一种舰载无人机动态撞网回收控制器设计

Controller Design of Dynamic Net Recovery for UAV

借鉴导弹导引规律中的比例导引方法,提出了一种基于高度变化率的制导规律,采用此方法可以减小无人机运动对回收网参数变化的敏感性,从而获得较为平直稳定的下滑轨迹。同时,针对无人机自动撞网回收过程中回收网网心随海浪运动的特点,应用鲁棒伺服LQR(RSLQR)的控制方法,以高度变化率(H)为主被控变量,设计了鲁棒伺服控制律,该控制结构鲁棒性强、控制精度高,满足动态撞网回收的性能指标。非线性仿真结果验证了该方法的可行性,表明采用此方法可以消除外界风干扰导致的位置误差,同时又可以提高系统的快速性、准确性以及鲁棒性等性能指标。

Taking the proportional navigation method of missile guidance law for reference,this paper·proposes an guidance law based on rate of change in altitude（ H）,which can reduce the UAV motion sensitivity to the change of recycling network parameters,and gain a relatively straight and steady decline trajectory. According to the motion feature of recycling network center along with the wave motion in net recovery process of UAV,a Robust Servomechanism LQR（ RSLQR） control law is designed based on RSLQR·control method by taking Has the main control variable. This control structure has satisfactory robustness and high control accuracy,which can satisfy the performance requirements of dynamic net recovery. The results of nonlinear simulation verify the feasibility of the method,and show that the designed controller can eliminate the position error caused by wind,and increase the rapidity,accuracy and stability of the system.