无人机路径规划的控制算法
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摘要
传统的无人机连续路径算法,因计算飞行路径需要一定的时间而延迟响应,很难实时控制。采用贝塞尔曲线来计算飞行路径,过程会简化很多,但要产生预期的飞行路径仍然很难实现。现将数值控制系统的直线和圆弧插补技术用于飞机转弯路径控制算法,实现实时响应,精确控制飞行路径,再结合无人机飞行高度、速度和迎角,设计了一种实现转弯路径控制算法。研究结果表明该算法简单,路径控制准确,并通过飞行测试验证了设计的合理性。
Real time control is almost impossible for traditional unmanned aircraft continuous path algorithm due to the deferred response because of the time spent on flight path calculation. Using the Bessel curve to calculate flight path can simplify the process,but it is still very difficult to generate the desired flight path.In this paper,the linear and circular interpolation technology of numerical control system is applied to control the turning path of aircraft,which can achieve real time response to system and accurate control of the flight path,thus a turning path control algorithm is designed by relating to UAV flight altitude,speed and angle of attack. The results showthat the algorithm is simple with accurate path control,and its rationality is verified through flight test.
Real time control is almost impossible for traditional unmanned aircraft continuous path algorithm due to the deferred response because of the time spent on flight path calculation. Using the Bessel curve to calculate flight path can simplify the process,but it is still very difficult to generate the desired flight path.In this paper,the linear and circular interpolation technology of numerical control system is applied to control the turning path of aircraft,which can achieve real time response to system and accurate control of the flight path,thus a turning path control algorithm is designed by relating to UAV flight altitude,speed and angle of attack. The results showthat the algorithm is simple with accurate path control,and its rationality is verified through flight test.
引文
[1]王怿,祝小平,周洲.基于PH曲线的无人机路径规划算法[J].计算机仿真,2013(3):76-79.
[2]王怿,祝小平,周洲.一种基于Clothoid曲线的无人机路径规划算法[J].西北工业大学学报,2012(6):874-878.
[3]LONG Yan,LI Huayi,ZHANG Lihui,et al.MP2000 Autopilot and Application[J].Computer Information,2002(11):15-16.
[4]STEVENS B L,LEWIS F L.Aircraft control and Simulation[M].Hoboken:John Wiley&Sons Inc,1992.
[5]WANG Yongzhang.Digital Control Technology of Machine Tool[M].Harbin:Harbin Institute of Technology Press,1999.
[6]HE Kezhong,LI Wei.Computer Control System[M].Beijing:Tsinghua University Press,1998.
[7]刘科,周继强,郭小和.基于改进粒子群算法的无人机路径规划研究[J].中北大学学报(自然科学版),2013(4):441-447.
[2]王怿,祝小平,周洲.一种基于Clothoid曲线的无人机路径规划算法[J].西北工业大学学报,2012(6):874-878.
[3]LONG Yan,LI Huayi,ZHANG Lihui,et al.MP2000 Autopilot and Application[J].Computer Information,2002(11):15-16.
[4]STEVENS B L,LEWIS F L.Aircraft control and Simulation[M].Hoboken:John Wiley&Sons Inc,1992.
[5]WANG Yongzhang.Digital Control Technology of Machine Tool[M].Harbin:Harbin Institute of Technology Press,1999.
[6]HE Kezhong,LI Wei.Computer Control System[M].Beijing:Tsinghua University Press,1998.
[7]刘科,周继强,郭小和.基于改进粒子群算法的无人机路径规划研究[J].中北大学学报(自然科学版),2013(4):441-447.