Soft air refueling and receiving control method for airplane

Abstract

The invention belongs to the technical field of aircraft air refueling design, and particularly relates to an aircraft soft air refueling and receiving control method which comprises the steps that S1, a refueling formation is added; s2, carrying out oil receiving occupation; s3, carrying out pre-docking; s4, refueling butt joint is carried out; s5, air refueling is carried out; s6, backward separation is carried out; s7, re-formation is carried out; and S8, carrying out formation dissociation.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft aerial refueling design, and specifically relates to a method for controlling aircraft soft aerial refueling. Background Art

[0002] Aerial refueling of an aircraft is like threading a needle. It is an arduous and high-risk task for the receiving aircraft to control the aircraft so that the refueling plug and the refueling cone sleeve are fully connected. During the refueling process, the relative distance between the receiving aircraft and the refueling aircraft is only about 15 meters. For a pair of aircraft flying at high speed, it is quite a test of the pilot's psychological quality, especially for refueling at night.

[0003] When an aircraft is docking for aerial refueling, it is very easy for the refueling hose and cone sleeve to be whipped, the refueling plug to be damaged, and the refueling cone sleeve to be damaged and stuck, etc., which pose a serious threat to the refueling mission and may even be dangerous. In view of this, this application is filed. Summary of the invention

[0004] The purpose of the present application is to provide a method for controlling soft aerial refueling of an aircraft to ensure the safety of aerial refueling.

[0005] The technical solution of this application is:

[0006] A method for controlling soft aerial refueling of an aircraft, comprising:

[0007] S1. Join the refueling team:

[0008] Control the receiving aircraft to join the refueling formation in a low approach manner;

[0009] In the process of controlling the receiving aircraft to join the formation, it shall maintain an altitude layer lower than the minimum vertical separation of the tanker by not less than 300m at a distance of 2km from the tanker, and when visual contact can be established, it shall climb from this altitude layer to the observation position and join the refueling formation. The observation position shall be within 20m to 50m to the left of the tanker;

[0010] S2. Take the oil receiving position:

[0011] Control the receiving aircraft to move from the observation position to the rear of the refueling drogue to take up position for refueling;

[0012] S3. Pre-docking:

[0013] Control the receiving aircraft to stably enter the pre-docking area to achieve stable formation flight with the tanker. The pre-docking area is within 1m to 8m behind the refueling drogue.

[0014] S4. Refueling docking:

[0015] Control the receiving aircraft to approach the refueling drogue from the pre-docking area along the catenary formed by the refueling hose and the refueling drogue, so that the refueling plug and the refueling drogue are docked;

[0016] S5. Conduct aerial refueling:

[0017] Control the receiving aircraft to gradually move along the catenary formed by the refueling hose and the refueling drogue to the refueling safety restricted area for aerial refueling. The refueling safety restricted area is within the conical range of 30° formed by the refueling hose as the centerline, and is within the range of 1.5 to 7.5 m in front of the refueling drogue that is fully dragged by the refueling hose;

[0018] S6. Back off:

[0019] Control the receiving aircraft to move backward, so that the refueling hose and refueling drogue can be separated in a natural dragging posture;

[0020] S7. Re-form the team:

[0021] Control the receiving aircraft to retreat to 10 to 30 meters behind the refueling drogue, fly to the re-formation position, and re-form the aircraft. The re-formation position is within 20 to 50 meters to the right of the refueling aircraft.

[0022] S8. Disband the formation:

[0023] Control the receiving aircraft to fly horizontally or climb away from the tanker from the re-formation position.

[0024] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S1, during the process of controlling the receiving aircraft to join the formation, the relative speed of the receiving aircraft approaching the refueling aircraft is controlled to be no more than 50 km / h.

[0025] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S1, when controlling the receiving aircraft to join the formation, if the visibility is poor, the aircraft climbs to a position 150m vertically and 1km horizontally below the tanker with the help of the onboard radar, and seeks to establish visual contact with the tanker. If the visual contact cannot be established, the subsequent operation of joining the refueling formation cannot be performed.

[0026] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S2, before controlling the receiving aircraft to move from the observation position to the rear of the refueling drogue, the receiving aircraft is controlled to descend below the horizontal line of the refueling drogue.

[0027] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S2, the receiving aircraft is controlled to move from the observation position to 15 to 50 meters behind the refueling cone sleeve, and at the same time, it is checked to confirm whether the refueling hose is in the full towing position, and the receiving aircraft is controlled to retreat to the rear of the refueling cone sleeve to take up the refueling position.

[0028] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S4, the receiving aircraft is controlled to keep the refueling plug and the refueling drogue in a stable and continuous manner during the docking process;

[0029] Control the receiving machine to make the receiving plug and the refueling drogue docking, and control the speed difference between the receiving machine and the refueling machine to be between 0.5 and 1.5 m / s;

[0030] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S4,

[0031] When the left and right pods of the tanker are conducting aerial refueling at the same time, the refueling plug of the first receiving aircraft is controlled to dock with the refueling drogue, and then the refueling plug of the second receiving aircraft is controlled to dock with the refueling drogue.

[0032] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S5, the relative speed of the forward or backward movement of the refueling aircraft during the process of controlling the refueling aircraft to move to the refueling safety restricted area is not greater than 1m / s;

[0033] By observing the refueling signal lights, refueling hose markings, refueling machine markings and refueler prompts, the refueling position can be determined, and the receiving aircraft can be controlled within the refueling safety restricted area during the aerial refueling process;

[0034] During aerial refueling, the receiving aircraft is gently and smoothly controlled to keep it within the refueling safety restricted area.

[0035] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S5, during the aerial refueling process, when the tanker turns, the slope is controlled to be no more than 30°, the slope change rate is no more than 2° / s, and the ascent and descent rate of the tanker is controlled to be no more than 10m / s.

[0036] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S6, the speed of the refueling aircraft retreating and disengaging is controlled to be no greater than 1 m / s;

[0037] The receiving aircraft's detachment speed exceeds 1.5m / s, causing the refueling hose to stop dragging. The receiving aircraft detaches in advance, and the red indicator light of the refueling status lights up. The receiving aircraft is controlled to switch to the re-formation position;

[0038] The left and right pods conduct aerial refueling at the same time. After the aerial refueling is completed, according to the instructions of the refueler, the two receiving aircraft are controlled to retreat and detach at the same time, or the receiving aircraft on one side is controlled to retreat and detach. The receiving aircraft that has not retreated and detached maintains its position and does not forcibly retreat and detach beyond the refueling safety restriction area.

[0039] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S8, the left and right pods are simultaneously refueled in the air. After the aerial refueling is completed, when the two receiving aircraft simultaneously retreat and disengage, after disengagement, the right receiving aircraft is first controlled to fly to the re-formation position to re-form, and then the left receiving aircraft is controlled to fly to the re-formation position to re-form.

[0040] According to at least one embodiment of the present application, in the above-mentioned aircraft soft aerial refueling control method, in S1 to S8, during the preparation for docking, docking refueling and separation process, the refueling and refueling aircraft are controlled to switch the high-frequency equipment to the standby / monitoring state;

[0041] As long as the receiving aircraft can visually observe the tanker, set the receiving aircraft radar to standby mode and turn off the electronic jamming equipment before the receiving aircraft enters the observation position;

[0042] The refueling hose operation is not performed during the refueling aircraft's attitude change process. During the refueling hose operation of the refueling aircraft, the receiving aircraft is controlled to be in the observation position or the re-formation position.

[0043] This application has at least the following beneficial technical effects:

[0044] Provided is a control method for soft aerial refueling of an aircraft, which is an improvement made based on iterative updates of feedback from multiple uses, provides empirical data, and has a high guiding significance for the aerial refueling of aircraft. It has been successfully applied in practice with good feedback, and has improved the success rate and safety of the aircraft's aerial refueling docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of a method for controlling soft aerial refueling of an aircraft provided in an embodiment of the present application;

[0046] Figure 2 It is a schematic diagram of the refueling safety restricted area provided in an embodiment of the present application.

[0047] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION

[0048] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.

[0049] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0050] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.

[0051] A method for controlling soft aerial refueling of an aircraft, such as Figure 1 shown.

[0052] S1. Join the refueling team:

[0053] Control the receiving aircraft to join the refueling formation in a low approach manner.

[0054] In the process of controlling the receiving aircraft to join the formation, it should maintain an altitude layer that is no less than 300m lower than the minimum vertical separation of the refueling aircraft at a distance of 2km from the refueling aircraft. When visual contact can be established, it should climb from this altitude layer to the observation position and join the refueling formation. The observation position should be within 20m to 50m to the left of the refueling aircraft.

[0055] In the process of controlling the receiving aircraft to join the formation, the relative speed approaching the refueling aircraft shall not exceed 50km / h.

[0056] During the process of controlling the receiving aircraft to join the refueling formation, if the visibility is poor, use the airborne radar to climb to a distance of 150m vertically and 1km horizontally from the refueling aircraft, and seek to establish visual contact with the refueling aircraft. If visual contact cannot be established, the subsequent operation of joining the refueling formation cannot be carried out.

[0057] S2. Take the oil receiving position:

[0058] After receiving the permission to refuel, the receiving aircraft is controlled to move from the observation position to the rear of the refueling drogue to take up a refueling position in order to transition to the pre-docking area. The pre-docking area is within the range of 1m to 8m behind the refueling drogue. It is a specific position behind the refueling drogue where the receiving aircraft begins to smoothly and continuously approach the refueling drogue and completes the docking.

[0059] Before the receiving aircraft moves from the observation position to the rear of the refueling drogue, it is controlled to descend below the horizontal line of the refueling drogue to avoid the strong wake area of ​​the refueling aircraft. This also ensures good visual observation of the refueling aircraft during night refueling.

[0060] Control the receiving aircraft to move from the observation position to 15 to 50 meters behind the refueling drogue, and at the same time check and confirm whether the refueling hose is in the full towing position to take up the refueling position.

[0061] The refueling status indicator light is yellow, indicating that the refueling hose is dragging normally and docking refueling is allowed, otherwise docking refueling is not allowed.

[0062] S3. Pre-docking:

[0063] By observing the marking lines and specific reference points on the tanker, fine-tuning the throttle and aircraft attitude, the receiving aircraft is controlled to stably enter the pre-docking area and achieve stable formation flight with the tanker.

[0064] S4. Refueling docking:

[0065] Control the receiving aircraft to approach the refueling drogue from the pre-docking area along the catenary formed by the refueling hose and the refueling drogue, so that the refueling plug and the refueling drogue are docked.

[0066] Control the receiving aircraft to keep the refueling plug and the refueling cone sleeve docking smoothly and continuously. At this time, the visual position relationship of the refueling aircraft should be maintained, and the main attention should be focused on visually observing the refueling aircraft. Use peripheral vision to check the docking status of the refueling plug and the refueling cone sleeve. Avoid focusing on the refueling cone sleeve and chasing the refueling cone sleeve. Chasing the refueling cone sleeve will cause the receiving aircraft to fluctuate up and down, left and right, or lose altitude, which can easily induce the refueling hose to oscillate, causing the refueling hose to whip and break the refueling plug.

[0067] When controlling the receiving aircraft to dock the refueling plug with the refueling cone sleeve, a slight increase in power is enough to accelerate the receiving aircraft and achieve docking of the refueling plug with the refueling cone sleeve.

[0068] When the receiving machine is controlled to dock with the refueling cone sleeve, the speed difference between the receiving machine and the refueling machine is controlled between 0.5 and 1.5 m / s.

[0069] When the left and right pods of a tanker are conducting aerial refueling simultaneously, the second receiving aircraft is allowed to dock with the refueling drogue only after the refueling plug of the first receiving aircraft has docked with the refueling drogue. It is prohibited for two aircraft to dock simultaneously.

[0071] S5. Conduct aerial refueling:

[0072] Gently fine-tune the throttle to control the receiving aircraft to gradually move along the catenary formed by the refueling hose and the refueling cone sleeve to the refueling safety restricted area for aerial refueling.

[0073] When controlling the receiving aircraft to move to the refueling safety restricted area, the relative speed of forward or backward movement shall not exceed 1m / s.

[0074] By observing the refueling signal lights, refueling hose markings, refueling machine markings and refueler prompts, the refueling position is determined, and then during the aerial refueling process, the receiving aircraft is controlled to be within the refueling safety restricted area. The refueling safety restricted area is within the cone range with a 30° cone angle formed by the refueling hose as the center line, and is within the range of 1.5 to 7.5 meters in front of the refueling drogue of the refueling hose. Figure 2 As shown in the figure, exceeding the refueling safety limit area may damage the aerial refueling equipment or cause flight control difficulties.

[0075] During aerial refueling, the receiving aircraft should be operated gently and steadily to keep it within the refueling safety restricted area. Violent and drastic operations on the receiving aircraft are prohibited.

[0076] During aerial refueling, when the tanker turns, the slope is controlled to be no more than 30°, the slope change rate is controlled to be no more than 2° / s, and the ascent and descent rate of the tanker is controlled to be no more than 10m / s.

[0077] S6. Back off:

[0078] After aerial refueling is completed, reduce the power slightly and control the receiving aircraft to move backward so that the refueling hose and refueling drogue can be detached in a natural towing posture.

[0079] The speed of the receiving aircraft to retreat and disengage shall be controlled to be no more than 1m / s. If the disengagement speed exceeds 1.5m / s, the refueling hose reel of the tanker will overspeed and brake automatically. In this case, the refueling hose will stop towing and the receiving aircraft will be disengaged in advance, and the red indicator light of the refueling status will light up. At this time, the receiving aircraft should be controlled to switch to the re-formation position so that the refueler can re-manipulate the refueling hose to the full towing position. The re-formation position is within 20m to 50m to the right of the tanker.

[0080] The left and right pods are refueled in the air at the same time. After the refueling is completed, under normal circumstances, the two receiving aircraft can be controlled to retreat and detach at the same time according to the instructions of the refueler. The receiving aircraft on one side is also allowed to retreat and detach, but the receiving aircraft that has not retreated and detached must pay attention to maintaining a good position. It is prohibited to forcibly retreat and detach beyond the refueling safety restriction area, which will damage the aerial refueling equipment.

[0081] S7. Re-form the team:

[0082] After controlling the receiving aircraft to retreat and disengage, it retreats to 10 to 30 meters behind the refueling drogue, flies to the re-formation position, re-forms, and waits to be disbanded.

[0083] The left and right pods carry out aerial refueling at the same time. After the aerial refueling is completed, the two receiving aircraft retreat and detach at the same time. After detachment, the right receiving aircraft is controlled to fly to the re-formation position first, and then the left receiving aircraft is controlled to fly to the re-formation position and re-formation.

[0084] S8. Disband the formation:

[0085] Control the receiving aircraft group to fly horizontally or climb away from the tanker from the re-formation position.

[0086] In S1 to S8, during the preparation for docking, docking refueling and separation, the tanker and receiver aircraft are prohibited from using high-frequency transmission, and all high-frequency equipment should be switched to standby / monitoring mode. As long as the receiver aircraft can visually observe the tanker, the receiver aircraft radar should be set to standby mode to avoid its radiation to the tanker, and the electronic jamming equipment should be turned off before entering the observation position. The refueling hose towing and rewinding operations should be carried out in a stable level flight state as much as possible, and aerial refueling related operations should be avoided over crowded areas. It is prohibited to operate the refueling hose during the attitude change of the tanker to avoid the refueling hose from getting stuck, falling off, and other failures. During the operation of the tanker refueling hose, the receiver aircraft should be in the observation position or re-formation position, and it is prohibited to be in the position of following the tanker.

[0087] In the aircraft soft aerial refueling control method disclosed in the above embodiment, the observation position, pre-docking area, refueling safety restricted area, and re-formation position are defined based on the tanker, and the aerial refueling is then decomposed into eight interconnected stages: joining the refueling formation, taking a refueling position, pre-docking, aerial refueling, retreating and disengaging, re-forming, and disbanding the formation. A clear and feasible control method is given for each stage, which can effectively support aerial refueling and avoid extreme conditions such as whipping of the refueling hose and cone sleeve, damage to the refueling plug, and damage and jamming of the refueling cone sleeve.

[0088] The design of the aircraft soft aerial refueling control method disclosed in the above embodiment can make full use of the design status and working mode of the refueling aircraft's rendezvous lighting, floodlighting, refueling status signal lights, and refueling monitoring cameras to ensure that the refueler and the pilot of the receiving aircraft can correctly understand the current stage of the receiving aircraft and perform correct operations.

[0089] The aircraft soft aerial refueling control method disclosed in the above-mentioned embodiment is an improvement made through iterative updates based on feedback from multiple uses, provides a lot of empirical data, has a high guiding significance for the aerial refueling of aircraft, has been successfully applied in practice, has good feedback, and has improved the success rate and safety of the aircraft's aerial refueling docking.

[0090] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. In the absence of conflict, the embodiments in this application and the technical features in the embodiments can be combined with each other to obtain new embodiments.

[0091] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A method for controlling soft aerial refueling of an aircraft, characterized in that: include: S1. Join the refueling team: Control the receiving aircraft to join the refueling formation in a low approach manner; In the process of controlling the receiving aircraft to join the formation, it shall maintain an altitude layer lower than the minimum vertical separation of the tanker by not less than 300m at a distance of 2km from the tanker, and when visual contact can be established, it shall climb from this altitude layer to the observation position and join the refueling formation. The observation position shall be within 20m to 50m to the left of the tanker; S2. Take the oil receiving position: Control the receiving aircraft to move from the observation position to the rear of the refueling drogue to take up position for refueling; S3. Pre-docking: Control the receiving aircraft to stably enter the pre-docking area to achieve stable formation flight with the tanker. The pre-docking area is within 1m to 8m behind the refueling drogue. S4. Refueling docking: Control the receiving aircraft to approach the refueling drogue from the pre-docking area along the catenary formed by the refueling hose and the refueling drogue, so that the refueling plug and the refueling drogue are docked; S5. Conduct aerial refueling: Control the receiving aircraft to gradually move along the catenary formed by the refueling hose and the refueling drogue to the refueling safety restricted area for aerial refueling. The refueling safety restricted area is within the conical range of 30° formed by the refueling hose as the centerline, and is within the range of 1.5 to 7.5 m in front of the refueling drogue that is fully dragged by the refueling hose; S6. Back off: Control the receiving aircraft to move backward, so that the refueling hose and refueling drogue can be separated in a natural dragging posture; S7. Re-form the team: Control the receiving aircraft to retreat to 10 to 30 meters behind the refueling drogue, fly to the re-formation position, and re-form the aircraft. The re-formation position is within 20 to 50 meters to the right of the refueling aircraft. S8. Disband the formation: Control the receiving aircraft to fly away from the tanker horizontally or climbing from the re-formation position.

2. The method for controlling soft aerial refueling of an aircraft according to claim 1, characterized in that: In S1, the relative speed of the receiving aircraft approaching the tanker is controlled to be no more than 50km / h during the process of joining the formation.

3. The method for controlling soft aerial refueling of an aircraft according to claim 2, characterized in that: In S1, when controlling the receiving aircraft to join the refueling formation, if the visibility is poor, the aircraft will use the onboard radar to climb to a distance of 150m vertically and 1km horizontally from the refueling aircraft, and seek to establish visual contact with the refueling aircraft. If visual contact cannot be established, the subsequent operation of joining the refueling formation cannot be carried out.

4. The method for controlling soft aerial refueling of an aircraft according to claim 3, characterized in that: In S2, the receiving aircraft is controlled to move from the observation position to the rear of the refueling drogue, and then the receiving aircraft is controlled to descend below the horizontal line of the refueling drogue.

5. The method for controlling soft aerial refueling of an aircraft according to claim 4, characterized in that: In S2, the receiving aircraft is controlled to move from the observation position to 15 to 50 meters behind the refueling drogue, and at the same time, it is checked to confirm whether the refueling hose is in the full towing position to take up the refueling position.

6. The method for controlling soft aerial refueling of an aircraft according to claim 5, characterized in that: In S4, the receiving machine is controlled to keep the receiving plug and the refueling drogue connected smoothly and continuously; When the receiving machine is controlled to dock with the refueling cone sleeve, the speed difference between the receiving machine and the refueling machine is controlled between 0.5 and 1.5 m / s.

7. The method for controlling soft aerial refueling of an aircraft according to claim 6, characterized in that: In S4, When the left and right pods of the tanker are conducting aerial refueling at the same time, the refueling plug of the first receiving aircraft is controlled to dock with the refueling drogue, and then the refueling plug of the second receiving aircraft is controlled to dock with the refueling drogue.

8. The method for controlling soft aerial refueling of an aircraft according to claim 7, characterized in that: In S5, the relative speed of the receiving aircraft moving forward or backward to the refueling safety restricted area is controlled to be no more than 1m / s; By observing the refueling signal lights, refueling hose markings, refueling machine markings and refueler prompts, the refueling position can be determined, and the receiving aircraft can be controlled within the refueling safety restricted area during the aerial refueling process; During aerial refueling, the receiving aircraft is gently and smoothly controlled to keep it within the refueling safety restricted area.

9. The method for controlling soft aerial refueling of an aircraft according to claim 8, characterized in that: In S5, during aerial refueling, when the tanker turns, the slope is controlled to be no greater than 30°, the slope change rate is controlled to be no greater than 2° / s, and the ascent and descent rate of the tanker is controlled to be no greater than 10m / s.

10. The method for controlling soft aerial refueling of an aircraft according to claim 9, characterized in that: In S6, the speed of the receiving aircraft retreating and disengaging is controlled to be no more than 1m / s; The receiving aircraft's detachment speed exceeds 1.5m / s, causing the refueling hose to stop dragging. The receiving aircraft detaches in advance, and the red indicator light for the refueling status lights up. The receiving aircraft is controlled to switch to the re-formation position. The left and right pods conduct aerial refueling at the same time. After the aerial refueling is completed, according to the instructions of the refueler, the two receiving aircraft are controlled to retreat and detach at the same time, or the receiving aircraft on one side is controlled to retreat and detach. The receiving aircraft that has not retreated and detached maintains its position and does not forcibly retreat and detach beyond the refueling safety restriction area.

11. The method for controlling soft aerial refueling of an aircraft according to claim 10, characterized in that: In S8, the left and right pods are refueled in the air at the same time. After the refueling is completed, the two receiving aircraft retreat and detach at the same time. After detachment, the right receiving aircraft is controlled to fly to the re-formation position first, and then the left receiving aircraft is controlled to fly to the re-formation position and re-formation.

12. The method for controlling soft aerial refueling of an aircraft according to claim 11, characterized in that: In S1 to S8, during the preparation for docking, docking refueling and separation process, the refueling and receiving aircraft are controlled to switch the high-frequency equipment to the standby / monitoring state; As long as the receiving aircraft can visually observe the tanker, set the receiving aircraft radar to standby mode and turn off the electronic jamming equipment before the receiving aircraft enters the observation position; The refueling hose operation is not performed during the refueling aircraft's attitude change process. During the refueling hose operation of the refueling aircraft, the receiving aircraft is controlled to be in the observation position or the re-formation position.

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