某型无人机三维空间航迹跟踪控制方法研究

Study of Flight Path Tracking and Control of an UAV in 3D Space

研究某型无人机三维空间航迹跟踪问题,通过在理想航迹上选取一系列航迹点,将航迹跟踪问题转换为航迹点跟踪问题。建立了无人机的动力学模型,将无人机的速度坐标系对准航迹点所在的理想坐标系,使位置跟踪问题转化为姿态跟踪问题。推导了无人机的制导律,并利用滑模变结构控制理论和反步控制理论分别设计了姿态控制器和速度控制器,姿态控制器使飞行器的速度矢量方向对准航迹点所在的方向,然后利用速度控制器控制速度的大小使飞行器到达预定航迹点。对整个制导、控制系统进行了全系统仿真,仿真结果表明:所设计的控制器具有较高的跟踪精度,且具有较强的抗干扰能力。

A flight path tracking problem is studied for underactuated UAV in 3D space. The question of flight path tracking is transformed into way-point tracking by choosing a serious point on flight path. A mathematic model is established. The speed frame is alined to the desired frame so that position tracking is converted into attitude tracking. The guidance law is also deduced, and the theories of sliding variable structure and back-stepping are used to design the attitude controller and velocity controller. The direc- tion of velocity vector is aligned to the position of a way-point by using the attitude controller. The speed of UAV is controlled by the velocity controller to make the UAV closing to a way-point. The guidance and control systems are simulated. The result shows that the designed controller is perfect in tracking and have a strong robustness.