Trajectory tracking control and optimal computation of attraction domain for aircraft in perching maneuvers
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摘要:
针对固定翼飞行器栖落机动的纵向运动，研究了栖落机动轨迹跟踪控制设计与吸引域优化计算方法。首先，根据栖落动力学模型和栖落过程中各个状态量的约束，用广义伪谱法生成标称轨迹，以此为基础设计了分段线性轨迹跟踪控制律。然后，在平方和（SOS）算法的基础上计算出栖落轨迹的吸引域，以保证吸引域内的飞行器能最终栖落在目标区域。最后，进一步改进吸引域的迭代优化计算方法以扩大吸引域范围。仿真结果验证了栖落机动轨迹跟踪控制律的有效性，并表明运用所设计的吸引域优化计算方法可以获得更大的吸引域。
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关键词:
- 轨迹跟踪控制 /
- 广义伪谱法 /
- 吸引域 /
- 栖落机动 /
- 平方和(SOS)算法
Abstract:For the longitudinal movement of fixed-wing aircraft in perching maneuvers, the perching trajectory control design and the optimization method of attraction domains are investigated. First, according to the perching dynamics model and the constraints of states during the perching, the nominal trajectory was generated by using the general pseudo-spectral method. Then, based on this, a piecewise linear trajectory tracking control law was designed. Based on the Sum-of-Squares (SOS) method, the attraction domain of the trajectory control system is calculated to ensure that the UAV in the attraction domain can ultimately perch in the target area. Finally, the iterative computation algorithm of the attraction domain is further improved to expand the scope of the attraction domain. The simulation results verify the effectiveness of the trajectory tracking control law of the perching maneuver, and show that the attraction domain is enlarged by using the proposed computation algorithm of attraction domain.
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表 1 状态变量过程约束
Table 1. Process constraints of state variables
状态变量 下限值 上限值 V/(m·s-1) 0 25 α/rad -π/2 π/2 μ/rad -π/4 π/4 q/(rad·s-1) -3.5 3.5 x/m 0 15 h/m 0 10 δe/rad -π/3 π/3 
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表 2 飞行器物理参数
Table 2. Physical parameters of UAV
参数 数值 质量m/kg 0.8 平均气动弦长c/m 0.25 展长b/m 1 升力面积Sl/m2 0.25 俯仰转动惯量Iy/(kg·m-2) 0.1
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