无人机轨迹控制在降低磁干扰的应用研究  

Application of UAV Trajectory Control in Reducing Magnetic Interference

作　　者：刘健[1] 李玉军 LIU Jian;LI Yujun(Shanxi Electromechanical Vocational and Technical College,Shanxi Changzhi 046000,China;School of Mechanical and Electrical Engineering,Zhongbei University,Shanxi Taiyuan 038507,China)

机构地区：[1]山西机电职业技术学院,山西长治046000 [2]中北大学机电工程学院,山西太原038507

出　　处：《机械设计与制造》2025年第3期330-337,共8页Machinery Design & Manufacture

基　　金：2020年山西省重点研发计划项目(2020SX086)—无人机的非线性飞行路径跟踪控制技术研究。

摘　　要：针对无人机机载磁探测器(MAD)探测过程中磁干扰问题,从轨迹优化的角度提出了一种减小磁干扰的新方法。在无人机磁干扰分类的基础上,提出了锂电池磁场的机理模型,对机身磁干扰模型与无人机动力学模型进行耦合。对耦合模型构造了最优控制问题及其求解算法,提出了hp自适应雷达伪谱法和锂电池安装角优化方法,以及目标函数线性化和变量约简策略,使得优化结果收敛。最后模拟了点对点的航磁测量场景,结果表明该方法可以有效地减小无人机磁干扰对MAD的影响。Aiming at the problem of magnetic interference in the detection process of UAV airborne magnetic detector(MAD),a new method to reduce magnetic interference is proposed from the perspective of trajectory optimization.Based on the classification of UAV magnetic interference,the mechanism model of lithium battery magnetic field is proposed,and the fuselage magnetic interference model is coupled with the unmanned maneuver mechanical model.The optimal control problem and its solution algorithm are constructed for the coupling model.The hp Adaptive Radar pseudo spectrum method,the lithium battery installation angle optimization method,the objective function linearization and variable reduction strategy are proposed to make the optimization results converge.Finally,the point-to-point aeromagnetic measurement scene is simulated.The results show that this method can effectively reduce the influence of UAV magnetic interference on MAD.

关 键 词：无人机 磁干扰 轨迹优化 HP自适应雷达伪谱法 

分 类 号：TH16[机械工程—机械制造及自动化] V279.2[航空宇航科学与技术—飞行器设计]