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An aerial refueling docking control method based on preview strategy

An aerial refueling and preview technology, applied in transportation and packaging, aircraft parts, etc.

Active Publication Date: 2020-05-26
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of precise docking control of autonomous aerial refueling of UAVs under the action of multiple complex interferences, and propose a control method for aerial refueling docking under autonomous control based on preview strategy

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  • An aerial refueling docking control method based on preview strategy
  • An aerial refueling docking control method based on preview strategy
  • An aerial refueling docking control method based on preview strategy

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Embodiment Construction

[0054] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0055] The air refueling docking control method based on the preview strategy of the present invention transforms the six-degree-of-freedom motion model of the receiver machine considering the airflow disturbance into an affine nonlinear form that facilitates the design of the nonlinear control method, and then adopts the active anti-interference control method design The trajectory tracking controller of the oil receiver improves its active anti-disturbance ability, and reduces the response lag problem caused by the slow dynamics of the oil receiver through the direct aiming / variable length rolling time-domain preview composite guidance method.

[0056] In the embodiment of the present invention, the UAV is set to fly at a ground speed of 200m / s,...

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Abstract

The invention discloses an air refueling docking control method based on a preview strategy, and belongs to the technical field of unmanned aerial vehicle navigation guidance and control. The method comprises the following steps: establishing an oil receiver six-degree-of-freedom nonlinear motion model reflecting the influence of various complex airflow disturbances, and converting the same into aform convenient for subsequent controller design; on the basis, by introducing a variable-length rolling time domain preview target, an active anti-interference control method is adopted, and the hose type autonomous air refueling accurate docking guiding method combining direct aiming / variable-time duration rolling time domain preview guiding is provided. The influence of multiple complex airflow disturbances on the six-degree-of-freedom motion of the unmanned aerial vehicle can be considered, meanwhile, the active disturbance rejection capacity of the oil receiver on the influence of multiple complex airflow disturbances is improved, and the docking response lag problem generated when a slow dynamic oil receiver tracks a fast dynamic taper sleeve is remarkably solved; in addition, the controller involved in the design process is clear in physical significance, parameters are convenient to set, and engineering implementation is easy.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control of unmanned aerial vehicles, and in particular relates to an aerial refueling and docking control method based on a preview strategy. Background technique [0002] UAV, also known as unmanned aerial vehicle, is widely used in military and civilian fields; UAV automatic aerial refueling refers to the process of UAV connecting with other aircraft through pipelines during flight and delivering fuel between aircraft. Aerial refueling improves the combat effectiveness of aircraft, which is reflected in increasing the range and combat radius, prolonging the time in the air, increasing the payload, and increasing the suddenness of the attack, as recorded in Reference Document 1. Reference 1: Quan Quan, Wei Zibo, Gao Jun, et al. Overview of Modeling and Control in the Docking Stage of Hose-type Autonomous Aerial Refueling [J]. Acta Aeronautical Sinica, 2014, 35(9): 2390-2410. In ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64D39/00
Inventor 王宏伦苏子康李娜刘一恒姚鹏
Owner BEIHANG UNIV
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