北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (10): 2125-2133.doi: 10.13700/j.bh.1001-5965.2017.0787

• 论文 • 上一篇    下一篇

舰载机牵引系统路径规划方法

张竞1, 吴宇2, 屈香菊1   

  1. 1. 北京航空航天大学 航空科学与工程学院, 北京 100083;
    2. 重庆大学 航空航天学院, 重庆 400044
  • 收稿日期:2017-12-22 修回日期:2018-03-23 出版日期:2018-10-20 发布日期:2018-10-29
  • 通讯作者: 屈香菊,E-mail:uq@buaa.edu.cn E-mail:uq@buaa.edu.cn
  • 作者简介:张竞,男,博士研究生。主要研究方向:多体动力学建模、飞行器航迹规划、飞行器控制;吴宇,男,博士,讲师。主要研究方向:飞行器系统工程、优化算法;屈香菊,女,博士,教授,博士生导师。主要研究方向:飞行力学与控制、飞行品质与安全。

Path planning method for traction system on carrier aircraft

ZHANG Jing1, WU Yu2, QU Xiangju1   

  1. 1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. College of Aerospace Engineering, Chongqing University, Chongqing 400044, China
  • Received:2017-12-22 Revised:2018-03-23 Online:2018-10-20 Published:2018-10-29

摘要: 舰载机在任务繁忙和障碍密集的飞行甲板上运动,为了降低舰载机的能耗和增加发动机使用寿命,一般由牵引车牵引舰载机运动,舰载机和牵引车构成牵引系统。为了提高牵引系统出行任务的安全高效性,提出了一种甲板环境下的牵引系统路径规划方法。建立了路径规划的数学模型,该模型包括牵引系统运动学模型和机动能力约束,任务目标函数和任务约束模型,以及障碍物规避模型。结合上述模型,基于几何学理论和Dijkstra算法设计了最优路径的搜索方法。以尼米兹级航母飞行甲板为例,进行了牵引系统的路径规划和跟踪控制仿真,结果表明了模型的合理性和方法的有效性。

关键词: 舰载机, 航空母舰, 飞行甲板, 路径规划, 障碍规避

Abstract: A carrier aircraft moves on a carrier flight deck which has the characteristics of heavy workloads and multiple obstacles. In order to reduce energy consumption of the carrier aircraft and improve service life of the aircraft engine, the carrier aircraft is usually dragged by a tractor on the flight deck, and both of them form a traction system. In order to make the traction system can safely and efficiently complete travel missions, a method is proposed for path planning of the traction system on the flight deck. Mathematic models of path planning are established, which include kinematics models and maneuverability constraints of the traction system, a mission objective function and mission constraints models, and obstacle avoidance models. According to the above models, a method to search the optimal path is designed based on geometry theory and Dijkstra's algorithm. Taking a Nimitz class carrier as an example, a path of the traction system on the flight deck is planned and tracking control simulation is carried out. The simulation results verify the reasonability of the models and the effectiveness of the method.

Key words: carrier aircraft, aircraft carrier, flight deck, path planning, obstacle avoidance

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发