无人机滑降着陆控制系统设计  

Design of Control System for UAV Sliding Landing

作　　者：范东生 孙恒义 麻兴斌 牛振中 Fan Dngsheng;Sun Hengyi;Ma Xingbin;Niu Zhenzhong(Aisheng Technology Group Co.,Xi’an 710129,China)

机构地区：[1]西安爱生技术集团公司,西安710129

出　　处：《计算机测量与控制》2020年第12期76-80,共5页Computer Measurement &Control

摘　　要：针对滑跑型无人机回收阶段对下滑角跟踪以及触地时姿态角的高要求,设计了一种无人机滑降着陆控制方式;首先,给出了滑降控制系统结构图,在此基础上分别进行了滑降横侧向控制器和滑降纵向控制器的设计,具体进行了直线航迹和圆航迹的控制方法以及下滑段的高度控制量算法的分析;然后,进行了滑降着陆控制模式设计,将滑降过程分解为降高、平飞、下滑以及拉平4个阶段分别进行设计,并在拉平阶段给出了俯偏航距仰角控制量与离地高度的关键技术公式;仿真结果表明,该无人机滑降着陆控制系统平飞段偏航距小于5 m,接地时偏航距约为0 m;平飞段高度跟踪误差为0 m,下滑段高度跟踪误差2 m;落地姿态角为0.4°;具有高度控制误差小、偏航距离短、落地姿态角安全性高的优点,能满足滑跑无人机对滑降阶段的控制要求。Aiming at the high requirement of trajectory tracking and flight Euler angle in the recovery stage of the sliding UAV,the UAV landing control method is designed in this paper.First,the structure of sliding controller is designed,including the design of the lateral and vertical sliding controller.The control methods of linear trajectory and circle trajectory control of the sliding are given in detail.Then,the sliding model was designed,and the sliding process was divided into four stages:descending,leveling,gliding and flattening.The key technical formulas of pitch angle control and altitude are given in the flatten stage.The simulation results show that the yaw position error of the control system is less than 5 m in the level flight section and about 0 m when landing on the ground;and the altitude control error is 0 m,The height control error in the glide section is 2 m,and the pitch angle is 0.4 degrees when the UAV contacts the ground.the sliding control model of UAV designed in this paper has the advantages of small height control error,short yaw distance and high safety of landing attitude angle,and can meet the control requirements of UAV in the sliding stage.

关 键 词：航迹控制 高度控制 滑降 

分 类 号：V249[航空宇航科学与技术—飞行器设计]