变体无人机栖落机动建模与轨迹优化

Modeling and Trajectory Optimization of Perching Maneuvers for Morphing UAV

对一类变体固定翼无人机栖落机动的纵向运动进行了建模与轨迹优化研究。针对栖落机动后段飞行速度低及迎角大带来的舵面气动效率下降的问题,研制了一种可改变主翼位置的变体无人机。通过室内飞行实验,利用运动捕捉系统测量获得飞行数据。依据实验数据,结合平板气动理论建立了变体无人机的气动模型,并建立了变体无人机的纵向动力学模型。采用广义伪谱优化软件(General pseudo-spectral optimization software,GPOPS),对所建立的变体无人机模型进行栖落过程轨迹优化研究。优化结果表明,与普通固定翼无人机相比,变体部件能够显著提高无人机的姿态操纵效率,从而改善无人机栖落机动性能。

Aerodynamic modeling and trajectory optimization in longitudinal direction of a type of mor-phing fixed-wing unmanned aerial vehicle(UAV)for perching maneuvers were investigated.The eleva-tor was inefficient due to the low speed and high angle of attack in the later phase of perching maneuver.To solve this problem,a morphing UAV which could change the position of wing was developed.The indoor experiment was carried out,and the flight data was obtained by the motion capture system.Based on this and flat plate theory of aerodynamics,aerodynamic model and longitudinal dynamic mode were established.Using general pseudo-spectral optimization software(GPOPS)optimization tool to de-sign the trajectory of the UAV model.The optimization results show that compared with conventional fixed wing UAVs,morphing parts can significantly improve the UAVrs attitude control efficiency and maneuverability.