基于模型预测控制的固定翼无人机航迹优化研究
Research on Trajectory Optimization of Fixed Wing Unmanned Aerial Vehicles Based on Model Predictive Control
冷金宜 1索鑫宇 2张嘉豪 2王俊超3
作者信息
- 1. 哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨 150001
- 2. 哈尔滨工程大学航天工程与建筑学院,黑龙江哈尔滨 150001
- 3. 鲁东大学,山东烟台 264025
- 折叠
摘要
文章对于设计的类巡飞弹小翼展固定翼无人机,基于气动分析得到动力学参数,在设定的基准运动点附近建立线性时不变状态空间方程.对于该小扰动系统,在含约束的模型预测算法的基础上结合目标导引算法,引入航迹优化因子k1、k2,通过调节目标向量xd进而得到不同跟踪策略下的最优仿真路径.
Abstract
The article focuses on the design of a small wingspan fixed wing unmanned aerial vehicle with cruise missiles.Based on aerodynamic analysis,dynamic parameters are obtained,and a linear time invariant state space equation is established near the set reference motion point.For this small disturbance system,based on the constrained model prediction algorithm combined with the target guidance algorithm,trajectory optimization factors k1 and k2 are introduced.By adjusting the target vector xd,the optimal simulation path under different tracking strategies is obtained.
关键词
模型预测控制/巡飞弹/航点跟踪/路径优化/横侧向运动模型Key words
model predictive control/patrol missile/waypoint tracking/path optimization/lateral motion model引用本文复制引用
出版年
2024
NETL
NSTL
万方数据