基于特征结构配置的硬式空中加油管解耦设计

Decoupling Design of Refueling Boom by Output Feedback Eigen Structure Assignment

关于空中加油伸缩管的耦合问题,采用特征结构配置,对优化系统很重要。针对伸缩管的运动受加油机牵连运动影响造成的不准确,进行分析了伸缩管的受力情况,并建立了伸缩管数学模型。为改善性能,设计了前馈控制器和特征结构配置理论基础上的输出反馈控制器,实现系统解耦并保证良好的动态性能,利用输出反馈特征结构配置的原理并推导了反馈增益矩阵的数学表达式。使系统具有良好的跟踪特性,通过引入了前馈补偿器,并给出了具体的设计过程。仿真结果表明,应用特征结构配置方法设计出的控制器,能够实现系统解耦,并具有良好的动态跟踪性能,能够快速准确地完成加油任务。

In view of the coupling problem which exits in the system of the refueling boom,the eigenstructure assignment algorithm is applied in decoupling of the system.Considering that the movement of boom is influenced by the refueling aircraft,the stress is analyzed specially and the mathematical model of the refueling boom is constructed at the same time.The feed-forward and output-feedback controllers based on the principle of eigenstructure assignment are designed in this paper.First,in order to decouple the system and guarantee the dynamic performance of refueling boom,the method of eigenstructure assignment is dedicated and the mathematical expression of feedback gain matrix is deduced.Second,in order to guarantee the performance of tracking,the feed-forward compensation controller is introduced and designed.The results indicate that the controller which is designed based on the method of eigenstructure assignment algorithm can decouple the system,satisfy the dynamic tracking properties and finish the task of refueling quickly and accurately.