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论文:2015,Vol:33,Issue(2):309-314 |
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引用本文： |
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黄得刚, 章卫国, 邵山, 王志刚, 张秀林, 杨立本. UAV无动力螺线下滑纵向自适应非线性制导律设计[J]. 西北工业大学学报 |
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Huang Degang, Zhang Weiguo, Shao Shan, Wang Zhigang, Zhang Xiulin, Yang Liben. Design of Longitudinal Adaptive Nonlinear Guidance Law for Unpowered UAV Helix Gliding[J]. Northwestern polytechnical university |
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| UAV无动力螺线下滑纵向自适应非线性制导律设计 |
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| 黄得刚1, 章卫国1, 邵山2, 王志刚2, 张秀林2, 杨立本1 |
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1. 西北工业大学自动化学院, 陕西西安 710072;
2. 沈阳飞机设计研究所, 辽宁沈阳 110035 |
| 摘要: |
| 针对无人机失去推力后如何跟踪一条螺线下滑路径的纵向制导问题,提出了一种纵向自适应非线性制导方法。该方法首先利用几何关系推导出纵向制导律;其次将其转化为一个二阶黏性阻尼振荡系统,并由此证明了制导律的稳定性;然后为改善制导系统的收敛时间以及抗干扰能力,设计了一种制导律的自适应方案;最后将所提出的方法用于无人机失去推力后螺线下降的纵向路径跟踪过程。仿真结果表明,与非自适应制导方法相比,无论有或无常值风扰动,所提出的方法均可提高系统的跟踪精度。 |
| 关键词:
无动力
自适应
非线性制导
UAV
螺线下降
粘性阻尼振荡
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| Design of Longitudinal Adaptive Nonlinear Guidance Law for Unpowered UAV Helix Gliding |
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| Huang Degang1, Zhang Weiguo1, Shao Shan2, Wang Zhigang2, Zhang Xiulin2, Yang Liben1 |
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1. Department of Aufomatic Control, Northwestern Polytechnical University, Xi'an 710072, China;
2. Shenyang Aircraft design and Research Institute, Shenyang 110035, China |
| Abstract: |
| For the longitudinal guidance problem that how to track a helix path when the UAV loses power, we present a method of the nonlinear adaptive longitudinal guidance to track a given falling spiral. Firstly, the guidance law is obtained with the geometric relationship. Secondly, the guidance law is transformed to a two-order viscous system with damping and oscillation, based on which the guidance stability is proved. Then we design an adaptive scheme for the guidance laws in order to improve the convergence time of the system and its anti-disturbance rejection capability. Finally the presented method is used to track the falling spiral when the UAV loses the thrust. The simulation results and their analysis show preliminarily that, compared with other non-adaptive method as, the proposed method improves the tracking accuracy of the system, despite being constantly subjected to wind disturbance. |
| Key words:
unpowered
adaptive
nonlinear guidance
UAV helix gliding
viscous damped oscillations
acceleration
Lyapunov functions
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| 收稿日期: 2014-09-28
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(61374032)资助 |
| 通讯作者:
Email： |
| 作者简介: 黄得刚(1986-),西北工业大学博士研究生,主要从事飞行器路径规划、制导与控制研究。
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参考文献: |
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[10] 黄得刚,章卫国,张秀林.无人机无动力滑行横向自适应非线性制导律设计[J].控制理论与应用, 2014, 31(11):1486-1491 Huang Degang, Zhang Weiguo, Zhang Xiulin. Design of the Lateral Adaptive Nonlinear Guidance Law for Unpowered Unmanned Aerial Vehicle Gliding[J]. Control Theory & Applications, 2014, 31(11):1486-1491(in Chinese) |
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