Dynamic modeling of a hose-drogue aerial refueling system and integral sliding mode backstepping control for the hose whipping phenomenon
Dynamic modeling of a hose-drogue aerial refueling system and integral sliding mode backstepping control for the hose whipping phenomenon
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DOI：
10.1016/j.cja.2014.06.010
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发表时间：
2014-08
影响因子：
5.7
通讯作者：
Haitao Wang;Xin-min Dong;Jianping Xue;Jiaolong Liu
中科院分区：
文献类型：
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作者：
Haitao Wang;Xin-min Dong;Jianping Xue;Jiaolong Liu
研究了软管-液管空中加油系统(HDARS)的动态建模和针对探头-液管耦合过程中软管抖动现象(HWP)的积分滑模反推控制器设计。首先，建立了变长软管-液管总成的动力学模型，以探索抑制鞭打现象的方法。基于集总参数法，将软管模型化为一系列无摩擦连接的变长杆件。推导了软管三维运动的迭代方程，考虑了定常风、大气湍流和油罐尾迹的影响。其次，以永磁同步电机和高精度位置传感器为依托，提出了一种基于油罐车与接收器相对位置的水力机主动控制策略。考虑到永磁同步电机的严格反馈结构，设计了一种基于反步法的转子位置控制律，以保证系统的全局稳定性。采用转子位置误差积分和电流误差指数滑模趋近律，提高了控制精度和鲁棒性。仿真结果表明了所提模型和控制律的有效性。
Dynamic modeling of a hose-drogue aerial refueling system (HDARS) and an integral sliding mode backstepping controller design for the hose whipping phenomenon (HWP) during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon. Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose’s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly, relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally, the simulation results show the effectiveness of the proposed model and control laws.