一种空中自主加油扰动建模与自适应控制方法  

A Disturbance Modeling and Adaptive Control Method for Autonomous Aerial Refueling

作　　者：张冬 王世鹏 施明健 王大勇[2] 朱家兴 ZHANG Dong;WANG Shipeng;SHI Mingjian;WANG Dayong;ZHU Jiaxing(Department of Aeronautics and Astronautics,Fudan University,Shanghai 200433,China;Shenyang Aircraft Design and Research Institute,Shenyang 110035,China;School of Automation,Northwestern Polytechnical University,Xi’an 710089,China)

机构地区：[1]复旦大学航空航天系,上海200433 [2]沈阳飞机设计研究所,沈阳110035 [3]西北工业大学自动化学院,西安710089

出　　处：《宇航学报》2024年第3期433-442,共10页Journal of Astronautics

基　　金：基础加强项目基金(2019-JCJQ-DA-001-131)。

摘　　要：针对加/受油机近距对接阶段设计气动扰动建模与对接控制方法。首先建立了大气紊流、受油机绕流和加油机尾流等干扰的等效模型,用以描述空中加油阶段气流扰动对锥套的推离规律以及对受油机气流角与气动力矩的影响。然后面向近距对接控制任务,设计了基于超螺旋滑模观测器的自适应干扰抑制控制器,在基线动态逆控制律的基础上引入外环二阶滑模干扰观测器用以补偿姿态扰动,内环引入角速率观测器并构造自适应项以抑制长时干扰。最后,通过综合视景仿真系统验证了基于滑模观测器的自适应干扰抑制控制器能够实现气流扰动下受油探管对锥套中心的精准跟踪。The aerodynamic disturbance modeling and docking control design method is designed for the proximity docking phase of the tanker/receiver aircraft.Firstly,the equivalent models of interference such as atmospheric turbulence,detoured flow from the receiver aircraft,and wake flow of the tanker are established to describe the effect of airflow disturbance on the drogue and the influence of the airflow angle and aerodynamic moment on the receiver.Then,a sliding-mode observer-based adaptive interference suppression controller is designed for the proximity docking control.Based on the dynamic inversion baseline control law,a second-order sliding mode observer is introduced into the outer-loop and an angular rate observer is introduced into the inner-loop to adaptively suppress long-term interference.Finally,the accuracy of the sliding-mode observer-based adaptive interference suppression controller for probe tracking the center of drogue under the disturbance of airflow is verified through the integrated visual simulation.

关 键 词：无人机 空中自主加油 气流扰动建模 超螺旋滑模 自适应干扰抑制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]