气动干扰下空中加油软管振动主动控制

Active vibration control of aerial refueling hose under aerodynamic interference

  • 摘要: 空中加油软管在外部流场及平台机动作用下极易产生横向振动,严重时可能发展为甩鞭现象。这种由分布参数系统动态特性主导的复杂动态行为,给软管系统的边界稳定控制带来了极大挑战,严重时可危及空中对接过程的安全性。本文通过引入一种巧妙设计的超螺旋滑模控制框架,研究了受气动干扰影响的柔性空中加油软管的振动抑制与边界稳定性问题。基于虚功原理,建立了柔性空中加油软管的偏微分方程组及其相应的边界条件。通过将超螺旋算法与基于障碍函数的扰动观测器相结合,创新性提出了一种有限时间滑模控制器。基于李雅普诺夫理论,严格证明了闭环系统的稳定性与收敛性。数值仿真结果表明,所提控制方法能够有效消除软管振动,在软管不同位置均实现了优越的振动抑制效果:在匀速运动工况下,软管末端x = L处位移均方根值为0.1672,较现有边界控制方法的3.5264降低约95.3%;软管中部x = L/2处位移均方根值为1.0063,相比PID(proportional-integral-derivative)控制方法的1.2164降低约17.3%,相比现有边界控制方法的2.4857降低约59.5%。本文研究为软管类偏微分方程系统等分布参数系统的PID控制、反步控制及其衍生方法提供了高性能替代方案。

     

    Abstract: The aerial refueling hose is prone to lateral vibration due to external flow fields and platform maneuvering, which can develop into a whipping phenomenon in severe cases. This complex dynamic behavior, governed by the dynamic characteristics of distributed parameter systems, poses significant challenges to the boundary stabilization control of the hose system and seriously endangers the safety of the aerial docking process. This paper investigates the vibration suppression and boundary stabilization problems of a flexible aerial refueling hose subjected to aerodynamic disturbances by introducing a cleverly designed super-twisting sliding mode control framework. Based on the principle of virtual work, a set of partial differential equations and the associated boundary conditions for the flexible aerial refueling hose are established. By integrating the super-twisting algorithm with a barrier function-based disturbance observer, an innovative finite-time sliding mode controller is proposed. The stability and convergence of the closed-loop system are rigorously proven using Lyapunov theory. Numerical simulation results demonstrate that the proposed control method effectively eliminates hose vibrations. Under constant-velocity motion conditions, the root mean square value of the displacement at the hose tip (x = L) is 0.1672, representing a reduction of approximately 95.3% compared to 3.5264 achieved by an existing boundary control method. At the midpoint of the hose (x = L/2), the root mean square value of the displacement is 1.0063, which is reduced by approximately 17.3% compared to 1.2164 achieved by the proportional-integral-derivative (PID) control method and by approximately 59.5% compared to 2.4857 achieved by the existing boundary control method. Superior vibration suppression performance is thus achieved at different positions along the hose. This study provides a high-performance alternative to PID control, backstepping control, and their derivative methods for distributed parameter systems such as hose-type partial differential equation systems.

     

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