大翼展无人机侧风着陆控制技术研究

Research on crosswind landing control method for large wingspan UAV

为提升大翼展无人机侧风着陆任务安全性,提出一种基于偏流法的侧风着陆控制策略,以实现在着陆接地前航向快速对正,避免大交叉角接地对起落装置的影响。首先,将偏流法侧偏修正与纠偏流航向控制结合起来,解决着陆过程的横航向协调控制与多模态控制律的匹配问题;然后,根据侧风着陆的控制特点提炼出侧风着陆控制律设计要求,通过侧风运动仿真总结出一套纠偏流控制律参数选取方法与优化原则;最后,开展了试飞验证。结果表明,设计的控制律可有效提升大翼展无人机侧风着陆安全性。

For the purpose of improving the safety of crosswind landing for large wingspan UAV, a flight control strategy based on crab method was proposed to achieve the fast course alignment before touchdown and avoid the adverse impact caused by large cross angle on landing gear. Firstly, with the combination of lateral control trajectory and decrab control algorithm, the matching problem between the lateral-heading coordination control and multi-mode control law was solved during landing. Then, the design requirements of the crosswind landing control law were refined according to the control characteristics of the crosswind landing, and both optimization principles and parameter selection method of the decrab control algorithm were summarized by means of the crosswind movement simulations. Finally, flight tests were carried out for verification. The results show that the designed control law improves the safety of crosswind landing for large wingspan UAV.