Design and on-vehicle demonstration of autonomous docking control system for soft towed grabber

被引：0
|
作者：
Luo F. [1 ]
Hu Z. [1 ]
Li J. [1 ]
Ma Z. [1 ]
Ai J. [1 ]
机构：
[1] AVIC the First Aircraft Institute, Xi’an
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷 / 20期
关键词：
autonomous docking control; direct lift control; on-vehicle demonstration test; soft towed grabber; UAV recovery;
D O I：
10.7527/S1000-6893.2023.28921
中图分类号：
学科分类号：
摘要：
The soft dragging grabber is subject to the disturbances such as air wake field disturbance，rigid-flexible coupling multi-body traction system constraints and carrier vibration，resulting in a complex movement of the end of the grabber and severe difficulty in autonomous docking and capture control. In this paper，a position-attitute decoupling control based direct force is designed to meet the requirements of autonomous docking and capture control of the soft towed grabber. A visual positioning sensor system based on machine learning is integrated to form a complete set of control systems of the soft towed grabber for autonomous docking and capture of the UAV. Through the vehicle-mounted test platform built according to similar principles，the ground-mounted test of the autonomous docking control system of the designed soft drag grabber is carried out. Based on the dynamic modeling analysis of the grabber，the simulation optimization of the direct force position damping and position control module is carried out. With multiple rounds of vehicle test parameter setting，a control system suitable for autonomous docking and capture of soft towed grabber in the air is developed，which can be used for the next step of air-based autonomous docking and capture tests of the full-scale soft towed grabber. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
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