输入-输出非线性反馈线性化方法在硬式空中加油控制系统设计中的应用

Input-output Feedback Non-linearization Used in Design of Boom Air-refuelling Control System

通过对硬式空中加油技术的研究,建立了硬式加油伸缩杆数学模型,结果表明该伸缩杆系统为一个多输入-多输出(MIMO)、耦合、非线性系统。这样解耦控制就成为系统设计的关键。当系统满足可解耦条件时,采用一种基于输入-输出(I/O)非线性反馈线性化的微分几何方法,输出与等效新输入之间呈现线性微分方程关系,选择合适的反馈形式可使伸缩杆的姿态控制解耦。解耦后,伸缩杆就可分解为俯仰和滚转方向两个相互独立的单输入-单输出(SISO)线性子系统。在MATLAB中建立了伸缩杆及其解耦模型,并进行了仿真研究。结果表明该解耦方法很好地消除了系统间的耦合作用,能够满足工程设计的需要。

The boom mathematical model was built based on the analysis of boom air-refuelling technique.It is indicated that the boom system was a typical multiple input multple output（MIMO）and input/output（I/O）coupled nonlinear system,in which the pitch and roll movements were coupled.So decoupling control of boom refuelling system was the key problem in the design of boom system.A nonlinear decoupling algorithm due to differential geometry theory was proposed via input-output feedback linearization to control the boom system.When decoupling condition held,a linear differential relation between the outputs and new inputs could be found and the choosing appropriate feedback could make the attitude of boom system decoupled.By decoupling,the boom system could be divided into two independent linear single input single output（SISO）subsystems which were the pitch channel and the roll channel.The boom simulation model and its decoupling simulation model were given in MATLAB.The simulation results show that the coupling effect of boom air-refuelling system is commendably eliminated by input-output feedback linearization method and this nonlinear decoupling algorithm is satisfied the needs of practice engineering.