无人机天钩回收航迹控制系统设计与实现

The Design and Implementation of Track Control System for UAV Skyhook Recovery

天钩回收无人机在回收时对于航迹偏差等的控制精度要求苛刻,这对控制系统提出了挑战。提出一种用于无人机天钩回收航迹控制的新方法,设计无人机天钩回收航迹控制策略与流程,给出控制系统组成,基于某型无人机风洞试验数据,构建天钩回收无人机的线性化和非线性模型,利用优化L1航迹控制方法设计了航迹控制律,并在实际飞行试验中得到了应用,验证了所设计控制系统的正确性与工程实现性,最终的飞行试验结果表明,无人机能够在控制系统作用下实现精确天钩回收,且具有良好的动态特性。

Skyhook recovery of unmanned aerial vehicle(UAV)has higher requirements for control accuracy including track deviation and others.The challenges are proposed for the control system.A new track control method for skyhook recovery of unmanned aerial vehicle(UAV)is proposed.Skyhook recovery control strategy and process of UAV are designed and the composition of control system is proposed.Based on UAV wind tunnel test data,linear and nonlinear model for skyhook recovery of UAV are constructed.The track control law is designed with optimized L1 track control method.The design is applied in real flight test,the correctness and engineering realization of the designed control system are verified.The final flight test results show that the aircraft can be accurately recovered by the designed control system,and has excellent dynamic characteristics.