软式自主空中加油控制策略仿真

软式自主空中加油（AAR）技术因其对加油设备的改装需求少且可应用于多种加油场景而受到广泛研究，但对于从起飞到加油结束脱离这一整套飞行控制流程的研究较少。针对软式AAR技术中的会合、编队、对接、加油、脱离5个阶段的控制策略进行研究。首先，分别设计了所对应的飞行指令回路控制律及导引律，通过对国内外空中加油试飞经验和试飞流程的研究，建立了“有人-无人”、“无人-无人”2种不同模式下软式AAR各阶段的控制机制，并分析了2个控制策略的差别。其次，以K8飞机和某飞机为加受油平台，建立完善的多模态控制策略，采用传统的PID控制方法，并通过极点配置法得到各模态的反馈增益和前向增益，使加受油机在多模态综合控制下达到期望的速度、角度等。同时，基于试飞经验数据设计软式AAR各阶段的全过程控制律。最后，对所设计控制律进行仿真验证，结果表明:所设计的控制策略合理可行，控制方法具有较强的抗干扰能力和较高的跟踪精度。 

Control strategy and simulation for probe-and-drogue aerial autonomous refueling

The probe-and-drogue Aerial Autonomous Refueling (AAR) technology has been widely studied because it requires little modification of refueling equipment and can be applied to a variety of refueling processes. However, there are few researches on the whole flight control process from take-off to disengagement. In this paper, the corresponding flight command loop control law and guidance law are designed respectively to study the control strategy of rendezvous, formation, docking, refueling and disengagement stages during the probe-and-drogue AAR. Based on the study of domestic and foreign experience and flight procedure of aerial refueling test, the control mechanism of each stage of AAR under two different modes of "manned-unmanned" and "unmanned-unmanned" is established, and the difference between two control strategies is analyzed. Taking K8 aircraft and one aircraft as the tanker and receiver, a complete multi-mode control strategy is established. The traditional PID control method is adopted in the command loop, and the feedback gain and forward gain of each mode are obtained by pole assignment method, so that the aircraft can reach the desired speed and angle under the multi-mode integrated control system. Meanwhile, the whole process control laws for each stage of aerial refueling are designed based on the test flight experience data. Finally, the simulations of the designed control law show that the designed control strategy is reasonable and feasible, and the control method has strong anti-interference ability and high tracking accuracy.