CAJ | 학술논문

针对自主空中加油输油阶段无人机位置保持控制问题，将无人机分为飞机本体和油箱两部分，利用变质量系统理论建立了无人机非线性方程，解决了常规模型无法反映出无人机重量、重心变化的问题。控制律设计方面，通过将变化的油箱转化为外界干扰，提出了基于干扰观测器控制（disturbance observer based control， DOBC）的复合控制结构。复合控制器由位置保持控制器和干扰观测器组成，位置保持控制器采用带积分的线性二次型方法，干扰观测器由比例积分观测器和补偿单元构成，并证明了复合控制器的稳定性。仿真结果表明，将该控制器应用于某型高空无人机非线性模型，可有效减小输油过程带来的影响，实现了输油阶段的位置保持控制。
침대자주공중가유수유계단무인궤위치보지공제문제，장무인궤분위비궤본체화유상량부분，이용변질량계통이론건립료무인궤비선성방정，해결료상규모형무법반영출무인궤중량、중심변화적문제。공제률설계방면，통과장변화적유상전화위외계간우，제출료기우간우관측기공제（disturbance observer based control， DOBC）적복합공제결구。복합공제기유위치보지공제기화간우관측기조성，위치보지공제기채용대적분적선성이차형방법，간우관측기유비례적분관측기화보상단원구성，병증명료복합공제기적은정성。방진결과표명，장해공제기응용우모형고공무인궤비선성모형，가유효감소수유과정대래적영향，실현료수유계단적위치보지공제。
To slove the station-keeping control problem for the receiver in fueling phase of automated ae-rial refueling (AAR),the receiver is divided into the plane body and the fuel tank.The receiver nonlinear dynamics equations which reflect the mass and center of gravity (CG)variations of the fuel tank are estab-lished based on the variable-mass system theory.By transforming the fuel tank into unknown external dis-turbance,a compound controller based on the disturbance observer based control (DOBC)method is pro-posed.The compound controller consists of two parts:the station-keeping controller via linear quadratic reg-ulator (LQR)method and the disturbance observer,which is composited by a proportional integral observer (PIO)and a compensation unit.Then,the stability of the compound controller is proved.The results of simulation demonstrate that the proposed control system is efficient and meets the station-keeping control re-quirements in fueling period.