某型无人机三维空间航迹跟踪控制方法研究

doi:10.3969/j.issn.1000-1093.2016.01.010

兵工学报 ›› 2016, Vol. 37 ›› Issue (1): 64-70.doi: 10.3969/j.issn.1000-1093.2016.01.010

某型无人机三维空间航迹跟踪控制方法研究

管军¹，易文俊¹，常思江²，梁振东¹，吕一品¹

（1.南京理工大学瞬态物理国家重点实验室，江苏南京 210094； 2.南京理工大学能源与动力工程学院，江苏南京 210094）

收稿日期:2015-04-16 修回日期:2015-04-16 上线日期:2016-03-23
通讯作者: 管军 E-mail:guanjun8710@163.com
作者简介:管军（1987—），男，博士研究生
基金资助:
国家自然科学基金项目（11472136、11402117）；江苏省普通高校研究生科研创新计划项目(KYLX15-0419)

Study of Flight Path Tracking and Control of an UAV in 3D Space

GUAN Jun¹, YI Wen-jun¹, CHANG Si-jiang², LIANG Zhen-dong¹, LYU Yi-pin¹

（1.National Key Laboratory of Transient Physics， Nanjing University of Science and Technology，Nanjing 210094，Jiangsu，China；2School of Power and Engineering，Nanjing University of Science and Technology，Nanjing 210094，Jiangsu，China）

Received:2015-04-16 Revised:2015-04-16 Online:2016-03-23
Contact: GUAN Jun E-mail:guanjun8710@163.com

摘要/Abstract

摘要： 研究某型无人机三维空间航迹跟踪问题，通过在理想航迹上选取一系列航迹点，将航迹跟踪问题转换为航迹点跟踪问题。建立了无人机的动力学模型，将无人机的速度坐标系对准航迹点所在的理想坐标系，使位置跟踪问题转化为姿态跟踪问题。推导了无人机的制导律，并利用滑模变结构控制理论和反步控制理论分别设计了姿态控制器和速度控制器，姿态控制器使飞行器的速度矢量方向对准航迹点所在的方向，然后利用速度控制器控制速度的大小使飞行器到达预定航迹点。对整个制导、控制系统进行了全系统仿真，仿真结果表明：所设计的控制器具有较高的跟踪精度，且具有较强的抗干扰能力。

关键词: 控制科学与技术, 反步控制, 滑模变结构控制, 无人机, 航迹点跟踪, Lyapunov函数

Abstract: A flight path tracking problem is studied for underactuated UAV in 3D space. The question of flight path tracking is transformed into way-point tracking by choosing a serious point on flight path. A mathematic model is established.The speed frame is alined to the desired frame so that position tracking is converted into attitude tracking. The guidance law is also deduced, and the theories of sliding variable structure and back-stepping are used to design the attitude controller and velocity controller. The direction of velocity vector is aligned to the position of a way-point by using the attitude controller. The speed of UAV is controlled by the velocity controller to make the UAV closing to a way-point. The guidance and control systems are simulated. The result shows that the designed controller is perfect in tracking and have a strong robustness.

Key words: control science and technology, back-stepping, sliding variable structure, UAV, flight path tracking, Lyapunov function

中图分类号:

V249.1

管军，易文俊，常思江，梁振东，吕一品. 某型无人机三维空间航迹跟踪控制方法研究[J]. 兵工学报, 2016, 37(1): 64-70.

GUAN Jun, YI Wen-jun, CHANG Si-jiang, LIANG Zhen-dong, LYU Yi-pin. Study of Flight Path Tracking and Control of an UAV in 3D Space[J]. Acta Armamentarii, 2016, 37(1): 64-70.

参考文献

［1］ Enns D, Bugajski D, Hendrick R, et al. Dynamic invention-an evolving methodology for flight control design[J]. International of Control, 1994, 59(1):71-91.
[2] Sieberling S, Chu Q P, Mulder J A. Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction[J]. Jornal of Guidance, Control and Dynamics,2010,33(6):1732-1742.
[3] 刘芳，陈万春.应用Lyapunov方法分析自旋导弹动态逆控制器鲁棒性[J].北京航空航天大学学报，2013,39(1):132-137.
LIU Fang， CHEN Wan-chun. Spinning missile dynamic inversion controller robustness analysis using Lyapunov methods[J].Journal

of Beijing University of Aeronautics and Astronautics,2013,39(1): 132-137.(in Chinese)
[4] 陶冶，房建成，盛蔚. 一种小型无人机带死区增益PID自适应控制器设计与实现[J].自动化学报，2008,34(6):716-721.
TAO Ye, FANG Jian-cheng, SHENG Wei. Design and realization of piecewise PID controller with dead zone for micro UAV[J].Acta AutomaticSinica,2008,34(6):716-721.(in Chinese)
[5] 刘重，高晓光, 符小卫，等. 基于反步法和非线性动态逆的无人机三维航路跟踪制导控制[J].兵工学报，2014,35(12):2030-2040.
LIU Zhong, GAO Xiao-guang, FU Xiao-wei, et al. Three-dimensional path tracking guidance and control for unmanned aerial vehical based on back-stepping and nonlinear dynamic inversion[J]. Acta Armamentarii, 2014,35(12):2030-2040.(in Chinese)
[6] Khalil H K. Nonlinear systems[M]. 3rd ed. Upper Saddle River, NJ, US:Preentice Hall, 2002.
[7] Wibowo S S. Aircraft flight dynamics control and simulation-using MATLAB and SIMULINK: cases and algorithm, apporach[M]. Kuala Lumpur, Malaysia: University of Kuala Lumpur-Malaysian Institute of Aviation Technology, 2007.
[8] Egeland O, Gravdahl J T. Modeling and simulation for automatic control[M]. Norwegian: Marine Cybernetics, 2002.
[9] Kristiansen R. Dynamic synchronization of spacecraft- modeling and coordinated control of leader-follower spacecraft formations[D]. Norwegian:Norwegian University of Science and Technology, 2008.
[10] Oland E, Kristiansen R. Adapative flight control with constrained actuation[C]∥2014 American Control Conference.Portland, Oregon, US: the American Automatic Control Council, 2014.
[11] Oland E, Schlanbusch R. Underactuated way point tracking of a fixed-wing UAV[C]∥Proceedings of the 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems. Compiegne, France: IFAC,2013.
[12] Shima T. Sliding-mode control for integrated missile autopilot guidance[J].Journal of Guidance, Control, and Dynamics,2006,29(2):250-260.
[13] Roberts A, Tayebi A. Adaptive position tracking of VTOL UAVs[J]. IEEE Transactions on Robotics, 2011,27(1):129-142.
[14] Slotine J E, Li W. Adaptive manipulator control:a case study[J]. IEEE Transaction on Automatic Control, 1998, 33(11):995-1003.

[1]	薛少辉，范继，唐旭，陈晓明，王凤歌，侯勇，曾玉芸. 基于椎体空间的无人机毁伤元密度分析[J]. 兵工学报, 2022, 43(S1): 133-139.
[2]	王盼，吴昊，梁宇，胡雪岑，纪雪松，王振宇. 轻型无人机起落架设计与强度分析[J]. 兵工学报, 2022, 43(S1): 140-145.
[3]	崔令飞，郭永红，修全发，史超，张硕阳. 基于国产嵌入式智能计算平台的无人机检测方法[J]. 兵工学报, 2022, 43(S1): 146-154.
[4]	朱毅飞, 林德福, 莫雳, 叶建川. 四旋翼无人机旋翼对机身非定常气动干扰特性[J]. 兵工学报, 2022, 43(2): 410-422.
[5]	姜雨彤，宋海平，王光辉. 基于质量评价最优的无人机航拍图像去雾方法[J]. 兵工学报, 2022, 43(1): 148-158.
[6]	姚立新，赵晓尧，王帅祥，于永强. 反蜂群无人机防空火箭弹四象限周视激光引信探测概率[J]. 兵工学报, 2022, 43(1): 218-225.
[7]	张云飞，林德福，郑多，程子恒，唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495.
[8]	王慧东，周来宏. 四旋翼无人机反步积分自适应控制器设计[J]. 兵工学报, 2021, 42(6): 1283-1289.
[9]	叶建川，王江，梁熠，宋韬，吴则良，徐超. 四旋翼无人机前飞模态特性[J]. 兵工学报, 2021, 42(11): 2476-2490.
[10]	张振华，吴向阳，李春萍，张吉智，魏列江，王飞. 无人机新型水动力弹射动力学特性[J]. 兵工学报, 2021, 42(1): 151-158.
[11]	梁少军，张世荣，郑幸，林冬生. 固定翼无人机多工况聚类及工况匹配[J]. 兵工学报, 2020, 41(8): 1600-1612.
[12]	张哲，吴剑，代冀阳，李品伟. 基于改进A^*算法的多无人机协同战术规划[J]. 兵工学报, 2020, 41(12): 2530-2539.
[13]	张朔，赵振峰，董雪飞，叶莹. 二冲程航空活塞发动机增压匹配研究和优化[J]. 兵工学报, 2020, 41(1): 135-142.
[14]	李小民，毛琼，甘勤涛，杜占龙. 有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略[J]. 兵工学报, 2019, 40(6): 1179-1189.
[15]	刘流，梁晓龙，张佳强，何吕龙，侯岳奇. 切换通信拓扑条件下的无人机集群构型变换控制[J]. 兵工学报, 2019, 40(5): 996-1002.

某型无人机三维空间航迹跟踪控制方法研究

Study of Flight Path Tracking and Control of an UAV in 3D Space

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价