints

作　　者：宋梦实 张帆[1] 黄攀峰[1,2] SONG Mengshi;ZHANG Fan;HUANG Panfeng(Schoolof Astronautics,Northwestern Polytechnical University,Xi'an 710072,China;Research Center of Intelligent Robotics,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]西北工业大学智能机器人研究中心,西安710072

出　　处：《航空学报》2023年第20期70-83,共14页Acta Aeronautica et Astronautica Sinica

摘　　要：针对加油机不稳定飞行和复杂风扰下的软式自主空中加油系统,提出一种位置约束下可控锥套的抗干扰控制方法。首先,建立考虑加油机不稳定飞行和复杂风扰的软管动力学模型和可控锥套动力学模型,并进一步将可控锥套动力学模型变换为方便控制器设计的形式。然后,在动态面控制框架下,利用新型坐标变换方法处理系统耦合非线性,结合约束函数和障碍Lyapunov函数解决初值过大的位置约束,以及设计干扰观测器估计未知的集总干扰。最后,理论分析和仿真实验表明了所提方法处理初值过大的位置约束的有效性,以及抗干扰能力的优越性。The hose-drogue autonomous aerial refueling system suffers from unstable flight of the tanker and complex airflow disturbances.An anti-disturbance control method for the controllable drogue under position constraints is proposed.First,the dynamic models of the hose and the controllable drogue are established by considering the effects of the unstable flight of the tanker and complex airflow disturbances,and the dynamic model of the controllable drogue is further transformed into a convenient form for controller design.Then,within the framework of dynamic surface control,the novel coordinate transformation method is used to handle system coupling nonlinearity,the constraint function and the barrier Lyapunov function are combined to solve position constraints with excessively large initial values,and a disturbance observer is designed to estimate unknown lumped disturbances.Finally,theoretical analysis and simulation experiments demonstrate the effectiveness of the proposed method in dealing with position constraints with excessively large initial values,as well as its superiority in anti-disturbance ability.

关 键 词：自主空中加油 可控锥套 位置约束 抗干扰控制 干扰观测器 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]