无人机精确着陆控制技术  

Precise Landing Control Technology for 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,南京211106

出　　处：《兵工自动化》2024年第10期79-83,96,共6页Ordnance Industry Automation

摘　　要：针对对象无人机着陆襟翼构型问题,对无人机精确着陆控制技术进行分析。分析浅下滑传统段油门速度控制在精确着陆性能上存在的不足;设计着陆浅下滑段的非线性仿真试验,建立不同载荷下空速与下沉率之间的动力学函数关系;在速度控制基础上,提出近地段末端制导控制算法;通过高置信度的半物理平台,进行典型的鲁棒性仿真测试。结果表明:该技术可将触地精度由原来的100 m提高至50 m以内,同时也提高了着陆周边性能。Aiming at the problem of UAV landing flap configuration,the precise landing control technology of UAV is analyzed.The shortcomings of the traditional throttle speed control in the shallow glide phase on the precision landing performance were analyzed.Nonlinear simulation test of the shallow glide phase was designed,and the dynamic function relationship between the airspeed and the sink rate under different loads was established.Based on the speed control,the terminal guidance control algorithm in the near section was proposed.The typical robustness simulation test was carried out by the semi-physical platform with high confidence.The results show that this technology can improve the touchdown accuracy from 100 m to less than 50 m,and also improve the performance of the landing perimeter.

关 键 词：固定翼无人机 短距着陆 精确着陆 速度控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]