非线性移动路径跟踪及着舰控制应用

毕道明; 黄辉; 范静; 周海彤; 关智元; 郑泽伟

doi:10.13700/j.bh.1001-5965.2019.0646

非线性移动路径跟踪及着舰控制应用

doi: 10.13700/j.bh.1001-5965.2019.0646

毕道明^{1, 2},
黄辉²,
范静²,
周海彤³,
关智元⁴,
郑泽伟^3, ,

1.
国防科技大学空天科学学院, 长沙 410073
2.
沈阳飞机设计研究所, 沈阳 110035
3.
北京航空航天大学自动化科学与电气工程学院, 北京 100083
4.
北京航空航天大学航空科学与工程学院, 北京 100083

基金项目:

北京市自然科学基金 4202038

北京市自然科学基金 4172070

国家自然科学基金 61827901

详细信息

作者简介:
毕道明  男, 博士研究生, 高级工程师。主要研究方向:视觉引导与控制、飞行器管理系统设计等

黄辉  男, 博士, 高级工程师。主要研究方向:飞行器导航、制导与控制

范静  女, 硕士, 工程师。主要研究方向:视觉导航与飞行控制

周海彤  女, 硕士研究生。主要研究方向:非线性控制

关智元  男, 博士研究生。主要研究方向:飞行控制

郑泽伟  男, 博士, 副教授。主要研究方向:非线性控制理论与应用

通讯作者:
郑泽伟, E-mail: zeweizheng@buaa.edu.cn

中图分类号: V249.122⁺.5
计量
- 文章访问数: 520
- HTML全文浏览量: 49
- PDF下载量: 98
- 被引次数: 0
出版历程
- 收稿日期: 2019-12-24
- 录用日期: 2020-02-03
- 网络出版日期: 2021-01-20

Nonlinear moving path following control and its application to carrier landing

1.
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
2.
Shenyang Aircraft Design & Research Institute, Shenyang 110035, China
3.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China
4.
School of Aeronautic Science and Engineering, Beihang University, Beijing 100083, China

Funds:

Beijing Natural Science Foundation 4202038

Beijing Natural Science Foundation 4172070

National Natural Science Foundation of China 61827901

More Information

Corresponding author: ZHENG Zewei, E-mail:zeweizheng@buaa.edu.cn

摘要

摘要:
针对传统路径跟踪方法不能有效解决移动路径跟踪（MPF）问题, 通过改进时变向量场方法提出一种新型移动路径跟踪控制方法, 并应用到舰载机自主着舰控制问题中。基于舰载机非线性模型, 以反步法为主体框架, 在时变向量场中定义轨迹误差, 同时为定义的虚拟控制量设计Lyapunov函数, 实现航向角和爬升角的快速准确跟踪, 保证舰载机航迹跟踪期望移动路径。稳定性分析证明跟踪误差收敛, 仿真结果表明控制方法具有良好的着舰性能。
- 移动路径跟踪(MPF) /
- 自主着舰 /
- 时变向量场 /
- 反步法 /
- 干扰观测器
Abstract:
This paper proposes a novel Moving Path Following (MPF) control method by improving the time-varying vector field method. Moreover, it is applied to the automatic carrier landing problem of carrier-based aircraft. Based on the nonlinear model of carrier-based aircraft, backstepping method is used as the main frame. Besides, the path following error is defined in the time-varying vector field. In addition, Lyapunov function is designed for the defined virtual control variable to achieve fast and accurate tracking for the heading angle and the climb angle, and the path of the aircraft is ensured to follow the desired moving path. The stability analysis proves that the following error converges to a small region, and the simulation results show that the control method has good performance in carrier landing.
- Moving Path Following (MPF) /
- automatic carrier landing /
- time-varying vector field /
- backstepping method /
- disturbance observer

HTML全文

图 1 期望路径表示与跟踪误差定义

Figure 1. Definition of desired path and tracking error

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图 2 控制系统框架

Figure 2. Architecture of control system

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图 3 整体几何框图

Figure 3. Geometric illustration of frames

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图 4 期望路径的几何图示

Figure 4. Geometric illustration of desired paths

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图 5 非线性干扰观测器对舰尾流的估计

Figure 5. Nonlinear disturbance observer estimates air wake

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图 6 甲板运动与舰尾流的纵向跟踪误差

Figure 6. Tracking error in longitudinal plane with deck motion and air wake

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图 7 甲板运动与舰尾流的横向跟踪误差

Figure 7. Tracking error in latitudinal plane with deck motion and air wake

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图 8 甲板运动与舰尾流的姿态角变化

Figure 8. Diversification of attitude angle with deck motion and air wake

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图 9 甲板运动与舰尾流的舵面变化

Figure 9. Diversification of control surface with deck motion and air wake

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