基于LQR的无人机自主空中加油对接控制

Shunxiang Wu, Lixiao Zhang, Wenlong Xu, Ting Zhou, D. Luo
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引用次数: 3

摘要

无人机具有体积小、重量轻、成本低、机动性好等诸多优点,越来越受到各国军队的重视。当前使用无人机的一个关键限制是它们有限的航程。本文介绍了无人机空中加油问题的建模,以及如何在不考虑尾迹效应和探头-喷嘴加油系统固有振荡的情况下准确实现对接过程的研究结果。采用基于lqr的控制律实现了无人机与探针-液体加油系统的对接,达到了理想的性能。利用Matlab/Simulink仿真平台,对空中加油对接阶段探头与导翼轨迹的仿真结果进行了验证。仿真结果表明,所设计的全状态反馈控制器能够快速、平稳地实现加油机与无人机的对接。
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Docking control of autonomous aerial refueling for UAV based on LQR
Unmanned Aerial Vehicle (UAV) has many advantages, such as miniature,light weight, low cost, excellent and maneuverability and so on, which make it get more and more attention from the military of many countries. A critical limitation for the current use of UAV is their limited range. This paper describes the results of an effort on the modeling of the UAV aerial refueling problem and on how to realize the docking procedure accurately without considering wake effects and natural oscillation of the probe-drogue refueling system. Desirable performances are achieved by the LQR-based control laws for the docking of the UAV to the probe-drogue refueling system. By using the simulation platform of Matlab/Simulink, the simulation results of the tracks of probe and drogue in the docking phrase of aerial refueling are verified. This simulations reveal that the design of the full state feedback controller can realize docking between the tanker and the unmanned aerial vehicle fast and smoothly.
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