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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。
Abstract:Unmanned aircraft is an important weapon of carrier-aircraft system. Autonomous taxiing of aircraft is significant for the efficiency of deck operation. The trajectory control problem of unmanned aircraft taxiing on deck of an aircraft carrier is studied in this paper. First, the task of aircraft taxiing on the deck is described. On this basis, the mathematical model for taxiing trajectory control problem is established. In this model, the ground motion of aircraft is contained, the constraints of aircraft taxiing are considered, and the performance index is designed to evaluate the trajectory control task. Considering deck environment and trajectory control task requirement, a model predictive control based method is proposed to obtain the feasible taxiing path of aircraft. Trajectory control is integrated into online taxiing path planning, and rolling optimization method is adopted to calculate the practical taxiing trajectory and obtain the control command signal. Taking the Nimitz-class aircraft carrier as an example, the taxiing trajectories of multiple unmanned aircraft at different parking positions are calculated. Simulation results demonstrate the rationality of the established model and the validity of the proposed method.
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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 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 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 A4、A5、A8、A9、A10、A11 C2 A1、A2、A3、A6、A7 C3 A14、A13、A12 
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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
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