Hard-in-flight refueling autonomous offloading ground scaled semi-physical simulation test system

Abstract

The present application relates to a kind of hard air refueling autonomous unloading ground scale physical simulation test system, including test bench, display control equipment, measurement and control equipment, driving equipment, camera and recording equipment and model device, test bench is used to install double-shaft slide rail and refueling telescopic pipe scale model;Model device is mechanically connected with driving equipment, driving refueling telescopic pipe scale model and receiver aircraft model carry out movement;Display control equipment and measurement and control equipment are connected communication by network cable, measurement and control equipment run program to make driving equipment move, and driving model device starts to work according to program requirement;Measurement and control equipment are used to measure the load force of the pipe body of refueling telescopic pipe scale model in model device, and are transmitted to display control equipment by serial communication, and display control equipment formulates refueling telescopic pipe scale model attitude change program to further complete automatic unloading.The problem that the collaborative control of hard air refueling ground test system refueling telescopic pipe model multi-axis driving motor is difficult and dynamic response is insufficient is solved.

Description

Technical Field

[0001] This invention relates to the field of rigid aerial refueling, and in particular to a ground-scaled semi-physical simulation test system for autonomous unloading of rigid aerial refueling based on a fast-response robotic arm. Background Technology

[0002] In today's world, key supporting technologies for unmanned military operations have achieved significant breakthroughs, with low-cost, miniaturized intelligent systems experiencing explosive growth. Unmanned aerial vehicles (UAVs) play a crucial role in the unmanned battlefield. However, UAVs face a trade-off between payload and range. Therefore, the vigorous development of aerial refueling, a "power multiplier," is particularly important. Aerial refueling, as a multiplier in modern military warfare, can significantly increase the range, loiter time, operational space, and payload of fighter jets. This greatly enhances the survivability of fighter jets, the long-range combat capabilities of air forces, rapid response capabilities in combat, and sustained combat capabilities. Simultaneously, in the civilian sector, aerial refueling for large transport aircraft can improve transport capacity, reduce operating costs, and alleviate the burden of airport infrastructure construction and mission scheduling, showing broad commercial application prospects. Research on rigid aerial refueling technology is urgently needed. However, aerial testing is costly and risky, and many control methods are best validated on ground test rigs to save costs and time. Existing ground test rigs for rigid aerial refueling do not provide a complete solution to the challenges of automatic radial force removal in rigid aerial refueling.

[0003] For autonomous aerial refueling projects based on visual image information, Italy and the United States jointly established a visualization simulation system, mainly used to verify visual navigation technology in the rigid aerial refueling of UAVs.

[0004] Boeing has developed a rigid aerial refueling semi-physical test platform equipped with a visual navigation system. Using a 1 / 8 scale physical model of the refueling boom and an F-16 receiver aircraft model, the platform uses an industrial control computer to drive the actuators, simulating the attitude movement of the refueling boom and the relative movement of the receiver aircraft to verify the designed visual navigation scheme.

[0005] Blake W studied the impact of the tanker's wake on the receiver aircraft's flight control in a rigid aerial refueling environment, and verified the receiver aircraft's flight control law under wind disturbance conditions through wind tunnel tests, so as to better achieve formation maintenance between the tanker and receiver aircraft.

[0006] Williams R et al. collaborated with Boeing to build an experimental platform where a receiver aircraft model can be displaced in the X, Y, and Z directions via guide rails on a mounting bracket. The scaled-down refueling boom's support structure provides it with degrees of freedom in the up, down, left, and right directions to simulate the boom's pitch and roll motion in the air. A precise cooperative flight control law for the receiver aircraft was designed, using filtered and fused data from GPS, radio, and inertial navigation to obtain more accurate position information for the receiver aircraft's position control. Additionally, cameras are symmetrically mounted on both sides of the refueling boom's base, marking the refueling receptacle with light source characteristic values. Based on image recognition and tracking technology, the relative position of the refueling port is obtained, enabling autonomous alignment control of the refueling boom.

[0007] Boeing has built a ground test rig for a scaled-down rigid refueling system, capable of testing the system's performance under dynamic disturbances, including tanker perturbations, refueling boom movements, and receiver aircraft perturbations, verifying the anti-interference capability of the refueling nozzle and receiver socket during refueling. The European Aeronautic Defence and Space Company (EADS) has also built a rigid refueling test platform, capable of conducting ground tests on the refueling process, including boom engagement, refueling, retraction, and overload-induced retraction.

[0008] Pollini L et al. from the University of Pisa, Italy, used a robotic arm to drive the refueling receiver and refueling boom, using five LED light sources as characteristic values ​​for the refueling socket to verify the alignment and automatic engagement process based on image information. This method is more complex and difficult to control than Boeing's experimental method, and is also more expensive, but it can provide three spatial coordinates (X, Y, Z) and three rotational angle coordinates for the refueling boom. Whidborne JF from Cranfield University, UK, and Yuan Dongli et al. from Northwestern Polytechnical University designed a semi-physical experimental platform with a pulley-counterweight drive device. They used CFD simulation to obtain the aerodynamic parameters of the refueling boom, designed an LOR controller for the alignment stage and an LMI robust controller for the docking stage, and verified the stable attitude control capability of the refueling boom before and after docking.

[0009] In summary, while numerous ground tests of rigid aerial refueling have been conducted abroad, aiming to solve practical engineering problems, they tend to focus on vision-based automatic alignment control technology and reliability verification of docking and engagement. Verification of the automatic unloading function after docking has not yet been publicly disclosed. Domestic ground verification is even less common, lacking specific model support and mostly consisting of preliminary principle verification. Therefore, establishing a semi-physical ground test rig for rigid aerial refueling and conducting unloading tests after docking can fill a gap in my country's technological capabilities in this area and provide a reference for the design of subsequent tanker aircraft models. Summary of the Invention

[0010] The technical problem to be solved by this invention is:

[0011] To address the challenges of coordinated control and insufficient dynamic response of multi-axis drive motors in existing rigid aerial refueling ground test systems' refueling telescopic boom models, this invention provides a scaled-down semi-physical simulation test system for autonomous unloading of rigid aerial refueling based on a fast-response, highly collaborative robotic arm. This system improves the speed of driving the refueling telescopic boom for attitude transitions, modifies the telescopic inner tube to simulate the degrees of freedom of the refueling nozzle in a real rigid aerial refueling telescopic boom, and enables the verification of the autonomous unloading function and performance of the rigid aerial refueling telescopic boom.

[0012] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0013] A ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading is characterized by comprising a test bench, display and control equipment, measurement and control equipment, drive equipment, recording equipment, and model device;

[0014] The test bench is used to install the dual-axis slide rail in the drive equipment, the camera in the recording equipment, and the universal joint on the oiling telescopic pipe model in the model device.

[0015] The drive device simulates motion by mechanically connecting the drive model device, and completes the simulation of the docking process between the refueling telescopic pipe and the receiver aircraft in real rigid aerial refueling on the ground test bench.

[0016] The display and control equipment and the measurement and control equipment are connected and communicate via a network cable. The measurement and control equipment runs a program to make the driving equipment move, and the driving model device starts to work according to the program requirements.

[0017] The measurement and control equipment is used to measure the load force on the pipe body of the scaled-down model of the refueling telescopic pipe in the model device, and transmits it to the display and control equipment through serial communication. The display and control equipment formulates the attitude change program of the scaled-down model of the refueling telescopic pipe and communicates it to the fast-response drive equipment to drive the model device to complete the motion simulation.

[0018] The recording device is connected to the display and control device via a cable. After the experiment begins, the display and control device sends a timing signal to the recording device. Upon receiving the signal, the recording device begins recording the experimental impact information and simultaneously transmits image information for identifying the position of the oil receiving hole and the position of the oil nozzle at the end of the oil refueling telescopic pipe model. By playing back the experimental image information, the motion of the model device is obtained. Through feedback information from the measurement and control equipment, relevant parameters including the three-axis attitude of the model device, control commands, attitude control motor response time, and load force of the oil refueling telescopic pipe are obtained.

[0019] A further technical solution of the present invention: The model device includes a refueling telescopic pipe model and a receiving aircraft model; the driving device includes a dual-axis slide rail, a refueling telescopic pipe driving robotic arm, a telescopic shaft servo motor, and a receiving aircraft simulation robotic arm, wherein the refueling telescopic pipe model is composed of a universal joint, an outer pipe, a telescopic inner pipe, a universal ball joint, and a refueling nozzle; the dual-axis slide rail in the driving device drives the universal joint to perform two-dimensional motion, the refueling telescopic pipe driving robotic arm drives the refueling telescopic pipe model to perform pitch and roll motion, and the receiving aircraft simulation robotic arm drives the receiving aircraft model to complete attitude simulation motion.

[0020] A further technical solution of the present invention: the driving device is driven by communication messages sent by the display and control device, which includes a fuel dispenser simulation host computer, a receiving machine simulation host computer, and a visual recognition processor, and communicates with the driving device via a UDP network.

[0021] A further technical solution of the present invention: the refueling machine simulates a host computer to issue motion commands, and sends messages to the control cabinet of the refueling telescopic pipe driving robot arm through network communication to control it, thereby realizing the robot arm posture control with a 20ms cycle; by changing the end posture of the refueling telescopic pipe driving robot arm, the pitch and roll posture of the lifting telescopic pipe model is changed.

[0022] A further technical solution of the present invention: the universal joint on the refueling telescopic pipe model realizes two-dimensional planar movement through the drive of the dual-axis slide rail, and the dual-axis slide rail is controlled by the refueling simulation host computer.

[0023] A further technical solution of the present invention: the refueling telescopic tube model achieves the degrees of freedom in the pitch and roll directions of the refueling telescopic tube by the joint collaboration of the six-degree-of-freedom robotic arm driving the outer tube in the refueling telescopic tube model, and achieves the degrees of freedom in the telescopic inner tube in the telescopic direction by the telescopic shaft servo motor driving the flange to drive the ball screw.

[0024] A further technical solution of the present invention: the refueling nozzle and the telescopic inner tube in the refueling telescopic tube model are connected by a universal ball joint composed of a ball joint, a centering spring and a washer, which can give the refueling nozzle a conical range of motion to simulate the degree of freedom of the refueling nozzle of a real rigid aerial refueling telescopic tube.

[0025] A further technical solution of the present invention: The refueling telescopic pipe model is equipped with a ring-shaped six-dimensional force sensor near the ball joint of the telescopic inner pipe, which is used to measure the load force and torque on the telescopic inner pipe and communicate back to the host computer via serial port to control the refueling telescopic pipe model to automatically unload the load force.

[0026] A further technical solution of the present invention: the receiver simulates the lower computer to issue motion commands, and sends messages to the receiver drive robotic arm control cabinet through network communication for control, so as to realize the position control of the robotic arm with a 20ms cycle; the receiver simulates the robotic arm to change the end pose of the lifting receiver model to perform pitch, roll, yaw and three-dimensional spatial position movement by changing the end pose of the receiver simulated robotic arm.

[0027] A further technical solution of the present invention: the universal ball joint in the refueling telescopic tube model is composed of a ball joint, a gasket, and a centering spring. The end of the spring near the refueling nozzle is the fixed end. When the refueling nozzle receives a radial force and bends, the gasket is supported by the mounting groove around the ball joint, thereby compressing the spring. When the refueling nozzle is not subjected to a radial force, the centering force of the centering spring keeps the refueling nozzle parallel to the telescopic inner tube.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention provides a semi-physical simulation test system for autonomous unloading of rigid aerial refueling based on a robotic arm driven system. The ground test rig includes a refueling aircraft simulation system, a receiving aircraft simulation system, and a vision system. The ground test rig verifies the autonomous docking and unloading functions of rigid aerial refueling. The refueling and receiving aircraft simulation host computer can select the motion attitude of the refueling boom and receiving aircraft under different disturbances to simulate actual working conditions. The host computer issues process commands through the display and control simulation to complete the ground verification test of the attitude control of the refueling boom model, such as autonomous alignment, manual alignment, and autonomous unloading.

[0030] The attitude of the refueling telescopic tube is controlled by driving the robotic arm with a 20ms command cycle. The attitude of the robotic arm fed back from the control cabinet is calculated, which solves the problems of slow dynamic response and communication delay in traditional ground test benches.

[0031] The refueling telescopic boom model has a ball joint and a centering spring installed in its telescopic inner tube, simulating the movement range of the refueling nozzle on the ground, similar to that of a real rigid aerial refueling telescopic boom. Attached Figure Description

[0032] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0033] Figure 1 A schematic diagram of a dynamic rigid aerial refueling ground semi-physical test system provided in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram showing the pitch and roll range of the refueling telescopic pipe model and the range of motion of the receiving tank model of the present invention.

[0035] Figure 3This is a schematic diagram illustrating the telescopic shaft movement principle of the refueling telescopic pipe model of the present invention.

[0036] Figure 4 The display and control interface of the host computer for simulating refueling in this invention;

[0037] Figure 5 This is a structural and design drawing of the ball joint of the refueling telescopic inner tube and the centering spring of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0039] This invention provides a scaled-down semi-physical simulation test system for rigid aerial refueling and autonomous unloading on the ground, referring to... Figure 1 As shown, the system includes: a test bench, display and control equipment, measurement and control equipment, drive equipment, recording equipment, and a model device.

[0040] The test bench is used to mount a scaled-down model of the dual-axis slide rail and the refueling telescopic pipe. The model device is mechanically connected to the drive equipment, driving the scaled-down model of the refueling telescopic pipe and the receiving machine model to move. The display and control equipment and the measurement and control equipment communicate via a network cable. The measurement and control equipment runs a program to cause the drive equipment to move, and the model device starts working according to the program requirements. The measurement and control equipment is used to measure the pipe body load force of the scaled-down model of the refueling telescopic pipe in the model device, and transmits it to the display and control equipment via serial communication. The display and control equipment formulates a program for the attitude change of the scaled-down model of the refueling telescopic pipe to complete automatic unloading. The display and control equipment and the drive equipment communicate via a network cable, causing the drive equipment to run the experimental program, and the model device starts working according to the program requirements.

[0041] The recording device is connected to the display and control device via a cable. After the experiment begins, the display and control device sends a timing signal to the recording device. Upon receiving the signal, the recording device begins recording the experimental impact information and simultaneously transmits image information for oil refueling port identification. By replaying the experimental image information, the motion of the model device is obtained. Through feedback information from the measurement and control device, relevant parameters including the three-axis attitude of the model device, control commands, attitude control motor response time, and refueling telescopic pipe load force are obtained.

[0042] Reference Figure 1 and Figure 2As shown, a dual-axis slide rail controlling the degrees of freedom of the refueling machine is mounted on the test bench. The refueling telescopic pipe model includes: a universal joint, an outer casing, a telescopic inner pipe, a universal ball joint, and a refueling nozzle. The universal joint connection of the refueling telescopic pipe model is mounted on the dual-axis slide rail, and the dual-axis slide rail and the universal joint of the refueling telescopic pipe are mechanically connected. Controlling the movement of the universal joint simulates the movement of the refueling machine. One section of the refueling telescopic pipe model is grasped and moved by a robotic arm driven by the refueling telescopic pipe, realizing a change in posture. The receiving machine model is grasped and moved by a robotic arm simulating the receiving machine, realizing the simulation of the receiving machine's position and posture. Based on the range of motion of the robotic arm and the range of motion required for the actual refueling process, the range of motion of the refueling telescopic pipe and the receiving machine is as follows: Figure 2 As shown, the universal joint of the refueling telescopic hose model is mounted on a dual-axis slide rail, with a range of movement of 0.75m laterally and 0.5m longitudinally. The ball joint, centering spring, and washer of the telescopic inner tube of the refueling telescopic hose model form a universal ball joint, providing the refueling nozzle with a bending angle of 0 to 30 degrees. The telescopic inner tube of the refueling telescopic hose model is rotated by the servo motor of the telescopic shaft, which in turn rotates the ball screw, pushing the telescopic inner tube to move in the telescopic direction, with a telescopic length of 0 to 0.3m. The refueling telescopic hose model is driven by the sixth axis at the end of the refueling telescopic hose driving robot arm, with a pitch range of 0 to 50 degrees. The first, second, and third axes at the end of the refueling telescopic hose driving robot arm are also involved in the movement. The axis is driven collaboratively, with a roll direction range of -30 to 30 degrees; the receiver's movement range is a 330-degree circle with a radius of 0.5m in the horizontal plane, and a height of 0 to 0.74m (the radius of the circle in the horizontal plane decreases as the height increases); the six-dimensional force sensor is a structurally decoupled six-axis force sensor with six independent output channels. After acquiring the signals from each channel, dividing by the sensitivity coefficient yields three forces and three moments, with a force measurement range of 0 to 500N; the receiver simulation host computer realizes the spatial position change of the receiver through the first, second, and third axes of the receiver simulated robotic arm, and realizes the pitch, roll, and yaw of the receiver through the fourth, fifth, and sixth axes.

[0043] The telescopic inner tube of the refueling telescopic hose model operates as follows in the telescopic direction: Figure 3 As shown, the telescopic sleeve mainly consists of a servo motor, a ball screw, a telescopic inner cylinder with a slip ring, and a telescopic outer cylinder. The forward and reverse rotation of the servo motor drives the ball screw to rotate via a flange, which in turn pushes the telescopic inner cylinder to reciprocate within the telescopic outer cylinder. The servo motor has an encoder at its rear end, which can generate the required coded pulses through frequency division by a servo driver, facilitating feedback of the telescopic amount.

[0044] The software interface of the refueling simulation host computer is as follows: Figure 4 As shown, the host computer was developed based on the Qt platform to display the attitude angle tracking controller. This software has functions such as system security protection, self-test communication, and monitoring the motion attitude of the refueling telescopic pipe model.

[0045] The design structure of the refueling telescopic hose model, including the telescopic inner tube, universal joint, and refueling nozzle, and the force measurement principle of the six-dimensional force sensor for measuring the radial force of the telescopic inner tube, are illustrated in the diagram below. Figure 5 As shown, in its natural state, the centering spring will push the shim to make the refueling nozzle parallel to the telescopic inner tube. When the refueling nozzle is subjected to radial force, the ball joint swings, pushing the shim to compress the spring, giving the refueling nozzle a conical degree of freedom. The six-dimensional force sensor is installed on the telescopic inner tube, before the ball joint, and can measure the three-axis force and torque and communicate with the display and control host computer via serial port signal.

[0046] The present invention will now be described in more detail:

[0047] Implementation principle:

[0048] Before the formal experiment, power-start the display and control equipment, measurement and control equipment, drive equipment and recording equipment of the test system; and complete the communication line connection.

[0049] After the formal experiment, open the display and control software and establish communication with the measurement and control equipment. Press the "Start Control" button. After receiving the signal, the measurement and control equipment will start the program, causing the drive equipment to start moving according to the program's instructions. The telescopic tube's attitude can be controlled manually by selecting the hand crank or automatically aligned with the oil receiving hole detected by the camera equipment. The receiving machine's driven robotic arm can also simulate the receiving machine's movement position and attitude by selecting different motion modes according to the display and control software of the receiving machine simulation system. The camera equipment will record the attitude of the refueling telescopic tube and the receiving machine model. The measurement and control equipment will measure the three-axis attitude of the telescopic tube and the position, attitude, response time, and other parameters of the receiving machine and transmit them to the display and control equipment.

[0050] After the test, the refueling telescopic boom model and the receiving aircraft model were adjusted to the ready position, the computer was shut down, and the power was turned off. Explanation of a single test.

[0051] This invention provides a scaled-down semi-physical simulation test system for dynamic aerial refueling, applicable to verifying control methods during rigid aerial refueling docking, such as autonomous docking visual detection algorithms, telescopic boom attitude control methods, and autonomous unloading control methods. The system can realistically simulate the position and attitude of the tanker and receiver aircraft during the rigid aerial refueling docking phase on the ground. Simultaneously, the display and control equipment can acquire various parameters such as attitude and control response time, providing experimental support for the design of the telescopic boom attitude control method. Furthermore, this system can be applied to verify algorithm research at different stages, significantly reducing development cycle and cost.

[0052] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0053] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading, characterized in that... This includes test benches, display and control equipment, measurement and control equipment, drive equipment, recording and imaging equipment, and model devices; The test bench is used to install the dual-axis slide rail in the drive equipment, the camera in the recording equipment, and the universal joint on the oiling telescopic pipe model in the model device. The drive device simulates motion by mechanically connecting the drive model device, and completes the simulation of the docking process between the refueling telescopic pipe and the receiver aircraft in real rigid aerial refueling on the ground test bench. The display and control equipment and the measurement and control equipment are connected and communicate via a network cable. The measurement and control equipment runs a program to make the driving equipment move, and the driving model device starts to work according to the program requirements. The measurement and control equipment is used to measure the load force on the pipe body of the scaled-down model of the refueling telescopic pipe in the model device, and transmits it to the display and control equipment through serial communication. The display and control equipment formulates the attitude change program of the scaled-down model of the refueling telescopic pipe and communicates it to the fast-response drive equipment to drive the model device to complete the motion simulation. The recording device is connected to the display and control device via a cable. After the experiment begins, the display and control device sends a timing signal to the recording device. Upon receiving the signal, the recording device begins recording the experimental impact information and simultaneously transmits image information for identifying the position of the oil receiving hole and the position of the oil nozzle at the end of the oil refueling telescopic pipe model. By replaying the experimental image information, the motion of the model device is obtained. Through feedback information from the measurement and control device, relevant parameters including the three-axis attitude of the model device, control commands, attitude control motor response time, and load force of the oil refueling telescopic pipe are obtained. The driving device is driven by communication messages sent by the display and control device, which includes a fuel dispenser simulation host computer, a receiving machine simulation host computer, and a visual recognition processor, and communicates with the driving device via a UDP network.

2. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading as described in claim 1, characterized in that... The model device includes a refueling telescopic pipe model and a receiving aircraft model; the driving equipment includes a dual-axis slide rail, a refueling telescopic pipe driving robotic arm, a telescopic shaft servo motor, and a receiving aircraft simulation robotic arm. The refueling telescopic pipe model consists of a universal joint, an outer pipe, a telescopic inner pipe, a universal ball joint, and a refueling nozzle. The dual-axis slide rail in the driving equipment drives the universal joint to perform two-dimensional motion, the refueling telescopic pipe driving robotic arm drives the refueling telescopic pipe model to perform pitch and roll motion, and the receiving aircraft simulation robotic arm drives the receiving aircraft model to complete attitude simulation motion.

3. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading as described in claim 1, characterized in that... The refueling machine simulates a host computer to issue motion commands, and sends messages to the control cabinet of the refueling telescopic pipe driving robotic arm via network communication to achieve robotic arm posture control with a 20ms cycle; by changing the end-effector posture of the refueling telescopic pipe driving robotic arm, the pitch and roll postures of the lifting telescopic pipe model are changed.

4. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading as described in claim 2, characterized in that... The universal joint on the refueling telescopic pipe model achieves two-dimensional planar movement through the drive of a dual-axis slide rail, which is controlled by a host computer simulating the refueling machine.

5. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading according to claim 2, characterized in that... The refueling telescopic tube model achieves the degrees of freedom in the pitch and roll directions of the outer tube by the joint collaboration of a six-degree-of-freedom robotic arm, and achieves the degrees of freedom in the telescopic inner tube in the telescopic direction by the servo motor of the telescopic shaft driving the flange to drive the ball screw.

6. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading according to claim 2, characterized in that... The refueling nozzle and the telescopic inner tube in the refueling telescopic tube model are connected by a universal ball joint consisting of a ball joint, a centering spring, and a washer, which can give the refueling nozzle a conical range of motion to simulate the degree of freedom of the refueling nozzle of a real rigid aerial refueling telescopic tube.

7. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading according to claim 2, characterized in that... The refueling telescopic pipe model has a ring-shaped six-dimensional force sensor installed near the ball joint of the telescopic inner pipe. This sensor measures the load force and torque on the telescopic inner pipe and communicates back to the host computer via serial port to control the refueling telescopic pipe model to automatically unload the load force.

8. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading according to claim 1, characterized in that... The receiver simulates a host computer to issue motion commands and sends messages to the receiver drive robotic arm control cabinet via network communication for control, realizing robotic arm position control with a 20ms cycle; by changing the end pose of the receiver simulated robotic arm, it lifts the receiver model to perform pitch, roll, yaw and three-dimensional spatial position movement.

9. The ground-scale semi-physical simulation test system for rigid aerial refueling and autonomous unloading according to claim 2, characterized in that... The universal ball joint in the refueling telescopic tube model consists of a ball joint, a gasket, and a centering spring. The end of the spring closest to the refueling nozzle is the fixed end. When the refueling nozzle receives a radial force and bends, the gasket is supported by the mounting groove around the ball joint, thereby compressing the spring. When the refueling nozzle is not subjected to a radial force, the centering force of the centering spring keeps the refueling nozzle parallel to the telescopic inner tube.

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