无人机短距着陆控制技术研究  

Reserch on Control Strategy for Short Landing of UAV

作　　者：吕健玮 黄一敏[1] 魏硕 LYU Jianwei;HUANG Yimin;WEI Shuo(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《机械制造与自动化》2024年第2期258-265,共8页Machine Building & Automation

摘　　要：研究固定翼无人机短距着陆性能具有十分重要的现实意义。基于对象无人机三种襟翼构型中的着陆襟翼构型,分析以固定油门为基础的传统着陆控制方式存在的缺陷性问题,从动力学角度分析近地段在低速、大姿态状态下各项着陆指标间的相互制约关系,并得出“空速为影响着陆性能的主导诱因”这一重要结论,从动力学角度提出油门速度闭环控制方案。在控制律设计过程中,创新性地采用线性化理论分析和半物理非线性仿真相结合的手段,充分结合工程实践经验,突出了油门速度控制的特殊性与有效性,使着陆性能得到前所未有的提升。Reserch on short-range landing performance of fixed wing UAV has great practical significance.Based on the landing flap configuration among the three flap configurations of the target UAV,this paper analyzes the defects of the traditional landing control mode based on fixed throttle,and elaborates the mutual restriction relationship between various landing indicators in the near field at low speed and large attitude from the perspective of dynamics,The important conclusion that "airspeed is the leading inducement affecting landing performance" is drawn,and the closed-loop control scheme of throttle speed is proposed from the perspective of dynamics.In the process of control law design,the combination of linear theoretical analysis and semi physical nonlinear simulation is innovatively adopted,with full ingretation of engineering practical experience,which highlights the particularity and effectiveness of throttle speed control,and improves the landing performance unprecedentedly.

关 键 词：固定翼无人机 短距着陆 着陆敏感性 推力非线性 速度控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]