基于L1动态逆的自主空中加油对接控制

摘要

为实现无人受油机与加油机的自主安全对接,提出基于L1自适应动态逆的无人机自主空中加油对接跟踪控制方法.根据时标分离的原则,将无人受油机的姿态控制分为快、慢回路,采用动态逆方法设计姿态回路控制器,设计L1自适应系统补偿外界气流干扰和系统模型误差,并采用自主空中加油对接段仿真系统对所设计控制系统进行验证.仿真结果表明:该对接跟踪控制系统具有很高的抗干扰能力和鲁棒性,能满足自主空中加油的控制精度要求.%For realizing the autonomous and safe docking of unmanned receiver and refueling aircraft, put forward unmanned autonomous aerial refueling docking and tracking control method based on L1 self adaptive dynamic inversion. According to principle of time-scale separation, divide unmanned receiver gesture control intro fast and slow loop. Use dynamic inversion method to design gesture loop, and design L1 self-adaptive system to compensate external air flow disturbance and system model error, and verify the control system by autonomous aerial refueling docking simulation system. The simulation results show that the docking trace control system has high capacity of resisting disturbance and robustness, and it can satisfy the control precision of autonomous aerial refueling.