无人机动态撞网回收制导控制方法与飞行试验

王玉杰; 陈清阳; 高显忠; 邓小龙; 侯中喜

doi:10.13700/j.bh.1001-5965.2023.0043

无人机动态撞网回收制导控制方法与飞行试验

doi: 10.13700/j.bh.1001-5965.2023.0043

国防科技大学空天科学学院，长沙 410073

基金项目: 国家自然科学基金(52172410,61903369)

详细信息

通讯作者:
E-mail：yjwang@nudt.edu.cn

中图分类号: V249
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出版历程
- 收稿日期: 2023-02-09
- 录用日期: 2023-06-09
- 网络出版日期: 2023-07-03
- 整期出版日期: 2025-02-28

Guidance and control method for dynamic net-recovery of UAV and the flight test verification

College of Aerospace Science and Engineering，National University of Defense Technology，Changsha 410073，China

Funds: National Natural Science Foundation of China (52172410,61903369)

More Information

Corresponding author: E-mail：yjwang@nudt.edu.cn

摘要

摘要:
针对舰载固定翼无人机(UAV)动态精确回收过程中的制导控制技术开展研究，提出基于分段策略的舰载无人机精确回收引导方法，完成了动态撞网回收控制系统方案设计与集成测试。通过数值迭代方法预测触网时间实现回收航线的在线规划，在回收中段采用基于引导点的非线性制导算法对航线进行精确跟踪，在回收末段基于经典比例导引及纵横解耦策略设计了三维空间末制导律，实现了针对动基座回收的撞网点精确控制。通过系统仿真和飞行试验证明了分段制导策略与各阶段算法的有效性，结果表明：回收航线规划方法简单有效、适应性强，制导控制算法对于航线的跟踪偏差小于0.5 m，高度控制的稳态精度优于0.5 m，动态撞网回收的末端精度优于0.8 m，各阶段的制导控制精度满足无人机动态撞网需求，所提方法适于工程应用。
- 舰载无人机 /
- 动态撞网回收 /
- 航线规划与跟踪 /
- 精确制导控制 /
- 飞行试验
Abstract:
This study focuses on the guidance and control technology for shipborne fixed-wing unmanned aerial vehicle (UAV) during dynamic recovery. The guidance system for precise recovery based on a segmented control strategy is proposed. The scheme design and integration test of the system for dynamic net-recovery are completed. Online recovery route planning is achieved by predicting contact time through a numerical iteration method, while a nonlinear guidance algorithm based on guidance points is employed for accurate mid-phase tracking. Based on the classical proportional guidance and the longitudinal/lateral decoupling strategy, a three-dimensional terminal guidance law is designed to achieve accurate control of the impact point in the terminal guidance phase of dynamic recovery. The effectiveness of the segmented guidance strategy with the algorithm in each phase is proved through simulation and flight tests. The results show that the recovery route planning method is simple, effective and adaptable. The tracking deviation of the guidance algorithm for the route is less than 0.5 m, and the steady-state accuracy of altitude control is better than 0.5 m. The terminal guidance accuracy of UAV in the dynamic net-recovery test is better than 0.8 m. The guidance and control accuracy throughout all phases meets UAV net-recovery requirements, making the proposed method suitable for engineering applications.
- shipborne unmanned aerial vehicle /
- dynamic net-recovery /
- path planning and tracking /
- precise guidance and control /
- flight test

HTML全文

图 1 本文方法

Figure 1. The proposed method

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图 2 回收航线实时规划原理

Figure 2. Principle of recovery route planning online

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图 3 非线性制导方法几何示意图

Figure 3. Geometric sketch of nonlinear guidance method

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图 4 无人机制导控制框架

Figure 4. Architecture of UAV guidance and control

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图 5 撞网末端制导原理

Figure 5. Terminal guidance principle of net-recovery

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图 6 回收航线实时规划结果

Figure 6. Result of recovery route planning on line

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图 7 无人机动态撞网回收仿真结果

Figure 7. Simulation results of UAV dynamic net-recovery

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图 8 撞网偏差随末端导航精度的变化

Figure 8. Relationship between net-recovery deviation and navigation accuracy

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图 9 动态撞网回收试验系统组成

Figure 9. Composition of flight test system for dynamic net-recovery

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图 10 空中模拟撞网回收试验结果

Figure 10. Results of simulated aerial recovery test

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图 11 无人机手掷起飞与动态撞网回收实景

Figure 11. Live images of UAV hand launching and dynamic net-recovery

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图 12 无人机动态撞网回收飞行试验航迹

Figure 12. Flight trajectory of UAV in dynamic net-recovery test

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图 13 无人机制导控制精度分析

Figure 13. The analysis results of guidance and control accuracy

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