无人机精确着陆控制技术研究
Longitudinal Control Strategy for Precision Landing of UAV
郑金豪 1黄一敏 1王姝琪1
作者信息
- 1. 南京航空航天大学自动化学院,江苏南京 211106
- 折叠
摘要
固定翼无人机着陆性能是限制其发展的重要因素,提升其着陆性能有重要的现实意义.聚焦于着陆中的浅下滑段,对固定油门的传统着陆控制方法进行分析并指出其存在的缺陷.通过姿态、速度和下沉率关系引出过程速度控制和末端速度控制的必要性,提出油门速度闭环控制方案.该方案解决了触地姿态安全问题,大大提高了着陆的精度.
Abstract
Since the landing performance of fixed wing UAV is an important factor limiting the development of UAV,it is of great practical significance to improve its landing performance.This paper focuses on the shallow glide section of landing,analyzes the traditional landing control method with fixed throttle,and indictes its shortcomings.The necessity of process speed control and terminal speed control is derived from the relationship between attitude,speed and sink rate,and a closed loop control scheme of throttle speed is proposed.The scheme solves the problem of touchdown attitude safety and greatly improves the landing accuracy.
关键词
固定翼无人机/精确着陆/姿态敏感性/速度控制Key words
fixed wing UAV/precision landing/attitude sensitivity/speed control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据