基于增量动态逆的无人机着舰控制方法  

Control Method of UAV Carrier Landing Based on Incremental Dynamic Inversion

作　　者：韩笑 李春涛[1] 苏子康 戴飞 Han Xiao;Li Chuntao;Su Zikang;Dai Fei(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;No.94804 Unit of PLA,Shanghai 200434,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]中国人民解放军94804部队,上海200434

出　　处：《兵工自动化》2023年第4期85-92,共8页Ordnance Industry Automation

摘　　要：针对舰载无人机着舰过程中的甲板运动、舰尾流等问题,提出一种基于舰机相对运动的舰载无人机增量动态逆着舰控制方法。在舰机相对运动和相应几何关系的基础上,推导出甲板运动情况下的相对下滑角与绝对下滑角之间的数学关系,从而实现对理想着舰轨迹线的精确跟踪;设计增量动态逆控制律,在充分利用测量信息的基础上摆脱对模型精度的过度依赖,在保证跟踪精度的同时能够有效降低计算负荷。仿真结果表明:该方法能够精确跟踪理想着舰轨迹,有效降低甲板运动对着舰精度的影响,同时设计的增量动态逆控制器具有较强的鲁棒性。To address the problems of deck motion and carrier air wake during the carrier landing,this paper proposes a landing control method based on the relative motion between the landing deck and aircraft using incremental nonlinear dynamic inversion.This paper explores the mathematical relationships between the relative glide angle and the absolute glide angle without ignoring pitch motion of landing deck based on the relative motion and the corresponding geometric relationship,so as to realize accurate tracking of ideal landing trajectory.The recently popular incremental dynamic inverse control technology is used to design the control law for the inner-loop,which gets rid of the excessive dependence on the model accuracy and improves the robustness by making use of the measurement information,and also reduces the computation load effectively.The simulation results demonstrate that the landing control method proposed in this paper can track the ideal landing trajectory accurately and reduce the impact of deck motion on the landing accuracy effectively.At the same time,the designed incremental nonlinear dynamic inverse control law has strong robustness.

关 键 词：舰载无人机 着舰 相对运动 增量动态逆 舰尾流 

分 类 号：V279[航空宇航科学与技术—飞行器设计]