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论文:2017,Vol:35,Issue(3):528-535 |
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引用本文： |
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黄得刚, 赵宏宇, 何启志, 章卫国. 无动力无人机跟踪下滑直线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, Zhao Hongyu, He Qizhi, Zhang Weiguo. Design of Adaptive Nonlinear Guidance Law for Unpowered UAV Tracking a Gliding Line[J]. Northwestern polytechnical university |
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| 无动力无人机跟踪下滑直线自适应非线性制导律设计 |
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| 黄得刚1, 赵宏宇1, 何启志2, 章卫国2 |
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1. 兵器工业集团航空弹药研究院, 黑龙江 哈尔滨 150036;
2. 西北工业大学 自动化学院, 陕西 西安 710129 |
| 摘要: |
| 以无人机失去推力后，如何使其跟踪一条给定下滑直线为研究背景，提出了一种跟踪下滑直线的自适应非线性制导方法。首先根据几何关系推导得到跟踪下滑直线的横纵向制导律，并证明了所得制导律的稳定性；然后考虑到无动力状态下横纵向制导之间的影响较为明显，为了提高系统的跟踪精度以及抗风扰动能力，将所得制导律转化为一个二阶黏滞阻尼振荡系统，从改善该振荡系统收敛速率的角度出发，设计了制导律的自适应方案。仿真结果表明，在无风和有风扰动的条件下，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
黏滞阻尼震荡
Hebb学习法则
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| Design of Adaptive Nonlinear Guidance Law for Unpowered UAV Tracking a Gliding Line |
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| Huang Degang1, Zhao Hongyu1, He Qizhi2, Zhang Weiguo2 |
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1. Aviation Ammunition Research Institute of Weapon Industry Group, Harbin 150036, China;
2. School of Automation, Northwestern Polytechnical University, Xi'an 710129, China |
| Abstract: |
| For tracking a given trajectory when UAV lost power, this paper presents a method of nonlinear adaptive guidance for following a line. Firstly, according to the geometric relationship, longitudinal and lateral guidance laws are designed and their stabilities are proved. Secondly, considering the significant influence between longitudinal and lateral laws as well as promoting the tracking accuracy and the anti-wind ability, the guidance laws are transformed into the two-order viscous systems with damping and oscillation and then the adaptive schemes are designed in order to improve the convergence of the oscillating system. Finally simulation results show that the proposed method increases tracking accuracy, despite being constantly subjected to wind disturbance. |
| Key words:
unpowered
adaptive
nonlinear guidance
viscous damped oscillations
Hebb learning law
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| 收稿日期: 2017-03-06
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 黄得刚(1986-),兵器工业集团航空弹药研究院工程师,主要从事飞行器路径规划、导航制导与控制及飞行器集群协同制导控制研究。
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