Smooth free-cycle dynamic soaring in unspecified shear wind via quadratic programming  

作　　者：Haichao HONG Benedikt GRüTER Patrick PIPREK Florian HOLZAPFEL 

机构地区：[1]Institute of Flight System Dynamics,Technical University of Munich,Garching D-85748,Germany

出　　处：《Chinese Journal of Aeronautics》2022年第7期19-29,共11页中国航空学报（英文版）

基　　金：supported in part by the TUM University Foundation Fellowship;in part by the German Federal Ministry for Economic Affairs and Energy(BMWi)within the Federal Aeronautical Research Program LuFo VI-1through Project“RAUDY”(No.20E1910B)。

摘　　要：Harvesting wind energy is promising for extending long-endurance flights,which can be greatly facilitated by a flight technique called dynamic soaring.The presented study is concerned with generating model-based trajectories with smooth control histories for dynamic soaring maneuvers exploiting wind gradients.The desired smoothness is achieved by introducing a trigonometric series parameterization for the controls,which are formulated with respect to the normalized time.Specifically,the periodicity of the trigonometric functions is leveraged to facilitate the connection of cycles and streamline the problem formulation.Without relying on a specified wind profile,a freefinal-time quadratic programming-based control strategy is developed for the online correction of the flight trajectory,which requires only the instant wind information.Offline and online numerical studies show the trade-off to achieve the smoothness and demonstrate the effectiveness of the proposed method in a varying wind field.

关 键 词：Dynamic soaring Optimal control Quadratic programming Trajectory generation Trigonometric series 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V212