舰尾流扰动下无人机着舰纵向控制律设计

Design of Longitudinal Carrier Landing Control Law for UAVs Under Air Wake Disturbance

针对舰尾流导致无人机着舰误差较大的问题,采用动态逆与自适应控制方法,设计了一种自动着舰控制律。该控制律能够克服模型的不确定性和外界干扰,实现良好的俯仰角速率和迎角跟踪效果,并通过投影算子保证了自适应参数的有界性。而基于动态逆的轨迹跟踪控制器用于实现精确的轨迹控制,减小着舰的跟踪误差。仿真结果表明:所提控制方法具有较高的跟踪精度和良好的鲁棒性,能够适应舰尾流下的无人机着舰纵向控制要求。

To solve the problem that the ship’s wake causes large carrier landing error of UAVs,dynamic inversion and the adaptive control method are used to design an automatic carrier landing control law.The control law can overcome the uncertainty of the model and external disturbances,achieve good tracking results of pitch rate and angle of attack,and guarantee the boundedness of the adaptive parameters through the projection operator.The trajectory tracking controller based on dynamic inversion is used to achieve accurate trajectory control and reduce the tracking error of ship landing.The simulation results show that the proposed control method has high tracking accuracy and good robustness,and can meet the longitudinal control requirements of UAV’s carrier landing under air wake.