无人机滑跑航迹控制模型与控制精度分析

Study on the Analysis of Track Control Model and Accuracy in UAV's Ground Running Takeoff and Land

航迹偏差的控制精度对滑跑起降至关重要,地面滑跑纠偏建模和地空航迹控制的切换策略是起降航迹控制设计的难点。从运动学关系出发,提出了地面滑跑纠偏控制的设计模型,使得复杂的地面航偏控制规律易于设计;利用同-反馈结构在多个状态的协调控制,实现了地空状态自然过渡的航迹控制切换策略;最后提出了提高航迹控制精度和进行风干扰补偿的措施。

The control accuracy of track bais is very important in UAV＇s ground running takeoff and land. Among design, the ground running track control model and the ground-air switch policy of track control are the key. The paper proposes a ground running bais control design model based on kinematics relation ,and it makes the complex design process of ground running bais control law easier. In track control＇s ground-air switch policY, a natural transition is feedback structure in multi-stage. A measure of how to achieved by cooperative control through a same enhance track control accuracy and the windinfection compensation is put forward at last.