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无人机移动自主回收着陆原理及控制方法

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针对无人机回收存在着陆点相对固定、被动回收、灵活性及环境适应性较差等问题,提出了一种无人机全自主的地面移动回收原理,主要包括目标定位、动态轨迹跟踪和的主动柔顺承接,实现野外复杂环境下自主化的无人机动态移动回收.首先,针对难以精确获取无人机动态位置的问题,提出了多传感器信息融合定位和伺服转台聚焦跟踪的目标定位方法;其次,为完成对无人机的快速高精度跟踪,提出了基于无人车和Stewart平台的双级跟踪控制策略;最后,为了解决无人机着陆过程冲击大、重心失稳等问题,设计了基于模型预测的平稳性控制算法和基于自适应变阻抗的柔顺控制算法,在实时调整承接面位姿的同时做到了主动柔顺承接.搭建了由目标定位系统、无人车和Stewart平台组成的原理样机,验证了本原理的可行性及控制算法的有效性,该方案和技术已成功运用于某型号固定翼无人机自主回收.
Mobile Autonomous Recovery Landing Principle and Control Method for Unmanned Aerial Vehicle
Aiming at the problems of relatively fixed landing point,passive recovery,poor flexibility and environmental adaptability of unmanned aerial vehicle(UAV)recovery landing,a fully autonomous ground mobile recovery principle of UAV is proposed,including UAV localization,landing point tracking,and the active flexible undertaking to realize autonomous UAV dynamic mobile recovery landing in the complex environment in the field.Firstly,in order to guarantee the accuracy of acquiring the dynamic position of UAV,a target localization method with multi-sensor information fusion localization and servo turntable tracking is proposed.Secondly,to achieve fast and high-precision tracking of UAV,a two-stage tracking control strategy based on unmanned ground vehicle(UGV)and Stewart platform is proposed.Finally,to solve the problems of large impact and center of gravity instability in the landing process of UAV,a stability control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance while adjusting the position and attitude of the receiving surface in real time.A principle prototype consisting of a localization device,UGV,and Stewart platform was built to verify the feasibility of the principle and the effectiveness of the control algorithm.The scheme and technology have been successfully applied to the autonomous recovery of a fixed wing UAV.

unmanned aerial vehiclemobile autonomous recoverytarget positioningfalling point trackingflexible undertaking

汪首坤、许永康、陈志华、司金戈、李斌、王军政

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北京理工大学伺服运动系统驱动与控制工信部重点实验室 北京 100081

南昌航空大学无损检测技术教育部重点实验室 南昌 330063

无人机 移动自主回收 目标定位 动态轨迹跟踪 柔顺承接

国家自然科学基金国家重点研发计划江西省自然科学基金-青年基金江西省教育厅科学基金江西省图像处理与模式识别重点实验室开放基金江西省南昌航空大学博士启动基金

621730382019YFC151140120232BAB212028GJJ2201128ET202204304EA202204257

2024

10.3901/JME.2024.03.034

机械工程学报
中国机械工程学会

机械工程学报

CSTPCD北大核心
影响因子：1.362
ISSN：0577-6686
年,卷(期)：2024.60(3)
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