最陡下滑轨迹中无人机的航向校正控制算法  

HeadingCorrection Control Algorithm for UAV in Steepest Glide Trajectory

作　　者：陆兴华[1] 詹世尉 余文权[1] 黄臣炜 

机构地区：[1]广东工业大学华立学院,广州511325

出　　处：《计算机与数字工程》2016年第12期2370-2374,2425,共6页Computer & Digital Engineering

基　　金：2015年广东省教育厅重点平台及科研项目青年创新人才类项目(自然科学类)(编号:2015KQNCX218);2016年广东省大学生科技创新培育项目(编号:pdjh2016b0940);2012广东省质量工程项目"机电综合技能实训中心"(编号:粤教高函[2012]204号);2012广东省质量工程项目"独立学院电子信息人才培养创新实验区"(编号:粤教高函[2012]204号)资助

摘　　要：无人机在滑翔段的最陡下滑轨迹飞行中,受到空气扰动和气流作用,存在航向偏移,需要进行航向校正控制。传统方法采用固定攻角下滑的方法进行姿态校正,在最大升阻比下滑模面控制的稳定性不好。提出一种基于Terminal滑模面下标准能量梯度修正的最陡下滑轨迹中无人机的航向校正控制算法。构建无人机在最陡下滑轨迹中的数学模型,进行最陡下滑轨迹设计,在Terminal滑模面中采用标准能量梯度纵向制导方法进行航向偏差校正,实现飞行稳定性控制。仿真结果表明,采用该控制方法对无人机的航向校正纠偏性能较好,舵角稳定在要求的范围之内,提高了无人机的飞行稳定控制性能。In the flight of the glide path of the UAV, the UAV is subjected to the action of air turbulence and air flow,and there is a course deviation Traditional method adopts the method of fixed angle of attack to carry on the posture correction, and the stability of the maximum litt drag ratio is less than that of the sliding mode control .A heading correction control algorithm based on the terminal sliding mode surface standard energy gradient correction is proposed. A UAV mathematicll model is constructed in the steep decline in trajectory,steepest decline trajectory design is done,in the terminal sliding surface using standard energy gradient longitudinal guidance method course deviation correction is done and stability in flight control is achieved. The simulation results show that this control method is used to correct the deviation correction performance of th UAV,the redder argle is stable within the range of the requirements,and the flight stability control performance of the UAV is improved

关 键 词：最陡下滑轨迹 舵角 航向 校正 控制 

分 类 号：TP276[自动化与计算机技术—检测技术与自动化装置]