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舰载无人机滑行轨迹控制方法

梁天骄 陈晓明 杨朝旭 王海峰 梁庆

梁天骄, 陈晓明, 杨朝旭, 等 . 舰载无人机滑行轨迹控制方法[J]. 北京航空航天大学学报, 2021, 47(2): 289-296. doi: 10.13700/j.bh.1001-5965.2020.0294
引用本文: 梁天骄, 陈晓明, 杨朝旭, 等 . 舰载无人机滑行轨迹控制方法[J]. 北京航空航天大学学报, 2021, 47(2): 289-296. doi: 10.13700/j.bh.1001-5965.2020.0294
LIANG Tianjiao, CHEN Xiaoming, YANG Zhaoxu, et al. Trajectory control method for unmanned carrier aircraft taxiing[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 289-296. doi: 10.13700/j.bh.1001-5965.2020.0294(in Chinese)
Citation: LIANG Tianjiao, CHEN Xiaoming, YANG Zhaoxu, et al. Trajectory control method for unmanned carrier aircraft taxiing[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 289-296. doi: 10.13700/j.bh.1001-5965.2020.0294(in Chinese)

舰载无人机滑行轨迹控制方法

doi: 10.13700/j.bh.1001-5965.2020.0294
详细信息
    作者简介:

    梁天骄 男, 硕士, 工程师。主要研究方向: 飞行动力学与控制

    陈晓明 男, 博士研究生。主要研究方向: 飞行动力学与控制

    杨朝旭 男, 研究员。主要研究方向: 飞行控制系统设计

    王海峰 男, 博士, 研究员。主要研究方向: 飞机总体设计

    梁庆 男, 硕士, 高级工程师。主要研究方向: 飞行控制系统设计

    通讯作者:

    梁天骄. E-mail: liangtj@avic.com

  • 中图分类号: V279

Trajectory control method for unmanned carrier aircraft taxiing

More Information
  • 摘要:

    舰载无人机是航母-舰载机系统的重要作战武器,实现舰载无人机在航母甲板上的自主滑行对于提高甲板作业效率具有重要意义。对舰载无人机滑行轨迹控制方法问题进行了研究。首先,描述甲板滑行任务的过程,在此基础上,建立滑行轨迹控制问题的数学模型,包括舰载无人机甲板滑行运动模型、滑行任务约束条件以及评价轨迹控制任务的性能指标。其次,考虑甲板环境和轨迹控制任务要求,基于模型预测控制思想,将在线滑行路径规划与轨迹控制结合,采用滚动优化方法计算出舰载无人机实际滑行轨迹,并且得到控制指令信号。最后,以“尼米兹”级航母为例,对不同停放位置舰载无人机起飞前的滑行轨迹进行仿真计算,结果表明了模型的合理性和算法的有效性。

     

  • 图 1  甲板环境及舰载无人机滑行任务描述[24-25]

    Figure 1.  Illustration of deck environment and taxiing task of unmanned carrier aircraft[24-25]

    图 2  舰载无人机地面运动模型示意图

    Figure 2.  Schematic diagram of ground motion model of unmanned carrier aircraft

    图 3  轨迹控制方法结构示意图

    Figure 3.  Structure of trajectory control method

    图 4  轨迹控制过程描述

    Figure 4.  Description of trajectory control process

    图 5  舰载无人机轨迹控制方法流程

    Figure 5.  Flowchart of trajectory control method for unmanned carrier aircraft

    图 6  算例模型示意图

    Figure 6.  Schematic diagram of simulation model of an example

    图 7  舰载无人机实际滑行路径

    Figure 7.  Actual taxiing path of unmanned carrier aircraft

    图 8  滑行过程中A1前轮偏转角变化曲线

    Figure 8.  Curves of nosewheel deflection angle of A1 during taxiing

    表  1  舰载无人机起飞位置

    Table  1.   Launching position of unmanned carrier aircraft

    弹射器 舰载无人机
    C1 A4A5A8A9A10A11
    C2 A1A2A3A6A7
    C3 A14A13A12
    下载: 导出CSV

    表  2  滑行时间与轨迹控制误差

    Table  2.   Taxiing time and trajectory control error

    舰载机 滑行时间/s 误差/ft
    A1 13.5 0.6029
    A2 15.5 0.5641
    A3 18 0.8810
    A4 21 0.0172
    A5 23 0.9670
    A6 23.5 0.2786
    A7 25.5 0.2022
    A8 29 0.5688
    A9 31 0.3452
    A10 33.5 0.3191
    A11 35 0.3494
    A12 22.5 0.6038
    A13 20 0.4618
    A14 18 0.6635
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-06-24
  • 录用日期:  2020-07-31
  • 网络出版日期:  2021-02-20

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