基于自适应动态逆的无人机精准着舰技术研究  

Research on Drone Precise Landing Technology Based on Adaptive Dynamic Inversion

作　　者：赵乐天 耿延升 张军红 ZHAO Le-tian;GENG Yan-sheng;ZHANG Jun-hong(AVIC First Aircraft Design Institute,Xi'an Shaanxi 710089,China;Civil Aviation College,Northwestern Polytechnical University,Xi'an Shaanxi 710072,China)

机构地区：[1]航空工业第一飞机设计研究院,陕西西安710089 [2]西北工业大学民航学院,陕西西安710072

出　　处：《计算机仿真》2023年第10期71-75,145,共6页Computer Simulation

摘　　要：为了提高无人机在动平台上的定点着陆精度,设计了一种基于改进的自适应动态逆的控制方法,增强了在不同海况和舰尾流干扰下系统的鲁棒性。分析了在设计基于天向速度指令模式的控制律时引入前向距离误差的优势;简述了一种改进的自适应律;建立了简洁的无人机模型,并且设计了含有前向距离误差的自适应动态逆控制律;在不同干扰程度下对比验证了含前向距离误差自适应动态逆控制律的着舰性能。结果表明中等海况及舰尾流干扰下含前向距离误差自适应动态逆方法设计的控制律在着舰时有较高的着舰精度,实现了无人机精准着舰。In order to improve the accuracy of the UAV's fixed-point landing on the moving platform,a control method based on improved adaptive dynamic inversion was designed to enhance the robustness of the system under different sea conditions and ship wake disturbances.Analyzed the advantages of introducing the forward distance error when designing the control law of the sky-direction speed command mode;Briefly described an improved adaptive law;Established a simple UAV model,and designed an adaptive dynamic inverse control law with forward range error.Under different interference levels,the landing performance under the ANDI with forward error and the conventional ANDI was verified.The results show that the control law designed using the ANDI method with forward distance error under the interference of level 4 sea conditions and ship wake has an altitude error of 0.3m and a longitudinal error of 5.5m during landing,and accurate landing of unmanned aerial vehicles has been achieved..

关 键 词：自适应动态逆控制 前向距离误差 精准着舰 无人机 

分 类 号：V274.1[航空宇航科学与技术—飞行器设计]