Command filtered backstepping sliding mode control for the hose whipping phenomenon in aerial refueling
Command filtered backstepping sliding mode control for the hose whipping phenomenon in aerial refueling
复制标题
空中加油软管抖动现象的命令滤波反步滑模控制
DOI：
10.1016/j.ast.2017.04.020
复制
发表时间：
2017-08
影响因子：
5.6
通讯作者：
WanfengJin
中科院分区：
文献类型：
--
作者：
Qiusheng He;Haitao Wang;Yufeng Chen;Ming Xu;WanfengJin
针对空中加油中的软管抖动现象，研究了一种命令滤波反推滑模变结构控制器的设计。首先，介绍了作者先前建立的具有弯曲恢复力的变长软管-液管总成的动力学模型作为控制对象。根据运动学原理，将软管长度控制转化为对永磁同步电机的角度控制，以保持软管张力稳定，抑制软管抖动。在此基础上，提出了基于指令滤波反推滑模角控制的永磁同步电机主动控制策略。为了最大化输出力矩，采用了空间矢量调制方法。考虑到角速度子系统的严格反馈结构，采用命令滤波反推的方法消除了以往控制系统设计中所需的高阶命令导数的解析计算。在电流电压子系统中，采用d轴和q轴电流误差的指数滑模趋近律，提高了收敛速度、控制精度和鲁棒性。结果表明，控制系统大大简化，对传感器数量的要求也有所放宽。最后，通过仿真分析了该控制律的优越性。
Studied in this paper is the design of a command filtered backstepping sliding mode controller for the hose whipping phenomenon in aerial refueling. Firstly, a dynamic model of the variable-length hose–drogue assembly with the restoring force due to bending previously built by the authors is introduced as a control plant. According to the kinematics, the hose length control is transformed to the angular control of the permanent magnet synchronous motor to keep the hose tension stable and suppress the hose whipping. Then, an active control strategy based on command filtered backstepping sliding mode angular control of the permanent magnet synchronous motor is proposed. To maximize the output torque, the space vector modulation method is adopted. Considering the strict-feedback configuration of the angular velocity subsystem, command filtered backstepping is used to eliminate the analytic computation of high order command derivatives required in the previous control system design. In the current voltage subsystem, exponential sliding mode reaching laws ofd-axis andq-axis current errors are applied to enhance convergence speed, control accuracy, and robustness. Results show that the control system is simplified substantially and the requirement on the number of sensors is also relaxed. Finally, the superiority of the control laws is analyzed by simulations.
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DOI：
10.2514/6.2002-2712
发表时间：
2002-06
期刊：
--
影响因子：
--
作者：
J. Vassberg;D. Yeh;A. Blair;Jacob Evert
通讯作者：
J. Vassberg;D. Yeh;A. Blair;Jacob Evert
DOI：
10.1016/j.ijsolstr.2005.03.053
发表时间：
2006-03
影响因子：
3.6
作者：
Zheng Hong Zhu;S. Meguid
通讯作者：
Zheng Hong Zhu;S. Meguid
DOI：
10.1017/s0001924000018066
发表时间：
2002-01
期刊：
The Aeronautical Journal (1968)
影响因子：
--
作者：
A. Bloy;M. M. Khan-M.
通讯作者：
A. Bloy;M. M. Khan-M.
影响因子：
5.7
作者：
Haitao Wang;Xin-min Dong;Jianping Xue;Jiaolong Liu
通讯作者：
Haitao Wang;Xin-min Dong;Jianping Xue;Jiaolong Liu
影响因子：
6.8
作者：
J. Farrell;M. Polycarpou;Manu Sharma;Wenjie Dong
通讯作者：
J. Farrell;M. Polycarpou;Manu Sharma;Wenjie Dong