Docking control for probe-drogue refueling: An additive-state-decomposition-based output feedback iterative learning control method

Designing a controller for the docking maneuver in Probe-Drogue Refueling(PDR) is an important but challenging task, due to the complex system model and the high precision requirement.In order to overcome the disadvantage of only feedback control, a feedforward control scheme known as Iterative Learning Control(ILC) is adopted in this paper.First, Additive State Decomposition(ASD) is used to address the tight coupling of input saturation, nonlinearity and the property of Non Minimum Phase(NMP) by separating these features into two subsystems(a primary system and a secondary system).After system decomposition, an adjoint-type ILC is applied to the Linear Time-Invariant(LTI) primary system with NMP to achieve entire output trajectory tracking, whereas state feedback is used to stabilize the secondary system with input saturation.The two controllers designed for the two subsystems can be combined to achieve the original control goal of the PDR system.Furthermore, to compensate for the receiverindependent uncertainties, a correction action is proposed by using the terminal docking error,which can lead to a smaller docking error at the docking moment.Simulation tests have been carried out to demonstrate the performance of the proposed control method, which has some advantages over the traditional derivative-type ILC and adjoint-type ILC in the docking control of PDR.

Modeling Method and Control Strategy for Hose-Drogue Aerial Refueling System

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.

Guidance and Control for UAV Aerial Refueling Docking Based on Dynamic Inversion with L_1 Adaptive Augmentation

The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is studied.In order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop commands.In flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic inversion.The throttle control is also derived from dynamic inversion method.Moreover,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and disturbance.Nonlinear digital simulations are carried out.The results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.

Safety Assessment for Autonomous Aerial Refueling Based on Reachability Analysis

Autonomous aerial refueling(AAR)has demonstrated significant benefits to aviation by extending the aircraft range and endurance.It is of significance to assess system safety for autonomous aerial refueling.In this paper,the reachability analysis method is adopted to assess system safety.Due to system uncertainties,the aerial refueling system can be considered as a stochastic system.Thus,probabilistic reachability is considered.Since there is a close relationship between reachability probability and collision probability,the collision probability of the AAR system is analyzed by using reachability analysis techniques.Then,the collision probability is accessed by using the Monte-Carlo experiment method.Finally,simulations demonstrate the effectiveness of the proposed safety assessment method.

Numerical Analysis of Refueling Drogue Oscillation During Refueling Docking

Refueling docking at different velocities is simulated by using computational fluid dynamics(CFD)method.The Osher scheme and S-A turbulence model are used to solve the compressible Navier-Stokes equations,and the Delaunay mapping dynamic grid method is also employed.All the numerical results show that the velocity of refueling docking is very important for aerial refueling.When the velocity is lower than 3m/s,the refueling drogue will move upward with obvious cycle staggering,while moving upward with slight cycle staggering at the speed of3m/s.The results can be referenced by aerial refueling design.

LQR Integrated with Fuzzy Control for Aerial Refueling Autopilot

Linear Quadratic Regulator （LQR） is modem linear control that is suitable for multivariable state feedback and is known to yield good performance for linear systems or for nonlinear systems where the nonlinear aspects are presented. The fuzzy control is known to have the ability to deal with nonlinearities without having to use advanced mathematics. The LQR integrated fuzzy control （LQRIFC） simultaneously makes use of the good performance of LQR in the region close to switching curve, and the effectiveness of fuzzy control in region away from switching curve. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into fuzzy control. The LQRIFC is verified by simulation to suppress the uncertainty instability more effectively than the LQR besides minimizing the time of the mission proposed.

Interpretation of GB/T 26779-2021,Hydrogen fuel cell electric vehicles refueling receptacle

With the development of fuel cell electric vehicle industry in China,the 70-MPa hydrogen storage cylinders have been widely applied on vehicles in recent years.The revised standard,GB/T 26779-2021,Hydrogen fuel cell electric vehicle refueling receptacle,was released on March 9,2021 with added stipulations for the 70-MPa hydrogen refuelling receptacle.The main technical contents of GB/T 26779-2021 and its similarities and differences with GB/T 26779-2011 are discussed in this paper.

Modeling and Simulation for Refueling Boom and Receiver inCoupled Mode

In coupled mode,the major problem of boom refueling system is undesirable nozzle loads.An automated load alleviation system(ALAS)is needed to alleviate nozzle loads.In order to simulate dynamic of the system and to validate ALAS,dynamic model is developed.Two models are established,which are the static model and the moving model,named after the two relative states between the fixed boom and the extension boom.Kane method is employed as main method considering system′s multi-body characteristics.D′Alembert′s principle is used to calculate nozzle loads.Simulation is conducted to research the effects of position disturbance and velocity disturbance on nozzle loads.Results indicate that position disturbance plays a more significant role in inducing nozzle loads.A fuzzy control law based ALAS is validated using the formulated model.It is concluded that this model can simulate system dynamic and validate ALAS.

基于低损耗热压缩的新型液氢加氢站工艺系统构建

为解决国内现有液氢加氢站中核心设备短期内无法实现国产化以及液氢站加注过程中氢浪费量过大等问题,基于机械压缩增压和热压缩增压机理,构建了基于低损耗热压缩的新型液氢加氢站工艺系统,并利用Aspen HYSYS软件对该新型液氢加氢站工艺系统进行了稳态模拟,得出了系统运行工况参数,确定了优化工艺方案。在此基础上对现有液氢加氢站和新型液氢加氢站系统及其热压缩模块分别进行了能耗分析,结果表明,现有的“增压与汽化并行”式液氢加氢站系统比能耗为0.912 kWh/kg,而低损耗热压缩的新型液氢加氢站系统比能耗为0.322 kWh/kg,其比能耗比现有液氢加氢站降低了64.8%。这表明基于低损耗热压缩的新型液氢加氢站系统更节能,系统中关键部件的[火用]效率也更高。

基于BOG回收的多槽车对船LNG加注方案设计

针对中大型LNG双燃料船舶槽车加注时间长、BOG排放多问题,提出可进行BOG回收的多槽车加注方案并进行设计优化。以国内新建某LNG受注船具体加注需求为例,通过模拟在加注过程中不同压力工况下BOG产生量,针对性开展多槽车加注及BOG回收方案的关键设备选型、工艺流程计算,并详述使用多槽车向船上进行干燥惰化、冷舱、加注及BOG回收详细操作步骤。该方案可实现连续加注作业,解决中大型LNG船舶加注及BOG回收技术问题,有利于船舶航运业向绿色、低碳转型。

车用氢能发展难点与对策

“双碳”目标背景下,国内加快能源转型步伐,交通运输业作为第三大碳排放行业,加快向电、氢转型。分析了国内氢燃料电池汽车和加氢站的发展现状,从产业链的角度深入剖析了国内车用氢能发展的“车贵”“氢贵”“站贵”等三大痛点,认为深层次的原因是燃料电池、车辆生产和加氢站设备生产存在技术瓶颈,关键零部件仍然依赖进口,加氢站建设及运营成本高,电解水等制氢成本高等。最后,从行业发展的角度,分别提出了降低车用氢能成本的突破路径,指导行业良性发展。

光学舱推进剂补加过程的热分析仿真与试验研究

推进剂补加是确保光学舱在轨长寿命工作的重要功能,补加过程面临的热环境条件比以往任务恶劣,全过程热控制十分必要。针对光学舱推进剂补加过程的复杂传热新问题,建立包含压气机、液冷模块和环路热管等部件的光学舱平台集成热数学模型,进行热分析仿真研究,并开展系统级热试验。对比高温和低温2种补加条件的瞬态热分析和热试验结果,研究传热关系和温度变化规律;针对热试验中垂直热管因重力因素从不运行至运行的瞬态过程,提出一种变热导率仿真方法;提出高温补加优化设计方案并进行在轨预示。结果表明:瞬态仿真结果与试验结果吻合良好,验证了热分析方法和仿真模型的准确性和有效性;在轨补加采用压气机本体预热并启动2套环路热管,压气机的最高温度≤34.1℃,预热总功耗50 Wh,满足指标要求。研究结果对于光学舱停靠空间站期间的推进剂补加流程设计具有一定参考价值。

油罐车自主加注臂密封圈响应面优化及分析

为了提高油罐车自主加注臂前端快接装置的密封性能,设计了一种内胀式橡胶密封圈,并结合响应面法和有限元法对密封圈进行了优化和分析。首先,基于有限元软件ANSYS Workbench对密封圈进行建模和仿真,研究了密封圈的倒圆半径、厚度和压缩量对密封圈性能的影响;然后,将密封圈与管壁的接触面积、接触压力和所受等效应力作为优化目标,利用Design⁃Expert软件建立了密封结构的优化模型,并通过多目标优化获得最优设计方案;最后,进行了密封圈优化前后的性能对比和分析。数值测试表明,在最大3 MPa介质压力下,优化后密封圈的接触压力提升了1.3 MPa,有效接触面积更大,且接触带更加集中,有利于实现快接装置和油罐车加注口的有效密封,同时等效应力降低了4.3%,有助于延长密封圈的使用寿命。

考虑不同制氢方法的高速公路加氢站布局规划

针对高速公路加氢设施不完善的问题,提出一种基于改进自适应遗传算法的高速公路加氢站布局方法。根据高速公路特性及电子收费记录,建立高速公路网络和加氢判断模型。基于多层次-模糊综合评价方法,从经济性、环保性以及安全性角度,提供适合高速公路加氢站的制氢方法和制氢地点的组合。再结合分布式光伏的投入,以经济效益最优为目标,构建高速公路站外和站内制氢2组目标函数,利用改进自适应遗传算法分别进行优化布局和容量配置。以沈海高速(浙江段)作为研究对象进行分析,提供了不同制氢方法下加氢站布局方案及相关设施的容量配置,算例结果与模糊综合评价结果相互验证了模型的有效性。

提升加氢站运行效率的建议

针对目前加氢站建设和运营中存在的建设投资成本较高、运营易出现亏损、加氢设备易出现故障、用氢成本较高、安全管理和规划布局仍需提升等问题,提出了提高加氢站运行效率的建议:一是规范建设标准,执行建设规范;二是根据应用场景合理配置基础设施;三是降低设备故障率,减少维修成本;四是加强维保队伍建设;五是开展加氢站运营培训;六是提高氢气运输效率。

考虑交通流量预测的光−氢−电耦合系统规划

为解决制氢、加氢站建设成本高、氢燃料汽车加氢具有不确定性特点等问题,提出一种考虑交通流量预测的光−氢−电耦合系统规划模型。首先,建立包含氢气生产、压缩和储存并通过充氢装置注入至氢燃料电池汽车内的现场制氢模型;其次,提出交通流量的预测方法,为制氢、加氢站系统建模和运行提供支持;最后,以最小化成本为目标,构建考虑交通流量预测的光−氢−电耦合系统规划模型,然后以IEEE30标准算例,以30路网节点为算例分析系统,研究发现制氢、加氢站联合光伏电站有利于降低系统成本;制氢补贴政策的实施使氢气需求增加28%,制氢、加氢站数量增加20%;电解槽制氢量快速响应峰谷分时电价变化。结果表明所提模型具有有效性。

一种发现柴油“自流黑”站点的方法与实践

介绍了一种发现柴油“自流黑”站点的方法。通过分析柴油车位置坐标、油箱液位数据变化,形成加油的位置信息数据集。通过聚类方式形成点位信息列表,与预先设置的正常加油站点位信息作比对,排除合法加油站的点位信息,生成疑似柴油“自流黑”站点位置清单,经现场验证,该方法效果较好,为“打非治违”工作提供了更为精准和快速的线索。

国外空中加油受油机操纵品质试飞技术综述

针对飞机执行软式空中加油任务时飞行品质试飞及评价方法缺失的问题,搜集国外文献,结合实际空中加油试飞,分解空中加油任务得到加油不同阶段飞行品质关注重点。针对性提出加油任务相关的操纵品质试飞及评价方法,改进加油模态飞行控制律,改善飞行品质、尾流场操纵品质检查、空中加油任务闭环操纵品质评价等,对我国空中加油飞行品质试飞及评价具有较大参考价值。

车用加氢站火灾爆炸事故风险分析

目的完善氢能产业链基础设施,寻求车用加氢站火灾爆炸事故致因,提出车用加氢站火灾爆炸事故防控措施,保障其安全可持续发展,提高大众对车用加氢站安全防控的信任度。方法采用事故致因理论揭示事故发生的本质,从能量物质、能量载体以及物的不安全状态和人的不安全行为角度出发,系统性地分析车用加氢站火灾爆炸事故的危险源,并以其火灾爆炸事故为顶上事件建立事故树图,提出有针对性的防控策略。结果①车用加氢站火灾爆炸属于物的不安全状态的基本事件占比最大,为52%;②可能引发车用加氢站火灾爆炸的最小割集有350个,避免火灾爆炸事故发生的最小经集有4个;③不考虑基本事件发生的概率,通风不良、报警装置故障、检测器失效、安全阀故障和自动制动系统故障5个基本事件的结构重要度最大。结论事故致因理论能科学全面地对车用加氢站进行危险源辨识,事故树系统分析了其基本事件结构重要度,保护措施正常运行是削减其火灾爆炸事故的关键控制点,给车用加氢站建站管理等制定相关防控措施提供了理论依据。

低温液氢加注技术研究进展

液氢的安全高效加注是对其进行转移、储存和使用的关键。从加注模式、加注结构和加注工艺等方面综述了国内外液氢加注技术的研究进展。在常重力环境下,有排气和无排气加注均能通过加注结构和工艺的合理设计实现加注目的。典型的无排气顶部加注过程包含初始快速升压、相对稳定加注和末期快速升压3个阶段,而无排气底部加注无明显的阶段性特征。对于常重力加注,不同的顶部加注结构主要影响加注初期接收罐内的压力和温度变化,而不同的底部加注结构还显著影响加注初期的流场特征。不同加注工艺主要通过初始闪蒸、壁面沸腾、液相蒸发、气相冷凝及气相压缩等机制对加注过程产生影响。对于微重力环境下的液氢无排气加注,加注位置和加注结构对加注过程的影响小于不同加注工艺的影响。加注过程中内胆壁面的热变形程度与其冷却程度呈正相关,热应力集中区域不依赖于热变形的分布。为加快实现在更广泛的应用场景下的安全、高效加注液氢,还需进一步深化对加注过程的理论分析、仿真研究和实验研究,同时结合经济性,加强系统性加注工艺流程的仿真研究。