Design And Research Of Automatic Aerial Refueling Simulation Platform For Unmanned Aerial Vehicle

As a kind of portable aircraft,unmanned aerial vehicle(UAV)has been widely used in military and civil fields.However,due to its small fuel loading capacity,the UAV can’t continue to fly for a long time.Therefore,in order to improve the endurance ability of UAV,it is necessary to develop the automatic aerial refueling technology of UAV.In the development of UAV automatic aerial refueling technology,before the final test flight verification,it is necessary to build a ground verification platform on the ground to verify its key technologies and improve the rationality and reliability of the data.According to the requirement of UAV automatic aerial refueling technology,a ground verification platform is independently designed.In this paper,the 6-DOF manipulator,the core component of the simulation docking device,is the major subject of research,and its motion precision is emphatically researched.According to the characteristics of the motion error of the manipulator and the artificial intelligence technology,a prediction method is proposed to construct the distribution law of the motion error space of the manipulator.By studying the motion precision of the manipulator,it is of great significance to improve the simulation performance of the platform and the automatic control refueling technology of the UAV.The main research contents of this paper are as follows:(1)The design and implementation of the automatic aerial refueling simulation platform for UAV have been completed.According to the functional requirements of the UAV automatic aerial refueling simulation platform,the overall scheme is designed,and three main modules,including hardware module,electrical system and software module,are designed according to the overall scheme.According to the hardware module,electrical system,software module three main modules for equipment selection and function design.(2)The motion error of the manipulator on the simulation platform has been analyzed.The manipulator is the key mechanical structure of the simulation platform.Aiming at the problem that the motion accuracy of the manipulator itself will affect the simulation accuracy of the platform,the kinematics and dynamics characteristics of the6-DOF manipulator are analyzed,and the error source,composition and characteristics of the motion error of the manipulator are analyzed theoretically.(3)A motion error prediction method of manipulator on simulation platform is proposed.According to the characteristics of the motion error of the manipulator,the method of effectively detecting and predicting the motion error of the manipulator is studied.The sample data of the motion error of the manipulator is obtained by sampling randomly in three dimensional space with the cue instrument.According to the collected data,the convolutional neural network in artificial intelligence technology was selected for sample training and prediction,so as to obtain the distribution of the motion error of the manipulator in the three-dimensional space.It provides technical support for improving the motion accuracy of the manipulator and indirectly improves the docking accuracy of the simulation platform.