动量环式主动增稳加油锥套建模与飘摆抑制

Modeling and control for actively stabilized aerial refueling drogue with momentum rings

空中加油软管-锥套受大气紊流等干扰产生飘摆运动,加大了对接过程的不确定性和危险性。创新设计了一种自旋动量环式主动增稳加油锥套,在锥杯处集成一对偏置动量环实现飘摆抑制,避免传统翼舵式锥套回收时舵面与加油机吊舱口撞击风险。基于拉格朗日方程建立了考虑动量环旋转的多级串连单摆系软管-锥套系统运动模型,分析了阵风及大气紊流干扰对锥套飘摆运动特性的影响,提出了基于动量环控制的飘摆抑制方法,仿真表明该方法能够有效缩短阵风干扰下锥套收敛至稳态位置的时间,减小大气紊流干扰下锥套飘摆幅度,削弱高频动态响应。

The aerial refueling hose-drogue exhibits unstable motion because of atmospheric turbulence and other dis⁃turbances,increasing the uncertainty and risk of the docking process.An actively stabilized drogue with spinning mo⁃mentum rings is designed,integrating a pair of bias momentum rings at the drogue cup to achieve pendulous suppres⁃sionib and avoid collision between rudders and the refueling pod when recovering the drogue.A dynamic model of the hose-drogue considering rotation of momentum rings is established based on the Lagrange equation where the hose is modeled by a series of pendulums-connected rigid links.Based on this model,the gust and atmospheric turbulence in⁃terference on the hose-drogue is analyzed.A pendulous motion suppression strategy based on momentum rings con⁃trol is proposed to change the angular momentum of the system by adjusting the rotational rate of the momentum rings.The simulation results show that the regulating time is significantly shortened under gust interference,and the pendulous amplitude of the drogue is effectively reduced under turbulence interference,attenuating the high-frequency chattering of the drogue motion and creating conditions for precise docking control.