无人直升机着舰甲板运动预估与补偿方法

An Estimation and Compensation Method of Deck Motion for Unmanned Helicopter Landing on Ship

无人直升机担负着越来越重要的作战使命,而甲板运动是影响其着舰安全的重要因素,对着舰甲板运动进行精确预估与补偿是亟待解决的难题。为此,基于自适应AR模型与最优预见控制方法,提出了一种甲板运动预估与补偿方法。基于AR模型设计甲板运动预估器时,引入时变因子设计了自适应模型参数更新律优化模型性能,强调数据的实时性,仿真结果表明,该方法在一定程度上提高了甲板运动预估的准确性,且计算相对简单;将甲板运动预估器产生的预估信号作为可预见的未来信息引入预见控制器,并基于最优控制理论对着舰甲板运动进行补偿,较好地改善了甲板运动补偿系统相位延迟问题,并在一定程度上提高了甲板运动跟踪精度,进而提高无人直升机着舰成功率。

Unmanned helicopter is undertaking more and more important combat missions and deck motion is an important factor affecting the safety of its autonomous landing thus the accurate estimation and compensation of deck motion becomes an urgent problem.To solve the problem a method of deck motion estimation and compensation based on adaptive AR model and optimal preview control is proposed.When designing the deck motion estimator based on AR model the time-variant factor is introduced to design the updating law of the adaptive model parameters so as to optimize model performance.Simulation results show that the proposed method improves the accuracy of deck motion estimation to a certain extent and its computation process is relatively simple.Then the prediction signals generated by the deck motion estimator are introduced into the preview controller as the foreseeable future information and the deck motion of the landing point is compensated based on the optimal control theory.This method solves the problem of phase delay of deck motion compensation system effectively and improves the deck motion tracking accuracy to a certain extent so that it can increase the success rate of unmanned helicopter autonomous landing.