The invention provides a hose type automatic air refueling docking control method based on image servo, and the method comprises the following steps: 1, building an image servo model of hose type automatic air refueling docking, including building a coordinate system, building an oil receiver model, and building a visual servo model; and 2, designing a hose type automatic air refueling docking controller based on image servo, wherein the design comprises the design of an outer ring image servo controller and the design of an inner ring linear quadratic controller. The method solves the problem of hose type automatic air refueling docking control based on image servo under complex aerodynamic disturbances such as a head wave effect, turbulent flow and wake flow, meets safety, reliability and robustness at the same time, and enables hose type automatic air refueling docking to be completed efficiently and safely. The method can be applied to military and civil fields and the like.
本发明提出一种基于图像伺服的软管式自动空中加油对接控制方法,包括如下步骤:步骤一:建立软管式自动空中加油对接的图像伺服模型,包括坐标系建立、受油机模型建立、视觉伺服模型建立;步骤二:设计基于图像伺服的软管式自动空中加油对接控制器,包括外环图像伺服控制器设计和内环线性二次型控制器设计。本发明解决了在包括头波效应、紊流和尾流等复杂气动扰动下的基于图像伺服的软管式自动空中加油对接控制问题,且同时满足安全性、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。本发明可应用于军事和民用等领域。
Hose type automatic air refueling docking control method based on image servo
一种基于图像伺服的软管式自动空中加油对接控制方法
13.10.2023
Patent
Elektronische Ressource
Chinesisch
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