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.
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.
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