舰载无人机撞网回收自适应制导技术

Ship-board UAV net recovery adaptive guidance technology

针对无人机自动着舰撞网回收过程中目标舰船处于运动状态的特点,借鉴导弹导引律的比例导引法提出了基于视线角的制导律,并引入反步法的设计思想以提高制导律的自适应性。基于视线角的制导律使无人机的轨迹倾斜角变化率与视线角变化率成比例,通过控制视线角来跟踪下滑轨迹倾斜角。采用该导引律可以减小无人机运动对目标舰船参数变化的敏感性,从而获得较为稳定的下滑轨迹。仿真结果表明了该制导律的可行性,并且该制导律具有较强的鲁棒性。

According to the characteristics of the target ship in motion in the net recovery process of UAV,this paper put forward the guidance law based on angle of sight by taking missile guidance law of proportional guidance law for reference,and introduced the backstepping guidance law to improve the adaptability of guidance law. Since the angle of sight guidance law is to make the UAV flight path angle and angle of sight be proportional to the rate of change,flight path angle can be tracked by controlling the angle of sight. Using the guidance law can reduce the sensitivity of UAV motion due to the ship parameter change,thus obtaining more stable trajectory. The simulation results show the feasibility of the guidance law which has strong robustness.