梯度风场中无人机动态滑翔飞行轨迹优化  

Optimization of Dynamic Gliding Flight Trajectory for UAV in Gradient Wind Fields

作　　者：朱熠 李继广 郝向宇 ZHU Yi;LI Jiguang;HAO Xiangyu(School of Field Engineering,Army Engineering University of PLA,Nanjing 210007,China;School of Aircraft Engineering,Xi′an Aeronautical Institute,Xi′an 710077,China)

机构地区：[1]陆军工程大学野战工程学院,南京210007 [2]西安航空学院飞行器学院,西安710077

出　　处：《西安航空学院学报》2023年第5期8-16,66,共10页Journal of Xi’an Aeronautical Institute

摘　　要：为了研究无人机在梯度风场中的滑翔飞行轨迹,提出一种基于动态滑翔的最优飞行轨迹生成方法。首先,利用梯度风场模型和NED坐标系,详细推导无人机动态滑翔运动方程;然后,利用拉道伪谱方法将动力滑翔中能量优化的连续约束转化为离散问题的一系列代数约束;最后,生成无人机动态飞行的最优轨迹。仿真中,设计了无动力飞行和有动力飞行两种仿真条件,在无动力飞行中,生成三个具有不同边界约束的最优轨迹,每个轨迹对应最小风场参数;在固定风场动力飞行中,以恒定推力的最小值生成最佳轨迹。结果表明,该方法能够生成满足能量优化要求的无人机动态飞行最优轨迹,最佳发动机推力和风场强度近似成反比。研究方法可为无人机动态滑翔飞行轨迹设计提供技术支持。In order to study the gliding flight trajectory of UAV in gradient wind field,an optimal flight trajectory generation method based on dynamic gliding is proposed.Firstly,the dynamic gliding motion equation of UAV is derived in detail by using gradient wind field model and NED coordinate system.Then,the continuous constraints of energy optimization in power gliding are transformed into a series of algebraic constraints for discrete problems by using the Radau pseudo-spectral method.Finally,the optimal trajectory of UAV dynamic flight is generated.In the simulation,two simulation conditions of unpowered flight and powered flight are designed.In the unpowered flight,three optimal trajectories with different boundary constraints are generated,and each trajectory corresponds to the minimum wind field parameters.In fixed-wind power flight,the optimal trajectory is generated with the minimum of constant thrust.The results show that this method can generate the optimal trajectory of UAV dynamic flight that meets the requirements of energy optimization,and the optimal engine thrust is approximately inversely proportional to the wind field intensity.The research method can provide technical support for UAV dynamic glide trajectory design.

关 键 词：梯度风场 无人机 飞行轨迹 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V212