The invention provides an image servo hose type automatic air refueling docking control method in a speed control mode. The method comprises the following steps: 1, completing description of a hose type automatic air refueling docking control problem in the speed control mode; 2, establishing an image servo model and a camera motion model in a speed mode; 3, designing an expected speed of the oil receiver relative to a ground coordinate system based on the image servo model and the camera motion model in the speed mode; and 4, according to the guidance model, designing a dynamic inversion speed tracking controller based on additive decomposition. According to the method, the control problem of hose type automatic air refueling docking in a receiver aircraft speed control mode is completed based on an image servo method under the condition that an existing bottom layer controller cannot be modified or an accelerator and a control surface are not allowed to be directly controlled for safety is solved, and the requirements for safety, reliability and robustness are met; the flexible pipe type automatic air refueling butt joint can be efficiently and safely completed, and is closer to an actual application field.
本发明提出一种速度控制模式下的图像伺服软管式自动空中加油对接控制方法,包括如下:一:完成速度控制模式下的软管式自动空中加油对接控制问题描述;二:速度模式下的图像伺服模型建立、相机运动模型建立;三:基于速度模式下的图像伺服模型和相机运动模型,设计受油机相对地面坐标系的期望速度;四:根据制导模型,设计基于加性分解的动态反演速度跟踪控制器。本发明解决了在已有底层控制器不可修改或为了安全不允许直接控制油门和舵面的情况下,基于图像伺服方法完成受油机速度控制模式下软管式自动空中加油对接的控制问题,满足安全性、可靠性、鲁棒性,使得软管式自动空中加油对接可以高效、安全地被完成,更贴近于实际应用场。
Image servo hose type automatic air refueling docking control method in speed control mode
一种速度控制模式下的图像伺服软管式自动空中加油对接控制方法
2024-05-17
Patent
Electronic Resource
Chinese
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