| Citation: | CHEN H T，SU Z K，LI C T，et al. Trajectory design for straight-circulating flight transition of aerial recovery towing system[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2565-2574 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0692
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To handle the stabilization problem of the towed buoy in the straight-circulating flight transition process of the aerial recovery towing system under airflow disturbances, a trajectory design method for the transition process of the towing system based on differential flatness theory was proposed. By designing the trajectory of the mothership, the towed buoy was indirectly controlled to fly safely, smoothly, and accurately along the preset transition trajectory. Firstly, the mass-spring discrete cable model was used to construct the multi-body dynamic model of the mothership-cable-buoy. Secondly, after proving that the towing system was differentially flat, a trajectory design method of the towing system based on differential flatness theory was proposed by taking the three-axis position of the towed buoy as the flat output so that the buoy could fly along the preset safe transition trajectory. Subsequently, the straight and circulating flight states of the towed buoy were analyzed to design the flight trajectory of the towed buoy in the transition section. Finally, the simulation examples under a calm atmosphere, various constant wind, and gust turbulence scenarios show that the proposed method can achieve stable flight of the towed buoy in the straight-circulating transition section.
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