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分析了超低空重装空投的空投流程,针对超低空重装空投飞行高度低、空投对象质量大的特点,把空投对象的位置和移动速度作为状态变量对货物移动时飞机运动的非线性方程进行了研究,该方程能准确描述出牵引伞的拉力、空投对象在货舱内的实时位置和移动速度对飞机姿态和高度的影响。同时,利用反馈线性化方法对模型进行输入输出线性化,并利用反步法与滑模控制相结合的方法,设计纵向滑模自适应控制器,解决了纵向不可参数化的不匹配不确定控制问题,实现了飞机在超低空重装空投时高度的稳定,保证飞机安全地完成超低空空投任务。
Aiming at the characteristics of low flying height and low flying height of empty dropping, this paper analyzes the characteristics of empty flying object and the position and moving speed of empty dropping object as the state variables to the non-linear equation of moving plane The study can accurately describe the pulling force of the parachute, the influence of the real-time position and velocity of the dropped objects in the cargo hold on the attitude and altitude of the aircraft. At the same time, the feedback linearization method is used to linearize the input and output of the model, and the vertical sliding mode adaptive controller is designed by the combination of backstepping method and sliding mode control, which solves the problem of longitudinal non-parametric mismatched uncertain control Problem, achieving a high degree of stability of the aircraft during the redeployment of a low-altitude heavy aircraft and ensuring that the aircraft can safely accomplish its mission of ultra-low-altitude airdrop.