基于有限状态机的平滑航迹指令生成器设计

Design of a Smooth Trajectory Instruction Generator Based on Finite State Machine

在空中加油近距对接段,加、受油机距离较近,且极易受到气流扰动等外部因素影响,受油机使用常规航迹指令进行跟踪控制时容易造成舵面偏转剧烈,从而引发安全事故,针对上述情形,重新定义加、受油机间关键相对位置及其状态转换逻辑,同时设计三种受油机的应急机动动作增加对接过程的安全性,之后采用有限状态机通过三次多项式拟合的方式对航迹进行平滑处理,并使用仿真工具软件可实现在空中加油近距对接段各状态间的安全逻辑转换,通过使用该指令生成器能够快速、稳定、安全的实现整个近距对接任务。

In the aerial refueling close docking phase,the refueler and the recipient are close to each other and are easily affected by external factors such as airflow disturbance,and the recipient is prone to violent rudder deflection when using conventional trajectory commands for tracking control,thus causing safety accidents.After that,a finite state machine is used to smooth the trajectory by means of cubic polynomial fitting,and the simulation tool software can realize the safety logic transition between states in the aerial refueling close docking section,and finally the generated trajectory reference commands can be provided to the recipient aircraft trajectory tracking control loop for execution.