无人机天钩回收纵向控制系统设计与实现
2023,31(7):136-142
摘要：相比滑跑与伞降型无人机,天钩回收无人机在回收时对于高度、速度等的控制精度要求更加苛刻。文中提出了一种无人机天钩回收过程纵向控制的新方法,设计了无人机天钩回收纵向控制策略与流程,给出了控制系统组成,基于某型无人机风洞试验数据,构建了天钩回收无人机的线性化和非线性模型,利用总能量思想设计了纵向轨迹控制律,并在实际飞行试验中得到了应用与验证,最终的飞行试验结果表明了所设计的控制系统是正确的,设计结果满足天钩回收的要求。
关键词：无人机;天钩回收;风洞试验数据;控制律;总能量
The Design of Longitudinal Control System for Skyhook Recovery of UAV
Abstract：Compared to taxiing and parachute recovery, skyhook recovery has higher requirements for height and speed control accuracy. A new longitudinal control method during skyhook recovery of unmanned aerial vehicle (UAV) is proposed in this paper. Skyhook recovery control strategy and process are designed and composition of control system is proposed. Based on UAV wind tunnel data, linear and nonlinear model are developed. The longitudinal track control law is designed by using the total energy theory. The final flight verification test results show that the longitudinal track control law is correct and can satisfy the requirement of skyhook recovery.
Key words：unmanned aerial vehicle; skyhook recovery; wind tunnel data; control law; total energy
收稿日期：2022-10-12
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