CN108536132A - A kind of fixed-wing unmanned plane air refuelling platform and its oiling method - Google Patents
A kind of fixed-wing unmanned plane air refuelling platform and its oiling method Download PDFInfo
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- CN108536132A CN108536132A CN201810227948.9A CN201810227948A CN108536132A CN 108536132 A CN108536132 A CN 108536132A CN 201810227948 A CN201810227948 A CN 201810227948A CN 108536132 A CN108536132 A CN 108536132A
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- 238000003032 molecular docking Methods 0.000 abstract description 2
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- 238000004088 simulation Methods 0.000 description 10
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- 238000012360 testing method Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of fixed-wing unmanned plane air refuelling platform and its oiling methods, including fuel charger and refueled aircraft, refueling hose and dynamic base station GPS are installed on the fuel charger, the end of refueling hose has tapered sleeve, it is equipped on the refueled aircraft by beam hanger and station GPS, refueled aircraft in east northeast under coordinate system, moves on x-axis, y-axis and z-axis direction to fuel charger, realizes docking between by beam hanger and tapered sleeve.Compared with prior art, the present invention is using high-precision difference GPS guiding, GPS accuracy has reached cm grades, this fixed-wing unmanned plane air refuelling platform stabilization is strong, and verification light stream guiding can be guided with differential GPS, and special tapered sleeve jack is used, ensure that the stationarity of tapered sleeve in fuel charger flight course.
Description
Technical field
The present invention relates to a kind of fixed-wing unmanned plane air refuelling platform and its oiling methods, are based particularly on differential GPS
The design method of the fixed-wing unmanned plane air refuelling test platform of guiding, belongs to fixed-wing unmanned aerial vehicle (UAV) control technical field.
Background technology
Middle-size and small-size fixed-wing unmanned plane is widely used at present in territory exploration, forest fire protection and the fields such as take photo by plane, but by
Limited in middle-size and small-size fixed-wing unmanned plane carrying fuel, endurance is shorter.
If realizing the air refuelling of fixed-wing unmanned plane or even unmanned plane to refuel for unmanned plane, say in theory,
Military unmanned air vehicle can uninterruptedly execute in the air take photo by plane, the tasks such as early warning and attack, this to the application of unmanned plane will be across
The more progress of formula.
Invention content
The technical problem to be solved in the invention is in view of the above shortcomings of the prior art, and to provide a kind of pinpoint accuracy
Fixed-wing unmanned plane air refuelling platform and its oiling method.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of fixed-wing unmanned plane air refuelling platform, including fuel charger and refueled aircraft, be equipped on the fuel charger plus
The end of oily hose and dynamic base station GPS, refueling hose have tapered sleeve, are equipped with by beam hanger and station GPS on the refueled aircraft,
The dynamic base station GPS and station GPS are differential GPS.
A kind of oiling method of fixed-wing unmanned plane air refuelling platform, including：
Step 1：Set the default course line in the default course line and refueled aircraft of fuel charger, two course lines are close, fuel charger and by
Oil machine is according to default airline operation；
Step 2：Pseudo-range information is sent to refueled aircraft by the dynamic base station GPS on fuel charger in real time by wireless data transmission module
On station GPS, station GPS receives the information and satellite-signal, passes through processing and obtains the high-precision position of fuel charger
Information；
Step 3：Refueled aircraft according to guiding geometry of the location information of fuel charger based on differential GPS calculate fuel charger and
The distance between refueled aircraft, if refueled aircraft and fuel charger all in rectilinear flight from south to north, using fuel charger as origin, establish north
It is easternly x, y, the coordinate system of z-axis, x-axis is direct north, and y is due east direction, and z is directed toward the earth's core direction；
Step 4：Refueled aircraft rerouting, it is gradually close to fuel charger, refueled aircraft z-axis direction and y-axis direction gradually to
Fuel charger is close, awards beam hanger first and moves closer to tapered sleeve in the height direction, award beam hanger top height and tapered sleeve height by
Gradually identical, i.e. z is gradually 0, and refueled aircraft completes the control and regulation of flying height, the longitudinal direction of refueled aircraft by elevator and throttle
Control law is：
Wherein, δeIt exports and controls for elevator
Amount, KHPFor height outer shroud proportional P values, KHiFor height outer shroud integral term I values,For pitch angle ring proportional P values,For
Pitch angle, KωyFor pitch rate ring proportional P values, ωyFor pitch rate, Δ Hk=Hg- H, HgFor altitude instruction, H is real
Border height, T are the sampling period, and α is the switching coefficient of integral term, for integrating separation：
Secondly refueled aircraft gradually moves closer to fuel charger in a forward direction, i.e. the y-axis in the case where flying from south to north
Relative distance is gradually 0, and refueled aircraft completes the control and regulation of horizontal side acceleration, the cross of refueled aircraft by aileron and rudder
Laterally control law is：Wherein,For desired centripetal acceleration, V is the cruising speed of aircraft, and η is speed
Spend the line between vector and aircraft current point and reference point；
Step 5：Refueled aircraft is moved to fuel charger, and the throttle channel control of refueled aircraft is as follows：
In formula, δPControlled quentity controlled variable, Δ v are exported for throttlek=vg- v, vgFor desired air speed value, v is actual air speed.KvP、KvIIt is control
The ratio and integral term of rule.
Scheme as a further preference, in step 3, if the antenna for the motor-driven base station GPS that refuels position in body coordinate system
It is set to [Xos Yos Zos], the tapered sleeve of the fuel charger position in body coordinate system is [Xzs Yzs Zzs], tapered sleeve and body tie point
Position is [X in body coordinate systemzj Yzj Zzj], fuel charger center of gravity is [X in the position of ground mark systemj Yj Zj], fuel charger
Attitude angle be [φ θ ψ], then the position of the antenna of the motor-driven base station GPS that refuels in earth axes is：
The body tie point of tapered sleeve and fuel charger position is in earth axes：
If the refueling hose length of fuel charger is L, the angle of refueling hose and horizontal plane is λ, then will refuel motor-driven base station
The variable quantity that GPS antenna position is transformed into tapered sleeve center is：
It is as follows to the translation formula by beam hanger top that refueled aircraft GPS antenna position can be obtained：
Wherein, it is the course angles that the roll angle of refueled aircraft, ψ are refueled aircraft that θ, which is the pitch angle of refueled aircraft, φ,
If [Xbs Ybs Zbs] it is position by beam hanger top in body coordinate system, if [Xgs Ygs Zgs] it is refueled aircraft
Position of the GPS antenna in body coordinate system, can finally obtain fuel filling taper sleeve center and the relative position between by beam hanger top is：
Wherein, the relative position relation of [Δ X Δ Y Δs Z] between refueled aircraft GPS antenna and fuel charger GPS antenna.
Compared with prior art, a kind of fixed-wing unmanned plane air refuelling method of the invention, using high-precision difference GPS
Guiding, GPS accuracy have reached cm grades, this fixed-wing unmanned plane air refuelling platform stabilization is strong, and can be drawn with differential GPS
Verification light stream guiding is led, and uses special tapered sleeve jack, ensure that the stationarity of tapered sleeve in fuel charger flight course.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Wherein, 1- fuel chargers, 2- refueling hoses, 3- move base station GPS, and 4- tapered sleeves, 5- refueled aircrafts, 6- is by beam hanger, 7- movements
Stand GPS.
Specific implementation mode
The optimal technical scheme that the invention will now be described in detail with reference to the accompanying drawings.
As shown in Figure 1, a kind of fixed-wing unmanned plane air refuelling platform of the present invention, the fixed-wing unmanned plane of proposition are aerial
Filling test platform installs simulation tapered sleeve and simulation additional by oil pipe respectively using two frame fixed-wing unmanned planes, for simulate plus/by oil
Machine, and the soft simulation docking operation by oil is completed in the air.
Specifically, refueling hose and dynamic base station GPS are installed, the end of refueling hose has tapered sleeve, institute on fuel charger
It states and is equipped on refueled aircraft by beam hanger and station GPS, the dynamic base station GPS and station GPS are differential GPS.
UAV system refers to the fixed-wing unmanned plane of simulation fuel charger, refueled aircraft, including body, flight control system, avionics system
System, steerable system and dynamical system.UAV system is mainly made of fuel charger and refueled aircraft.Fuel charger installation simulation, which is refueled, hangs
Cabin, refueled aircraft installation simulation oiling bar.The pull-type fixed-wing model of an airplane is body, pre-motor and spiral before fuel charger is selected
Paddle does not interfere with the release of simulation refueling hose and tapered sleeve.Power uses motor and propeller, is shaken relative to petrol engine
Smaller, speed adjustable range bigger, and the response speed of motor is faster, and flying speed control is more accurate.Refueled aircraft is selected
The fixed-wing model of an airplane that waist pushes away form is body, and motor is mounted on body centre position with propeller, will not hinder to be mounted on
The video camera of head is shot.Same refueled aircraft is using motor with propeller as dynamical system.Fuel charger and refueled aircraft are by flying control
System control flight, flight control system are the key that unmanned plane realizes that high-performance, safe flight, flight control system can control plus by oil
The instructions such as automatic deploying and retracting of machine automatic takeoff, automatic Track In Track, tapered sleeve.
Referred to the load about air refuelling on fuel charger, refueled aircraft by oily task system, including simulation is refueled
Tapered sleeve, simulation oiling bar, refueling hose, optical guidance system, differential GPS etc..The system includes that satellite guidance unit, optics draw
Lead unit, recording unit and several parts of data transmission unit.Satellite guidance unit can provide high-precision location information, optics
Guidance unit is used for acquiring image, the relative pose information for adding refueled aircraft can be generated by image procossing, and then can guide
Refueled aircraft flies, and finally realizes the air refuelling guided based on differential GPS.Recording unit can store the flight shape to fly every time
State information and refueling mission information.Data transmission unit can will add the status information of refueled aircraft to be sent to earth station in real time, show
Show and give ground controlling personnel, flight directive can also be uploaded in real time, instruction of refueling.
It simulates refuelling pod to be made of 3D printing technique with simulation oiling bar, making flexibility is high, light-weight.
Ground system refers to the equipment positioned at ground, including ground control station, wireless image transmission and display screen and wireless data sending etc..
Ground system includes data receipt unit and data analysis unit.Wherein data receipt unit includes mainly computer, without line number
Pass etc..Data analysis unit refers to the Data Analysis Software for being installed on computer, including Mission planner TT＆C softwares and
MATLAB softwares.
Specifically, refueling hose and dynamic base station GPS are installed, the end of refueling hose has tapered sleeve, institute on fuel charger
It states and is equipped on refueled aircraft by beam hanger and station GPS, the dynamic base station GPS and station GPS are differential GPS.
Fuel charger uses the preceding pull-type fixed-wing model of an airplane, the model of an airplane span 2.6m, overall length 2m, load-carrying 5kg, cruise
Speed 90km/h, cruise time 2h.60CC petrol engines or motor may be used in dynamical system.Refueled aircraft is quasi- using double
Shoe waist pushes away formal model aircraft, 2.6 meters of the aeroplane span, uses motor with propeller for power, waist pushes away mode and is laid out, very
To shooting before being conducive to.Model of an airplane load-carrying 4kg or so.Video camera is installed on head position, and aircraft other component does not influence
Shooting.
The flight control units of the present invention use 32 floating type microcontrollers, controller STM32F407.Master controller
STM32F407 is 32 microcontrollers of Cortex-M4 frameworks, and clock frequency is up to 168MHZ.
GPS satellite positioning system uses Novatec OEM617 plates, since OEM617 modules can be configured to difference
GPS, the design are configured to dynamic base station using cleverly design method, by the OEM617 modules for being placed in ground originally, then will be another
One piece of GPS receiver is configured to movement station.Dynamic base station is placed in fuel charger, movement station is placed in and is awarded in oil machine, they pass through
Wireless data transmission module is communicated.Pseudo-range information is sent to movement station, movement station by dynamic base station in real time by wireless data transmission module
The information and satellite-signal are received, high-precision location information can be obtained by processing, positional precision is generally less than 5cm.
Attitude transducer uses MTi-300, it is a kind of high precision small MEMS sensor of XSENS companies production.
The attitude transducer precision is high, small and light-weight.
A kind of oiling method of fixed-wing unmanned plane air refuelling platform, including：
Step 1：Set the default course line in the default course line and refueled aircraft of fuel charger, two course lines are close, fuel charger and by
Oil machine is according to default airline operation；
Step 2：Pseudo-range information is sent to refueled aircraft by the dynamic base station GPS on fuel charger in real time by wireless data transmission module
On station GPS, station GPS receives the information and satellite-signal, passes through processing and obtains the high-precision position of fuel charger
Information；
Step 3：Refueled aircraft according to guiding geometry of the location information of fuel charger based on differential GPS calculate fuel charger and
The distance between refueled aircraft is east northeast x, y, under the coordinate system of z-axis, until awarding the seat of the front end of beam hanger using fuel charger as origin
Mark, differential GPS guiding geometry are converted into the relative distance between station GPS and dynamic base station GPS to award beam hanger front end and tapered sleeve
The distance between；If refueled aircraft and fuel charger, using fuel charger as origin, are with establishing east northeast all in rectilinear flight from south to north
X, y, the coordinate system of z-axis, x-axis are direct north, and y is due east direction, and z is directed toward the earth's core direction；
Step 4：Refueled aircraft rerouting, it is gradually close to fuel charger, refueled aircraft z-axis direction and y-axis direction gradually to
Fuel charger is close, awards beam hanger first and moves closer to tapered sleeve in the height direction, award beam hanger top height and tapered sleeve height by
Gradually identical, i.e. z is gradually 0, and refueled aircraft completes the control and regulation of flying height, the longitudinal direction of refueled aircraft by elevator and throttle
Control law is：
Wherein, δeIt exports and controls for elevator
Amount, KHPFor height outer shroud proportional P values, KHiFor height outer shroud integral term I values,For pitch angle ring proportional P values,For
Pitch angle, KωyFor pitch rate ring proportional P values, ωyFor pitch rate, Δ Hk=Hg- H, HgFor altitude instruction, H is real
Border height, T are the sampling period, and α is the switching coefficient of integral term, for integrating separation：
Secondly refueled aircraft gradually moves closer to fuel charger in course line (i.e. direction of advance), i.e., in the feelings flown from south to north
Y-axis relative distance is gradually 0 under condition, and refueled aircraft completes the control and regulation of horizontal side acceleration by aileron and rudder, by oil
Laterally control law is the cross of machine：Wherein,For desired centripetal acceleration, V is the cruise of aircraft
Speed, η are the lines between velocity vector and aircraft current point and reference point；
Step 5：Refueled aircraft is moved to fuel charger, and the throttle channel control of refueled aircraft is as follows：
In formula, δPControlled quentity controlled variable, Δ v are exported for throttlek=vg- v, vgFor desired sky
Speed value, v are actual air speed.KvP、KvIIt is the ratio and integral term of control law.
The horizontal side acceleration of fuel charger, Longitudinal Control Law, throttle channel control are identical as refueled aircraft；Refueled aircraft herein
Navigation instruction be that x-axis distance by beam hanger front end relative to tapered sleeve is gradually reduced, y-axis, z-axis relative distance is 0.And it refuels
The navigation instruction of machine is then to calculate aircraft relative to the lateral deviation in course line away from high according to the preset course line in earth station
Spend poor and aircraft desired speed and with this come the fuel charger that navigates.The difference is that it is calculated according to guiding geometry to award oil machine
Using fuel charger, as the east northeast of origin relative distance awards oil machine for navigating, and the navigation of fuel charger is preset boat
Line.
In step 3, if the antenna for the motor-driven base station GPS that refuels position in body coordinate system is [Xos Yos Zos], it refuels
The tapered sleeve of machine position in body coordinate system is [Xzs Yzs Zzs], the position in body coordinate system is tapered sleeve with body tie point
[Xzj Yzj Zzj], fuel charger center of gravity is [X in the position of ground mark systemj Yj Zj], the attitude angle of fuel charger is [φ θ ψ], then
Refuel position of the antenna in earth axes of motor-driven base station GPS is：
The body tie point of tapered sleeve and fuel charger position is in earth axes：
If the refueling hose length of fuel charger is L, the angle of refueling hose and horizontal plane is λ, then will refuel motor-driven base station
The variable quantity that GPS antenna position is transformed into tapered sleeve center is：
It is as follows to the translation formula by beam hanger top that refueled aircraft GPS antenna position can be obtained：
Respective angles are the attitude angle of refueled aircraft,
Wherein, it is the course angles that the roll angle of refueled aircraft, ψ are refueled aircraft that θ, which is the pitch angle of refueled aircraft, φ, if [Xbs Ybs
Zbs] it is position by beam hanger top in body coordinate system, if [Xgs Ygs Zgs] be refueled aircraft GPS antenna in body coordinate system
Interior position, can finally obtain fuel filling taper sleeve center and the relative position between by beam hanger top is：
Wherein, the relative position relation of [Δ X Δ Y Δs Z] between refueled aircraft GPS antenna and fuel charger GPS antenna.
Flight control system can be divided into interior return by fuel charger flight control structure according to the difference of inside and outside control loop
Road and external loop.Inner looping is the attitude control system of aircraft, for controlling the flight attitude of aircraft.External loop is TRAJECTORY CONTROL
Circuit calculates desired speed and location information using guidance loop, controls the height, speed and yaw of unmanned plane away from making nobody
Machine flies along prebriefed pattern.It is divided according to control channel, flight control system can be divided into Longitudinal Control System and lateral control again
System processed.Longitudinal Control System controls movement of the unmanned plane in vertical plane, including the speed of unmanned plane and height control, laterally
Control system controls unmanned plane in lateral movement, i.e., controls the laterally offset of unmanned plane.The design uses classical PID
Control is designed longitudinal external loop control law of unmanned plane, using L1 nonlinear control methods to the lateral of Shipborne UAV
External loop control law is designed.
L1 nonlinear control methods are proposed by Sanghyuk Park and John Deyst earliest.The nonlinear Control sides L1
Method is all shown preferably relative to traditional classical control method in terms of the laterally offset control of curved section tracking and disturbance rejection
Effect.The basic principle controlled lateral L1 is simply introduced below.
One " reference point " (Reference Point) is selected on desired trajectory, using this reference point come calculation side
To acceleration.Reference point --- it is located on desired track, and is the point of L1 with the distance length of aircraft, side acceleration can be with table
It is shown as：Wherein,For desired centripetal acceleration, V is the cruising speed of aircraft, and η is velocity vector
With the line between aircraft current point and reference point.
It is two important characteristics of Guidance Equation as follows：
(1) direction of side acceleration depends on the angle of L1 and unmanned plane velocity vector.For example, the reference point of selection
In the right of unmanned plane velocity vector, then it will produce and allow unmanned plane modified acceleration to the right.In other words, the result of control can make
The directional velocity of unmanned plane is gradually consistent with the direction of L1.
(2) at any time all can by one section of radius of reference point and the location determination of unmanned plane be R circular arc, the circular arc with
The directional velocity of unmanned plane is tangent
Unmanned plane laterally controls external loop i.e. side track control loop, feedback signal be unmanned plane laterally offset amount y,
Ground velocity vg, in order to laterally offset when inhibiting and eliminating the automatic airline operation of fuel charger.
Longitudinally controlled channel control pitch angle and height are kept, including 3 circuits：Damping in pitch inner looping, pitch angle are protected
Hold circuit and height control loop.The pitch rate w that damping in pitch inner looping is exported by IMUyIt is fed back, constitutes pitching
Angle damps inner ring, meanwhile, pitch angle is constituted according to the pitch angle feedback of integrated navigation output and controls external loop.Due to miniature self-service
There are one the constant value angles of attack for meeting in flat fly for machine, therefore constant value trim pitch command is added in pitch loop, and are lifting
Corresponding tromming tab face angle is added in rudder.Height keeps circuit to be located at outermost layer circuit, the height value by setting and integrated navigation
Output height value formed height tolerance, to be converted into corresponding pitch command, the circuit use proportional plus integral control side
Formula.Instruction amplitude limit will be added in pitch command, prevent the excessive maneuver of unmanned plane.
It awards oil machine control law and fuel charger control law is almost the same, difference will be used according to the different stages by only awarding oil machine
Control strategy.
Refueling process is divided into Approach phase, Butt Section, oiling section and is detached from section, is exported according to differential GPS in Approach phase
Relative position relative height differential is calculated in track, wait fly away from and it is expected side acceleration, controlled with relative height differential
Elevator controls aileron and rudder with desired side acceleration, according to wait flying away from and the speed control of fuel charger award oil machine
Speed.It is then to complete to dock according to optical guidance at Butt Section, oiling section and Approach phase are almost the same.And it is being detached from section
When, then it is to control aircraft with the absolute positions GPS, aircraft is made to enter the course line for being detached from section.
Differential GPS guiding system give actually measure by beam hanger and tapered sleeve relative position, feed back to fly control navigation
Controller forms the degeneration factor of position navigation, and the difference that practical relative position is instructed with relative position is as controller
Input, desired roll angle, pitch angle and flying speed are the output of controller.And the control of posture ring and the posture of fuel charger
It controls identical.Optical guidance system is enabled when refueled aircraft and fuel charger alternate position spike are less than 15m.It is opposite when refueled aircraft and tapered sleeve
Position enters the oiling stage when being 0, and position control instruction at this time is refueled aircraft and the constant holding 5s clocks of tapered sleeve relative position, when
Between after reduce the cruising speed of refueled aircraft first, so that two machine relative positions is increased, refueled aircraft is gradually transitions differential GPS again
In vectored flight control.
Guidance Law Design will design the flight path instruction of vision guide when being switched to vision guide from GPS guiding first,
It typically would be desirable to cross it is lateral and longitudinally opposed position is zero, desired forward direction relative position instruction for from current location with -1m/s
Relative velocity be gradually reduced, docked until by the completion of beam hanger and tapered sleeve, desired forward location remains unchanged.Drawn by optics
The relative position information and above-mentioned desired flight path that guiding systems measure instruct to obtain relative position deviation, design PID control
Device can obtain desired attitude angle instruction.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (3)
1. a kind of fixed-wing unmanned plane air refuelling platform, it is characterised in that：Including fuel charger and refueled aircraft, on the fuel charger
Refueling hose and dynamic base station GPS are installed, the end of refueling hose has tapered sleeve, is equipped with by beam hanger and shifting on the refueled aircraft
Dynamic station GPS, the dynamic base station GPS and station GPS are differential GPS.
2. a kind of oiling method of fixed-wing unmanned plane air refuelling platform as described in claim 1, which is characterized in that packet
It includes：
Step 1：The default course line in the default course line and refueled aircraft of fuel charger is set, two course lines are close, fuel charger and refueled aircraft
According to default airline operation；
Step 2：Pseudo-range information is sent on refueled aircraft by the dynamic base station GPS on fuel charger in real time by wireless data transmission module
Station GPS, station GPS receive the information and satellite-signal, and the high-precision location information of fuel charger is obtained by processing；
Step 3：Refueled aircraft calculates fuel charger and by oil according to guiding geometry of the location information of fuel charger based on differential GPS
The distance between machine, if refueled aircraft and fuel charger all in rectilinear flight from south to north, using fuel charger as origin, with establishing east northeast
For x, y, the coordinate system of z-axis, x-axis is direct north, and y is due east direction, and z is directed toward the earth's core direction；
Step 4：Refueled aircraft rerouting, gradually close to fuel charger, refueled aircraft is in z-axis direction and y-axis direction gradually to oiling
Machine is close, awards beam hanger first and moves closer to tapered sleeve in the height direction, the gradual phase of height of the height for awarding beam hanger top and tapered sleeve
Together, i.e. z is gradually 0, and refueled aircraft completes the control and regulation of flying height by elevator and throttle, refueled aircraft it is longitudinally controlled
Rule is：Wherein, δeControlled quentity controlled variable is exported for elevator,
KHPFor height outer shroud proportional P values, KHiFor height outer shroud integral term I values,For pitch angle ring proportional P values,For pitching
Angle, KωyFor pitch rate ring proportional P values, ωyFor pitch rate, Δ Hk=Hg- H, HgFor altitude instruction, H is practical high
Degree, T are the sampling period, and α is the switching coefficient of integral term, for integrating separation：
Secondly refueled aircraft gradually moves closer to fuel charger in a forward direction, i.e., in the case where flying from south to north, y-axis is opposite
Distance is gradually 0, and refueled aircraft completes the control and regulation of horizontal side acceleration by aileron and rudder, and the cross of refueled aircraft is lateral
Control law is：Wherein,For desired centripetal acceleration, V is the cruising speed of aircraft, and η is speed
The angle between line between vector and aircraft current point and reference point；
Step 5：Refueled aircraft is moved to fuel charger, and the throttle channel control of refueled aircraft is as follows：
In formula, δPControlled quentity controlled variable, Δ v are exported for throttlek=vg- v, vgFor desired air speed value, v is actual air speed.KvP、KvIIt is control
The ratio and integral term of rule.
3. a kind of oiling method of fixed-wing unmanned plane air refuelling platform as claimed in claim 2, it is characterised in that：Step
In three, if the antenna for the motor-driven base station GPS that refuels position is that the tapered sleeve of fuel charger is in fuel charger coordinate in the coordinate system of fuel charger
Position is [X in systemzs Yzs Zzs], the position in the coordinate system of fuel charger is [X to tapered sleeve with body tie pointzj Yzj Zzj], add
Oil machine center of gravity is [X in the position of ground mark systemj Yj Zj], the attitude angle of fuel charger is [φ θ ψ], then motor-driven base station of refueling
Position of the antenna of GPS in earth axes is：
The body tie point of tapered sleeve and fuel charger position is in earth axes：
If the refueling hose length of fuel charger is L, the angle of refueling hose and horizontal plane is λ, then will refuel motor-driven base station GPS days
The variable quantity that line position is transformed into tapered sleeve center is：
It is as follows to the translation formula by beam hanger top that refueled aircraft GPS antenna position can be obtained：
Wherein, it is the course angles that the roll angle of refueled aircraft, ψ are refueled aircraft that θ, which is the pitch angle of refueled aircraft, φ,；
If [Xbs Ybs Zbs] it is position by beam hanger top in body coordinate system, if [Xgs Ygs Zgs] it is refueled aircraft GPS days
Position of the line in body coordinate system, can finally obtain fuel filling taper sleeve center and the relative position between by beam hanger top is：
Wherein, the relative position relation of [Δ X Δ Y Δs Z] between refueled aircraft GPS antenna and fuel charger GPS antenna.
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