基于完全4D参考轨迹的场面滑行引导

Surface Taxiing Guidance Based on 4D Reference Trajectory

文中针对自动驾驶模式,构造滑行油耗模型,以滑行过程中油耗最低为目标并利用粒子群算法得到航空器最优滑行速度剖面、包含航空器任意时刻位置信息的完全4D参考轨迹.并且根据航空器运动学模型、基于完全4D参考轨迹设计了一套基于模型预测控制算法(model predictive control, MPC)的控制器,以轨迹点位置误差和控制量变化最小为目标实现精准的参考轨迹追踪.最后,通过实验仿真验证了基于油耗模型的4D轨迹设计方案降低了成本、基于MPC的滑行引导算法能够驱动航空器在较小误差下实现完全4D参考轨迹.

Aiming at the automatic driving mode,a taxiing fuel consumption model was constructed.Aiming at the lowest fuel consumption during taxiing,and the particle swarm optimization algorithm was used to obtain the optimal taxiing speed profile of the aircraft and the complete 4D reference trajectory containing the position information of the aircraft at any time.According to the aircraft kinematics model and the complete 4D reference trajectory,a controller based on Model Predictive Control(MPC)was designed.Accurate reference trajectory tracking was realized with the minimum position error of trajectory point and the change of control quantity as the goal.Finally,the experimental simulation shows that the design scheme of 4D trajectory based on fuel consumption model reduces the cost,and the taxi guidance algorithm based on MPC can drive the aircraft to realize the complete 4D reference trajectory with small error.