三旋翼无人机在运动甲板上的着舰控制研究  

Researchon the Control of Tri-Rotor UAV Landing on Moving Deck

作　　者：陈怀民[1] 段晓军[1] 韩源[1] Chen Huaimin Duan Xiaojun Han Yuan(National Key Laboratory of Special Technology on UAV, Northwestern Polytechnical University, Xi＇an 710065, China)

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：《西北工业大学学报》2016年第6期1040-1044,共5页Journal of Northwestern Polytechnical University

摘　　要：在无人机着舰最后阶段,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。为了使无人机能够安全着舰,研究了在运动甲板上着舰的控制策略,该控制策略可以有效减少甲板沉浮和横摇运动对安全着舰的影响。它通过测量舰船的横摇和沉浮运动,并根据测量的历史数据预测未来2~3 s内着舰时的状态,再配置以稳定的下降控制,使无人机实现安全着舰。另外,为了控制触舰时飞机与甲板之间的相对垂直速度,采用了2种速率控制方法进行了仿真比较。经过仿真分析验证,该控制策略下,2种下降控制方法都能使着舰时的性能指标符合要求。In the final stages of landing,the deck motion becomes a serious threat to the safety of landing. Among them,the greatest threat is the heave and roll motion of deck.In order to be capable of accurately secure landing,we studied the control strategy of landing on moving deck,the control strategy can effectively reduce the impact of decks heave and rolling motion on the safety landing. By measuring the deck＇s roll and heave motion,and predict the ship motion information within the next 2 ~ 3 seconds based on historical datas,only in this way it can be able to secure landingwith configured stablelanding control.In addition,in order to control the relative vertical velocity between the UAV and the deck when touching the ship,we used two rate control methods for simulation comparison.After simulation analysis and verification,with this control strategy,the two rate control methods all can make the landing performance meet the requirements.

关 键 词：三旋翼无人机 着舰/高度控制策略 控制器 MATLAB 

分 类 号：V249[航空宇航科学与技术—飞行器设计]