基于滑模的自主空中加油会合跟踪制导与控制

doi:10.3969/j.issn.0255-8297.2016.02.011

应用科学学报 ›› 2016, Vol. 34 ›› Issue (2): 215-226.doi: 10.3969/j.issn.0255-8297.2016.02.011

基于滑模的自主空中加油会合跟踪制导与控制

龚全铨, 袁锁中, 张进

南京航空航天大学自动化学院, 南京 211106

收稿日期:2014-12-05 修回日期:2015-08-04 出版日期:2016-03-30 发布日期:2016-03-30
通信作者: 袁锁中,博士,副教授,研究方向:导航制导与控制,E-mail:szyuan@nuaa.edu.cn E-mail:szyuan@nuaa.edu.cn
基金资助:
国家自然科学基金(No.61273050);航空科学基金(No.20121352026)资助

Guidance and Control of Autonomous Aerial Refueling Rendezvous Trajectory Chasing Based on Sliding Mode Method

GONG Quan-quan, YUAN Suo-zhong, ZHANG Jin

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

Received:2014-12-05 Revised:2015-08-04 Online:2016-03-30 Published:2016-03-30

摘要/Abstract

摘要： 根据无人机与加油机的目标视线及无人机飞行速度之间的关系,建立了满足追踪会合要求的滑模控制面,设计了一种满足空中加油会合要求的制导律,生成了受油机侧向与法向期望过载.根据运动学关系,采用动态逆方法将期望过载转化为期望的角速率,设计了满足协调转弯的滚转角指令.内回路采用动态逆实现了角速率的跟踪控制.根据无人机与加油机相对位置与速度设计了满足会合要求的前飞速度指令.最后以无人机自主跟踪加油机实现会合为例进行了仿真.结果表明,该系统能够引导无人机与加油机的会合,具有良好的动态性能.

关键词: 空中加油, 会合, 滑模控制, 动态逆

Abstract: Based on the relative position and the line of sight between the receiver and the tanker aircraft, the receiver's normal and lateral flight acceleration command are generated using a sliding mode method to meet the trajectory chasing requirement. A dynamic inversion method is used to transform the desired acceleration to angular rate according to the kinematic relations. The roll angle command is designed to coordinate bank-toturn simultaneously. Tracking control of the angular rate loop is achieved using dynamic inversion. The forward acceleration command is generated according to the relative speed and range between the receiver and tanker. The velocity control law is designed using dynamic inversion. Nonlinear digital simulation results demonstrate that the controller is capable of guiding the receiver to rendezvous with the tanker, and the transient performance is good.

Key words: aerial refueling, rendezvous, sliding mode control, dynamic inversion

中图分类号:

V249.122

龚全铨, 袁锁中, 张进. 基于滑模的自主空中加油会合跟踪制导与控制[J]. 应用科学学报, 2016, 34(2): 215-226.

GONG Quan-quan, YUAN Suo-zhong, ZHANG Jin. Guidance and Control of Autonomous Aerial Refueling Rendezvous Trajectory Chasing Based on Sliding Mode Method[J]. Journal of Applied Sciences, 2016, 34(2): 215-226.

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基于滑模的自主空中加油会合跟踪制导与控制

Guidance and Control of Autonomous Aerial Refueling Rendezvous Trajectory Chasing Based on Sliding Mode Method

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