无人机导航路径跟踪精确制导仿真研究  

Simulation Research on Guidance Logic for Unmanned Air Vehicles Path Following

作　　者：陈子昂[1] 杏建军[1] 郑黎明[1] 于洋[1] CHEN Zi - ang XING Jian - jun ZHENG Li - ming YU Yang(School of Aeronautics and Astronautics, Central South University, Changsha 410083, China)

机构地区：[1]中南大学航空航天学院,湖南长沙410083

出　　处：《计算机仿真》2017年第10期26-30,共5页Computer Simulation

摘　　要：路径跟踪系统是无人机控制系统的重要组成部分,决定了无人机能否可靠地按照预设路径飞行。针对现有的无人机路径跟踪制导方法跟踪变曲率预设路径时存在的稳定性差和参数不易整定等问题,结合目前主流的几何方法与反馈控制方法,提出了一种基于曲率圆的无人机路径跟踪制导方法。首先使用几何方式计算出虚拟跟踪点,将一般路径的跟随问题转化为跟踪圆弧问题;然后利用反馈线性化的思想,设计加速度指令。理论分析和数值仿真结果表明,与现有的L1非线性制导方法和舵手行为制导方法相比,曲率圆跟踪制导方法具备稳定可靠、参数易整定和跟踪精度高的优点。Path tracking system is an important part of the unmanned air vehicles （UAV） control system. Aiming at the problem of poor stability and difficult to set parameters of the current UAV tracking guidance methods under complicated flight environment, a new path tracking method based on curvature circle for unmanned aerial vehicles is proposed by combining the geometrical methods and feedback control methods. This method firstly uses the geometric method to calculate the virtual target point, and the tracking problem of general path is transformed into tracking cur- vature circle. Then, the idea of feedback linearization is used to design the acceleration command. Theoretical analy- sis and numerical simulation show that this method has the advantages of stable, easy parameter setting and high tracking accuracy compared with the nonlinear guidance logic and helmsman behavior based guidance law.

关 键 词：无人机 路径跟踪 曲率圆 反馈线性化 

分 类 号：V249.122.3[航空宇航科学与技术—飞行器设计]