无人机无动力应急着陆控制策略研究
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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.
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.
引文
[1] Pillar Eng, et al. Automating Human Thought Processes for a UAV Forced Landing[J]. Intell Robust, 2010,57:329-349.
[2] Fitzgerald, et al. A Vision Based Emergency Forced Landing System for An Autonomous UAV[C]. In Proceedings Australian International Aerospace Congress Conference, Melbourne, Australia, 2005.
[3] 吴森堂,费玉华. 飞行控制系统[M]. 北京航空航天大学出版社, 2012-2:8-45.
[4] 步召杰,孙春贞. 飞行器无动力飞行能量消耗控制技术研究[J]. 伺服控制, 2012,(3): 49-51,77.
[5] 张健. 无人机无动力应急着陆控制技术研究[D]. 南京航空航天大学, 2012:18-24.
[6] 徐奎. 无尾飞机控制律设计与控制分配技术研究[D]. 西北工业大学, 2007:28-32.
[2] Fitzgerald, et al. A Vision Based Emergency Forced Landing System for An Autonomous UAV[C]. In Proceedings Australian International Aerospace Congress Conference, Melbourne, Australia, 2005.
[3] 吴森堂,费玉华. 飞行控制系统[M]. 北京航空航天大学出版社, 2012-2:8-45.
[4] 步召杰,孙春贞. 飞行器无动力飞行能量消耗控制技术研究[J]. 伺服控制, 2012,(3): 49-51,77.
[5] 张健. 无人机无动力应急着陆控制技术研究[D]. 南京航空航天大学, 2012:18-24.
[6] 徐奎. 无尾飞机控制律设计与控制分配技术研究[D]. 西北工业大学, 2007:28-32.