Abstract: This paper proposes a stability control method for drogue effectively adapt to uncertain environment. Based on the non-linear model of the hose-drogue system been linearized and reduced, the atmospheric turbulence on the hose-drogue is considered as a random perturbation, and such disturbance regarded as parameter is combined with the state of reduced model to consist the augmented state variables. Then real-time Kalman filter is used to estimate the state variables, and LQG controller is designed to stabilize the drogue. The simulation results show that the method is able to track the variation of atmospheric turbulence in real-time, and of strong anti-jamming ability for it, which ensures the stability of the drogue.

Key words: autonomous aerial refueling, hose-drogue, atmospheric turbulence, Kalman filter, LQG control

摘要： 提出了一种能有效适应不确定性环境的锥套稳定控制方法。在对软管-锥套非线性动力学模型线性化及降阶处理的基础上，将大气紊流对软管-锥套的扰动视为随机扰动，并把这种扰动作为参数与软管-锥套系统降阶模型中的状态合并成增广的系统状态量，采用卡尔曼滤波方法对系统状态量进行实时估计，并设计LQG控制器，实现对锥套的稳定控制。仿真结果表明，该方法能实时跟踪大气紊流的变化，且具有较好的抗大气紊流干扰的能力，能保证锥套的稳定。

关键词: 自主空中加油, 软管-锥套式, 大气紊流, 卡尔曼滤波, LQG控制