具有甲板运动预估的三旋翼无人机着舰研究  

Landing research of tri-rotor UAV with a deck motion prediction

作　　者：陈怀民[1] 段晓军[1] 韩源[1] 

机构地区：[1]西北工业大学无人机特种技术国家重点实验室,陕西西安710065

出　　处：《飞行力学》2016年第5期30-34,共5页Flight Dynamics

基　　金：武器装备预研基金资助

摘　　要：在无人机着舰的最后阶段,舰船的甲板运动严重威胁着无人机的着舰安全,其中沉浮和横摇运动威胁最大。首先介绍了三旋翼无人机的建模方法、控制律以及模拟的甲板运动模型;在此基础上,针对舰船甲板运动对无人机安全着舰的影响,提出了抗舰船横摇/沉浮的着舰控制方案;最后,对控制方案下的着舰性能进行了仿真分析。仿真结果表明,该控制方案可以满足着舰指标要求。In the final stage of landing,the deck motion becomes a serious threat to the safety of landing.Among them,the greatest threat is the heaving and rolling motion of deck. This paper firstly introduces the tri-rotor UAV modeling methods,its control law and the simulation model of the deck motion. On this basis,this paper mainly analyzed the impact of the movement of ship on safe landing of UAV,investigated the landing control scheme that resists rolling and heaving motion of ship. Based on this control scheme,it is analyzed and verified whether the UAV landing performances can meet the requirements.Simulation results show that this control scheme can meet the requirements.

关 键 词：三旋翼无人机 控制律 着舰 甲板沉浮运动预估与跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V279