高动态无人飞行器轨迹规划与控制技术

Trajectory planning and control for high-dynamic unmanned aerial vehicles

针对高动态无人飞行器的飞行环境中,气动力、气动热条件苛刻,飞行参数和结构变化剧烈的特点,研究了多约束条件下的轨迹规划与设计方法.提出了以无人飞行器倾侧角为主控制量,将轨迹规划问题转化为最优控制问题,采用极大值原理和改进的邻近极值法,求解无人飞行器总吸热量最小的最优控制,并使得最优控制满足所有飞行边界约束和终端约束.最后,以某型高动态无人飞行器为对象,仿真证明了方法的有效性.

According to the strict aerodynamic heating and force environment, which had the characters of strong uncertainty of flight parameters and structure, the planning and optimization of multi-constraints trajectory were studied for high-dynamic unmanned aerial vehicle （UAV）. The attack angle and the bank angle were the control parameters of high-dynamic UAV and the bank angle was taken as the main control parameter in the proposed method. Hence the optimization of trajectory was cast as the optimal control problem. The aims of the optimal control problem were to be achieving the minimum accumulated heat load of high-dynamic UAV and satisfying the flight bounds and terminal constraints. Maximum theory and amelioration adjacent extremism approach were adopted to solve the optimal control issue. At last, the effectiveness of the method was demonstrated by simulating on an example of high-dynamic UAV.