基于模板的无人机机动动作建模与仿真  

Modeling and Simulation on Maneuvering Actions of UAV Based on Template

作　　者：王淼[1,2] 张万鹏[1] 陈浩[1] WANG Miao;ZHANG Wan-peng;CHEN Hao(School of Mechatronics and Automation,National University of Defense Technology,Changsha 410073,China;Unit 94801 of PLA,Jiaxing 314013,China)

机构地区：[1]国防科技大学机电工程与自动化学院 [2]解放军94801部队

出　　处：《火力与指挥控制》2016年第8期15-19,共5页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(61403411)

摘　　要：研究了常用的无人机机动模板构建和机动动作生成算法,构建了基于控制量的基本机动模板,以低空跃升攻击动作为例,对动作进行了分解,将此机动动作的各部分利用基本机动模板进行拼接,并对其进行了仿真。结果表明,算法可依据任务和无人机控制约束将模板拼接成可行的机动动作,从而较大程度地提升了无人机机动动作设计的灵活性。This paper has studied the common maneuvering actions of unmanned aerial vehicles,put forward the generation algorithm of actions and structured the basic model of maneuvering templatebased on the control algorithm. As a typical example,this paper set up the mathematical control modelof the low-altitude leap attack maneuvering action. The result has shown that the control algorithmcould transform the combined typical templates into a feasible maneuvering action,according to themission and the property of the UAV. The algorithm has also promoted the elasticity of maneuveringaction design.

关 键 词：无人机 机动模板 控制算法 机动动作 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程] E844[自动化与计算机技术—控制科学与工程]