无人机硬式空中加油风场信息提取及伸缩管控制方法研究

Nowadays, the control technology of boom refueling for UAVs flying under the complex wind field is an important research topic.This project focuses on how to obtain wind field information effectively, and how to control the refueling boom to align to the UAV and to alleviate the boom load automaticlly or other relevent issues when the refueling boom is working under the meteorological wind field and tanker's tail vortex flow. Firstly, considering the wind affecting on the refueling boom, an optimal estimation method of the wind information is investagted which is studied based on the fusion of the information from the differrent wind field model and the online estimation through the UAV. Secondly, for the extreme coupling problem of the boom movement in wind field, a modeling method of the refueling boom system is studied through building a complete three-vehicle coupling dynamics model in the case of wind disturbance. Then, aiming at the elastic deformation and the fluttering of the boom in wind field during the flight, the control method is investigated to restrain the phenomenon based on the fusion and ferdrated filtering of the the signals from the defferent attitude sensors. Finally, an automatic control algorithm which has a certain ability to resist wind noise is proposed to alleviate the contact load between the nozzle on the boom and the refuleing receptacle on the UAV when in-refueling flight. Altogether, the objective of the project aims at providing theoretical guidance for the boom refueling technology in the future.

复杂风场环境下的无人机硬式空中加油技术是目前无人机领域中一项重要研究课题。本项目针对无人机加油时伸缩管在受气象风场及加油机尾涡气流影响的情况下，如何有效地进行风场信息提取、自动对准控制与自动卸荷控制等问题提出深入研究。针对无人机加油过程中，伸缩管受到风场干扰，通过建立不同类型的风场模型以及风场在线估计技术，研究基于风场模型与无人机风场在线估计的联合估风最优融合方法；针对风场环境下加油伸缩管模型强耦合问题，通过建立完整加油系统的三机耦合风扰动力学模型，研究一种加油伸缩管的系统建模方法；针对风场环境下伸缩管弹性形变与颤振现象，通过对多点布局姿态传感器测量信号进行融合滤波，研究抑制加油管弹性形变时自动对准姿态控制策略；针对无人机加油对接时存在一定的接触应力，研究一套具有一定抗风干扰能力的自动卸荷控制算法。旨在通过本项目的研究，为硬式空中加油技术研究工作提供理论指导。

复杂风场环境下的无人机硬式空中加油技术是目前无人机领域中一项重要研究课题。然而，硬式空中加油技术作为一项较新且复杂的研究方向，由于缺乏相关资料，现有文献对其复杂风场环境下伸缩管的控制问题的研究比较有限。本项目针对硬式空中加油过程中的风场信息提取和伸缩管的控制问题分别从以下四个方面展开了一系列研究，并取得了预期的研究成果。针对无人机加油过程中伸缩管受到的风场干扰，通过建立不同类型的风场模型以及风场在线估计技术，研究了基于风场模型与无人机风场在线估计的联合估风最优融合方法，并搭建了风场测量试验平台；针对风场环境下加油伸缩管模型强耦合问题，研究了伸缩管的系统建模方法，并拓展研究了硬式加油地面试验平台的控制问题；针对风场环境下伸缩管弹性形变与自动对准，通过建立伸缩管弹性运动模型并进行模态分析，研究抑制伸缩管弹性形变抑制策略，同时对会合过程和对准过程中加油机和受油机的运动控制关系设计了相应的控制方案；针对无人机加油对接时存在一定的接触应力，研究一套具有一定抗风干扰能力的自动卸控制算法。旨在通过本项目的研究，为硬式空中加油技术研究工作提供理论指导。

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