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无人机无动力应急着陆控制策略研究 预览

Research on Unpowered Emergency Landing Control Strategy of UAV
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摘要 针对固定翼无人机空中停车后难以保持稳定飞行、操纵性能差的问题,提出了一种基于能量管理的应急着陆控制策略设计方法。首先,通过建立空停后无人机的动力学模型和空气阻力模型,研究了无人机空停后的动力学特性和能量消耗特性。在此基础上,将无人机应急着陆过程划分为三个阶段:航向调整段、能量管理段和着陆段。考虑到着陆过程控制系统设计的复杂性,采用基于能量管理的应急着陆控制策略设计,以满足着陆过程中各阶段的控制要求。仿真结果表明,在无人机空中停车后,利用基于能量管理的应急控制策略可以引导无人机完成各个阶段的切换,顺利进入安全着陆区域,实现安全着陆。整个阶段中,除盘旋结束时滚转角有较大的抖动外,欧拉角一直保持着较平稳的态势,飞行品质较高。 In this paper, a method of emergency landing control strategy based on energy management is proposed to solve the problem of difficulty in maintaining stable flight and operating performance. Firstly, the dynamic characteristics and energy consumption characteristics of the UAV were studied by establishing the dynamic model and air resistance model of the UAV. On this basis, the emergency landing process of UAV was divided into three stages: course adjustment segment, energy management section and landing segment. Considering the complexity of the design of the landing process control system, the design of emergency landing control strategy based on energy management was adopted to meet the control requirements during the landing process. The simulation results show that after the UAV air parking, using the emergency control strategy based on modal flow method can guide the UAV to complete each phase of the switch, and the UAV can smoothly enter to a safe landing area and achieve a safe landing. At the end of the whole stage, the roll angle has a great shake, and Euler angle has maintained a stable situation and high flying quality.
作者 田征戈 刘慧英 黄鑫怡 郭慧娟 TIAN Zheng-ge;LIU Hui-ying;HUANG Xin-yi;GUO Hui-juan(College of Automation,Northwestern Polytechnical University,Xi'an Shanxi 710072,China)
出处 《计算机仿真》 北大核心 2019年第2期35-39,58共6页 Computer Simulation
基金 西北工业大学研究生创意创新种子基金(Z2017163).
关键词 无人机 无动力 下滑 控制策略 Unmanned aerial vehicle Unpowered Landing Control strategy
作者简介 田征戈(1994-),男(汉族),陕西省西安市人,硕士研究生,主要研究领域为飞行器控制;刘慧英(1956-),女(汉族),陕西省西安市人,教授,博士研究生导师,主要研究领域为控制理论与控制工程;黄鑫怡(1993-),女(汉族),河南省洛阳市人,硕士研究生,主要研究领域飞行器控制;郭慧娟(1988-),女(汉族),山东省荣成市人,博士研究生,主要研究领域为飞行器控制、多传感器融合、组合导航滤波算法。
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