基于交互多模型的无人机运动控制

Motion Control of UAV Based on Interactive Multiple Model

对无人机进行精确控制是有效发挥无人机功能作用的基础,无论是航线跟踪还是在任务区域内沿任务点执行任务,均可看作为无人机在时间与速度双重条件约束下到达指定位置的控制问题。针对这一问题,首先在考虑无人机飞行性能的基础上,建立了无人机的基本运动模型,包括匀速转弯模型、上升模型、下降模型、匀速直线模型和匀加减速模型;其次对无人机飞往不同目标点的运动过程进行了求解分析,表明无人机的所有运动过程均可通过上述简单运动模型的交互叠加来实现;最后,仿真实验结果验证了此控制方法的可行性,可有效解决无人机带有时间约束与速度约束的控制问题。

Precise control of UAV is the basis for UAV to play a role effectively,and no matter path following or performing tasks in task area,they all can be seen as the control problem which UAV arrives at the specified location with the specified speed at the specified time. According to the problem and considering the UAV flight performance,the motion process of UAV is split. At first the basic motion models of UAV are established,which include coordinated turn model,climb model,dive model,uniform linear model and uniform acceleration-deceleration model. Then the motion process which UAV flies to different target is analyzed,and the analysis indicated that all motion process of UAV can be realized through the interaction of the basic motion models. Finally,the simulation results verify the availability of this control method,which can realize UAV arriving on time.