变速运动平台上多旋翼无人机自主着陆控制方法研究  

Research on Autonomous Landing Control Method of Multi-rotor UAV on Variable Speed Moving Platform

作　　者：曹宁 许有熊[2] CAO Ning;XU You-xiong(Jiangsu United Vocational and Technical College,Suzhou Jiangsu 215000;Nanjing Institute of Technology,Nanjing Jiangsu 211167)

机构地区：[1]江苏联合职业技术学院,江苏苏州215000 [2]南京工程学院,江苏南京211167

出　　处：《长沙航空职业技术学院学报》2022年第4期8-13,共6页Journal of Changsha Aeronautical Vocational and Technical College

基　　金：2019年江苏省重点研发计划项目“家用下肢康复机器人关键技术及其应用研发”(编号:BE2019724)阶段性研究成果。

摘　　要：为解决多旋翼无人机在变速运动平台自主着陆问题,提出一种以模型预测控制(MPC)算法为基础的无人机自主着陆控制方法。首先传感器采集无人机和移动平台在NED坐标系中的位置矢量与速度矢量信息,然后使用卡尔曼滤波状态方程进行数据处理,最后根据滤波后的矢量参数用模型预测控制算法计算出无人机最优控制量。MATLAB仿真证明,该算法可实现无人机自主着陆于变速运动的移动平台上。In order to solve autonomous landing problem of multi-rotor UAV on a variable speed moving platform,an autonomous landing control algorithm based on model predictive control(MPC)is proposed.The position vector and velocity vector information of UAV and mobile platform in the NED coordinate system is collected by sensors,and then the Kalman filter state equation is used for data processing.Finally,according to the filtered vector parameters,the optimal control quantity of UAV is calculated by model prediction algorithm.The MATLA simulation shows that the algorithm can realize the autonomous landing of UAV on a moving platform with variable speed.

关 键 词：多旋翼无人机 变速运动平台 模型预测控制(MPC)算法 自主着陆 

分 类 号：TP873[自动化与计算机技术—检测技术与自动化装置]