Conventional method for hose-drogue model of aerial refueling system is known to be complex due to the flexible body of hose.And as reported,drogues are unstable in atmospheric turbulence,which greatly decreases docki...Conventional method for hose-drogue model of aerial refueling system is known to be complex due to the flexible body of hose.And as reported,drogues are unstable in atmospheric turbulence,which greatly decreases docking success rates.This paper proposes a dynamic model for a hose-drogue aerial refueling system based on Kane equation and rigid multi-body dynamics,and analyzes its performance.Furthermore,the nonlinear dynamic model is linearized at the equilibrium point and simplified from full order to 2 nd order.Based on the simplified 2 nd order model,active control strategies,including proportion integral derivative(PID)and liner quadratic regulator(LQR)control laws,are designed to inhibit the pendulum movement of drogue due to,atmospheric turbulences.Numerical simulation results show the significant correctness of the proposed dynamic model by steady-state drag and balance position of drogue when the tanker flights under different conditions.Moreover,the steady state position error varies within 1 cm,thanks to either controller,when the drogue suffers from moderate-level atmospheric turbulences.Further,the PID controller exhibits better control effect and higher control precision than LQR controller.展开更多
Dynamic modeling of a hose-drogue aerial refueling system（HDARS） and an integral sliding mode backstepping controller design for the hose whipping phenomenon（HWP） during probe-drogue coupling are studied. Firstly,...Dynamic modeling of a hose-drogue aerial refueling system（HDARS） and an integral sliding mode backstepping controller design for the hose whipping phenomenon（HWP） during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon.Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose＇s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly,relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally,the simulation results show the effectiveness of the proposed model and control laws.展开更多
基金supported in part by the National Natural Science Foundation of China(No.61533008)the Fundamental Research Funds for the Central Universities(No. NZ2016104)the Funding of Jiangsu Innovation Program for Graduate Education(No.KYLX15_0276)
文摘Conventional method for hose-drogue model of aerial refueling system is known to be complex due to the flexible body of hose.And as reported,drogues are unstable in atmospheric turbulence,which greatly decreases docking success rates.This paper proposes a dynamic model for a hose-drogue aerial refueling system based on Kane equation and rigid multi-body dynamics,and analyzes its performance.Furthermore,the nonlinear dynamic model is linearized at the equilibrium point and simplified from full order to 2 nd order.Based on the simplified 2 nd order model,active control strategies,including proportion integral derivative(PID)and liner quadratic regulator(LQR)control laws,are designed to inhibit the pendulum movement of drogue due to,atmospheric turbulences.Numerical simulation results show the significant correctness of the proposed dynamic model by steady-state drag and balance position of drogue when the tanker flights under different conditions.Moreover,the steady state position error varies within 1 cm,thanks to either controller,when the drogue suffers from moderate-level atmospheric turbulences.Further,the PID controller exhibits better control effect and higher control precision than LQR controller.
基金supported by the National Natural Science Foundation of China(No.61304120)
文摘Dynamic modeling of a hose-drogue aerial refueling system（HDARS） and an integral sliding mode backstepping controller design for the hose whipping phenomenon（HWP） during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon.Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose＇s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly,relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally,the simulation results show the effectiveness of the proposed model and control laws.
