三旋翼无人机在运动甲板上的着舰控制研究 -- 西北工业大学学报,2016,34(6):1040-1044
论文:2016,Vol:34,Issue(6):1040-1044
引用本文:
陈怀民, 段晓军, 韩源. 三旋翼无人机在运动甲板上的着舰控制研究[J]. 西北工业大学学报
Chen Huaimin, Duan Xiaojun, Han Yuan. Researchon the Control of Tri-Rotor UAV Landing on Moving Deck[J]. Northwestern polytechnical university

三旋翼无人机在运动甲板上的着舰控制研究
陈怀民, 段晓军, 韩源
西北工业大学 无人机特种技术国家重点实验室, 陕西 西安 710065
摘要:
在无人机着舰最后阶段,舰船的甲板运动严重威胁着无人机的着舰安全,其中,沉浮和横摇运动威胁最大。为了使无人机能够安全着舰,研究了在运动甲板上着舰的控制策略,该控制策略可以有效减少甲板沉浮和横摇运动对安全着舰的影响。它通过测量舰船的横摇和沉浮运动,并根据测量的历史数据预测未来2~3 s内着舰时的状态,再配置以稳定的下降控制,使无人机实现安全着舰。另外,为了控制触舰时飞机与甲板之间的相对垂直速度,采用了2种速率控制方法进行了仿真比较。经过仿真分析验证,该控制策略下,2种下降控制方法都能使着舰时的性能指标符合要求。
关键词:    三旋翼无人机    着舰/高度控制策略    控制器    MATLAB   
Researchon the Control of Tri-Rotor UAV Landing on Moving Deck
Chen Huaimin, Duan Xiaojun, Han Yuan
National Key Laboratory of Special Technology on UAV, Northwestern Polytechnical University, Xi'an 710065, China
Abstract:
In the final stages of landing, the deck motion becomes a serious threat to the safety of landing. Among them, the greatest threat is the heave and roll motion of deck.In order to be capable of accurately secure landing, we studied the control strategy of landing on moving deck,the control strategy can effectively reduce the impact of decks heave and rolling motion on the safety landing. By measuring the deck's roll and heave motion, and predict the ship motion information within the next 2~3 seconds based on historical datas,only in this way it can be able to secure landingwith configured stablelanding control.In addition, in order to control the relative vertical velocity between the UAV and the deck when touching the ship, we used two rate control methods for simulation comparison. After simulation analysis and verification, with this control strategy, the two rate control methods all can make the landing performance meet the requirements.
Key words:    tri-rotor UAV    landing/altitude control strategy    controller    MATLAB   
收稿日期: 2016-04-02     修回日期:
DOI:
通讯作者:     Email:
作者简介: 陈怀民(1963-),西北工业大学教授,主要从事飞行控制与仿真技术研究。
相关功能
PDF(1184KB) Free
打印本文
把本文推荐给朋友
作者相关文章
陈怀民  在本刊中的所有文章
段晓军  在本刊中的所有文章
韩源  在本刊中的所有文章

参考文献:
[1] 吴森堂,费玉华. 飞行控制系统[M]. 第1版.北京:北京航空航天大学出版社,2005:243-245 Wu Sentang, Fei Yuhua. Flight Control System[M]. First Edition. Beijing, Beijing University of Aeronautics and Astronautics Press, 2005:243-245(in Chinese)
[2] Chun Kiat Tan1y, Wang Jianliang. Ship Deck Landing of a Quadrotor Using the Invariant Ellipsoid Technique[C]//SICE Annual Conference, 2014
[3] 宁东方. 无人机自动着陆控制系统的设计与实现研究[D]. 西安:西北工业大学,2006 Ning Dongfang. Design and Implementation of UAV Automatic Landing Control System[D]. Xi'an, Northwestern Polytechnical University,2006(in Chinese)
[4] 戴文正. 无人直升机自主着舰引导与控制技术研究[D]. 南京:南京航空航天大学,2014 Dai Wenzheng. Unmanned Helicopter Landing Guidance and Control Technology[D]. Nanjing, Nanjing University of Aeronautics and Astronautics, 2014(in Chinese)
[5] 郭署山. 无人直升机着舰控制技术研究[D]. 南京:南京航空航天大学,2010 Guo Shushan. Unmanned Helicopter Landing Control Technology[D]. Nanjing, Nanjing University of Aeronautics and Astronautics,2010(in Chinese)
[6] 张永花,周鑫. 纵向甲板运动补偿技术研究[J]. 电光与控制, 2012,19(4):18-22 Zhang Yonghua, Zhou Xin. Research on Longitudinal Deck Motion Compensation Technology[J]. Electronics Optics & Control, 2012,19(4):18-22(in Chinese)
[7] 刘刚. 基于机器视觉导航小型无人机自主着陆控制策略研究与应用[D]. 南京:南京航空航天大学,2014 Liu Gang. Research and Application of Autonomous Landing Control Strategy Based on Machine Vision Navigation for Small Unmanned Aerial Vehicle[D]. Nanjing, Nanjing University of Aeronautics and Astronautics,2014(in Chinese)
[8] 高九州. 无人机自主着陆控制[D]. 长春:中国科学院长春光学精密机械与物理研究所,2016 Gao Jiuzhou. UAV Autonomous Landing Control[D]. Changchun, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, 2016(in Chinese)
相关文献:
1.屈耀红, 邢哲文, 袁冬莉, 张友民.基于悬停四旋翼位置姿态信息的风场估计方法研究[J]. 西北工业大学学报, 2016,34(4): 684-690