空中加油软管-锥套动态建模及其飘摆运动抑制

基于多刚体动力学建立空中加油软管-锥套在尾涡流场及大气紊流下的动态数学模型,分析了加油机在不同飞行条件下软管-锥套的平衡拖拽尾迹,以及大气紊流对软管-锥套运动的影响。软管-锥套随加油机在空中飞行时产生的飘摆运动,增加了受油机安全准确地对接加油锥套的难度。为了抑制软管-锥套空中飘摆运动,对软管-锥套飘摆运动设计了控制器。在非线性模型平衡点处线性化并降阶得到线性增量模型,根据最优控制原理设计了LQR控制器。仿真表明所设计的LQR控制器能有效抑制软管-锥套的飘摆运动,从而能够降低空中加油对接的难度,提高空中加油的安全性。

Dynamic Modeling and Restriction of Shaking Motion of Aerial Refueling Hose-Drogue

A dynamic mathematical model of aerial refueling hose drogue under the tanker wake and atmospheric turbulence is presented by the method of rigid multibody dynamics.Then the balance drag wake of hose-drogue and the atmospheric turbulence on hose-drogue in different flight conditions are analyzed basing on this model. Hose-Drogue fly with the tanker in the air can produce shaking motion which increase the difficulty of coupling with a refueling drogue for a receiver plane safely and accurately.To reduce the movement amplitude of the hose-drogue in the air,the controller to the motion of the hose-drogue is designed.The no-linear model is linearized in the equilibrium point and reduced into linear incremental model to design LQR controller according to optimal control theory.The simulation results show the effectiveness of the restriction to the shaking motion of the hose-drogue,and then it can reduce the difficulty of aerial refueling docking enhancing the security of aerial refueling.