摘要
研究了无人机在执行空中加油任务时受到加油机尾流影响下的控制器设计问题。针对此问题，首先对加油机尾流和无人机俯仰通道进行建模，将非均匀分布的尾流速度转化成在无人机运动方程中能直接使用的有效风向量和风梯度。其次，将QFT应用于无人机俯仰通道控制器设计。在进行控制器设计时，将尾流引起的风向量和风梯度引入至无人机运动方程的相应参数，且假定风向量和风梯度的变化范围是有界的，这样可以减少尾流计算的工作量，便于工程应用。仿真结果表明，所设计的控制器对空中加油过程中无人机飞行参数的变化具有强鲁棒性，证明了QFT理论可以有效解决自主空中加油中的一类鲁棒控制问题。
The controller of the pitch channel for the autonomous aerial refueling unmanned aerial vehicle with vortex dis-turbance is investigated. First,the vortex model and the motion equations of the picth channel are written. These non-uniform wind and wind gradients acting over the unmanned aerial vehicle are approximated with uniform effective wind and wind gra-dients that can be directly used in unmanned aerial vehicle motion equtaions. Next, the quantitative feedback theory QFT is employed in the controller design. These uniform effective wind and wind gradients is introduced to the corresponding pa- rameters of the unmanned aerial vehicle motion equations. It is assumed that the variation range of the wind and wind gradi- ents is bounded, which can reduce the complexity of the calculation and convenient for engineering application. The simula-tion results show that the controller realizes the robustness to these parameters uncertainties. It is proved that QFF can solve a class of robust control problem of autonomous aerial refueling effectively.
关键词
空中加油
无人机
定量反馈理论
控制器
鲁棒控制
尾流
aerial refueling
unmanned aerial vehicle
quantitative feedback theory
controller
robust control
vortex
