直升机最优航迹规划与地形跟踪

Helicopter Optimal Trajectory Planning and Terrain Following

研究了直升机贴地飞行地形跟踪/地形回避的最优航迹规划方法。该方法综合考虑地形、威胁和障碍,将直升机的机动约束转化为经平滑处理的地形模型,通过结合地形模型与直升机运动方程,使有约束最优控制问题转化为无约束最优控制问题。另外,本文利用广义预测控制(Generalized predictive control,GPC)方法建立直升机贴地飞行最优航迹跟踪控制模型,通过仿真计算表明,广义预测控制可在纵向平面内精确跟踪最优航迹。

Helicopter optimal trajectory planning in Nap-of-the-Earth terrain following and terrain avoidance is studied. By synthetically considering terrain, threat and obstacle factors, a smoothing terrain model with maneuverability constraints is firstly established. Then, with the combination of the terrain model and motion equation of helicopters, the method transforms this optimal control problem with constraints into one without constraints one. Finally, to follow the optimal trajectory, generalized predictive control （GPC） is adopted for the helicopter design of Nap-of-the-Earth terrain following model. The result proves that GPC can follow the optimal trajectory.