技术领域technical field
本发明提供一种基于双模型下的无人机自动着舰轨迹控制方法，它为无人机自动着舰提供一种轨迹控制的新控制方法，属于自动控制技术领域。The invention provides a trajectory control method for automatic landing of a UAV based on a dual model, which provides a new control method for trajectory control for automatic landing of a UAV, and belongs to the technical field of automatic control.
背景技术Background technique
舰载无人机是以航空母舰或其他军舰为基地的海军无人机。本方法控制对象为固定翼式无人机。采用常规推进的舰载无人机是一类非线性力学系统，其典型飞行状态包括起飞、巡航飞行、转弯、降落等。对于无人机的自动着舰过程，目前大多数的控制方法只考虑了对无人机自身的模型控制方法基础下对无人机实现等角下滑、甲板动力补偿等控制律的研究。本专利提出一种新的建模方法的基础上进行的无人机轨迹控制的研究方法，即不仅对无人机的模型进行考虑，而且建立航母的模型，然后将俩个模型纳入到控制计算方法。因此相比其他控制技术方法而言，无人机相对于航母的轨迹控制更具有工程应用价值。Shipborne drones are naval drones based on aircraft carriers or other warships. The control object of this method is a fixed-wing unmanned aerial vehicle. The shipboard UAV with conventional propulsion is a kind of nonlinear mechanical system, and its typical flight states include takeoff, cruising flight, turning, landing, etc. For the automatic landing process of UAVs, most of the current control methods only consider the research on the control laws of UAVs such as isometric glide and deck dynamic compensation based on the UAV's own model control method. This patent proposes a research method for UAV trajectory control based on a new modeling method, that is, not only considers the UAV model, but also establishes the model of the aircraft carrier, and then incorporates the two models into the control calculation method. Therefore, compared with other control technology methods, the trajectory control of UAV relative to aircraft carrier has more engineering application value.
虽然无人机自动着舰过程时间短暂，但是要经历一系列非常复杂的过程，它主要分为精确制导与自动控制系统俩大重要环节，本专利主要考虑自动控制系统的处理方法。目前主流的控制方法为在单无人机模型下的模糊PID和动态逆等算法，并且大多只采用到对无人机姿态控制的方面。本控制方法采用无人机与航母相对模型基础下，以反馈线性化的方式，根据无人机与航母的相对位置数据，针对航母的运动轨迹，无人机进行跟踪控制最终达到期望相对位置。对于无人机、航母双模型的反馈线性化控制方法不仅可以控制对象的轨迹，也可以对无人机的姿态进行控制。本方法在姿态方面考虑了对俯仰角的姿态控制，即满足无人机等角下滑技术的新方法。Although the UAV automatic landing process takes a short time, it has to go through a series of very complicated processes. It is mainly divided into two important links: precision guidance and automatic control system. This patent mainly considers the processing method of the automatic control system. At present, the mainstream control methods are algorithms such as fuzzy PID and dynamic inversion under the single UAV model, and most of them only use the aspect of UAV attitude control. Based on the relative model of the UAV and the aircraft carrier, the control method adopts the method of feedback linearization, according to the relative position data of the UAV and the aircraft carrier, and aims at the trajectory of the aircraft carrier, and the UAV performs tracking control to finally reach the desired relative position. The feedback linearization control method for the dual model of UAV and aircraft carrier can not only control the trajectory of the object, but also control the attitude of the UAV. This method considers the attitude control of the pitch angle in terms of attitude, which is a new method to meet the UAV isometric glide technology.
本发明“一种基于双模型下的无人机自动着舰轨迹控制方法”，提出了基于动力学非线性模型的轨迹控制方法。该方法结合了基于双模型控制理论和反馈线性化轨迹算法。由该方法控制的闭环系统是有界稳定的，且具有良好的收敛效果，这就为无人机着舰的工程实现提供了有效的设计手段。The invention "a UAV automatic landing trajectory control method based on dual models" proposes a trajectory control method based on a dynamic nonlinear model. The method combines a trajectory algorithm based on dual-model control theory and feedback linearization. The closed-loop system controlled by this method is bounded and stable, and has a good convergence effect, which provides an effective design method for the engineering realization of UAV landing.
发明内容Contents of the invention
(1)目的：本发明的目的在于提供一种基于双模型下的无人机自动着舰轨迹控制方法，控制工程师可以按照该方法并结合实际参数实现无人机着舰的轨迹控制。(1) Purpose: The purpose of the present invention is to provide a dual-model based UAV automatic landing trajectory control method, and the control engineer can realize the trajectory control of UAV landing according to the method and in combination with actual parameters.
(2)技术方案：本发明“一种基于双模型下的无人机自动着舰轨迹控制方法”，其主要内容及程序是：(2) Technical scheme: the present invention " a kind of UAV automatic landing trajectory control method based on double model ", its main content and program are:
航母空间轨迹由水平面巡航轨迹和垂向轨迹组成。航母的水平面巡航轨迹通常为直线。预先设计期望的航母路径轨迹、航向，然后根据相对模型并利用反馈线性化理论设计无人机轨迹控制器，使其跟踪误差在有限时间内趋近于零。实际应用中，航母的位置、姿态、速度等状态量由组合GPS等机载传感器测量得到，将由该方法计算得到的控制量传输至推力控制，副翼，方向舵和水平舵执行装置即可实现无人机的轨迹功能。Aircraft carrier space trajectory is composed of horizontal plane cruising trajectory and vertical trajectory. The horizontal plane cruising trajectory of an aircraft carrier is usually a straight line. Pre-design the expected path trajectory and heading of the aircraft carrier, and then design the UAV trajectory controller based on the relative model and using the feedback linearization theory, so that the tracking error approaches zero within a limited time. In practical applications, the position, attitude, speed and other state quantities of the aircraft carrier are measured by the combination of GPS and other airborne sensors, and the control quantities calculated by this method are transmitted to the thrust control, aileron, rudder and horizontal rudder actuators to realize wireless control. Human-machine trajectory function.
一种基于双模型下的无人机自动着舰轨迹控制方法，其特征在于具体步骤如下：A kind of UAV automatic landing track control method based on double model, it is characterized in that concrete steps are as follows:
步骤一建立无人机与航母动力学模型，根据俩者的相对位置，建立相对运动学方程。Step 1 establishes the dynamic model of the UAV and the aircraft carrier, and establishes the relative kinematics equation according to the relative positions of the two.
步骤二根据反馈线性化理论方法设计无人机对航母轨迹控制器。The second step is to design the UAV-to-carrier trajectory controller according to the feedback linearization theory method.
步骤三设计期望航母的空间轨迹；设计期望相对跟踪值；设计期望相对速度。Step 3 Design the expected space trajectory of the aircraft carrier; design the expected relative tracking value; design the expected relative speed.
步骤四计算消除期望与实际相对纵向横向和垂向相对位置的误差；计算消除期望相对俯仰角与实际相对俯仰角之间的误差以及俯仰角速度和下沉率Step 4 calculates and eliminates the desired and actual relative longitudinal horizontal and vertical The error of the relative position; the calculation eliminates the error between the expected relative pitch angle and the actual relative pitch angle and pitch rate and sink rate
步骤五各执行部件控制信号计算：计算实现控制量所需的执行部件控制量u＝[δT,δa,δe,δr]。Step 5 Calculation of the control signals of each execution unit: calculating the control quantity of the execution unit u=[δT , δa , δe , δr ] required to realize the control quantity.
其中，在步骤一中所述的建立以无人机重心为原点体坐标系Oaxayaza；以航母重心为原点体坐标系Osxsyszs；以地面上任一点为原点惯性坐标系Ogxgygzg，其中原点Og为地面任意一点，Ogxg指向北，Ogyg指向东，Ogzg指向地心。然后建立无人机与航母动力学模型，根据俩者的相对位置，建立相对运动学方程。Among them, the establishment of the body coordinate system Oa xa ya za with the center of gravity of the drone as the origin described in step 1; the body coordinate system Os xs ys zs with the center of gravity of the aircraft carrier as the origin; is the origin inertial coordinate system Og xg yg zg , where the origin Og is any point on the ground, Og xg points to the north, Og yg points to the east, and Og zg points to the center of the earth. Then establish the dynamic model of the UAV and the aircraft carrier, and establish the relative kinematics equation according to the relative position of the two.
其中，在步骤二中所述的根据反馈线性化理论方法设计无人机对航母轨迹控制器，其计算方法如下将航母与无人机相对运动学模型转换成如下形式：Among them, in step 2, according to the feedback linearization theory method to design the UAV-to-carrier trajectory controller, the calculation method is as follows: the relative kinematics model of the carrier and the UAV is converted into the following form:
其中，in,
①相对位置状态量① Relative position state quantity
②无人机体坐标系到地面坐标系转换矩阵② UAV body coordinate system to ground coordinate system conversion matrix
③反馈线性化控制矩阵③ Feedback linearization control matrix
其中，在步骤三中所述的设计期望船的平面轨迹为直线，直线轨迹由船无控制干扰情况下初始速度确定。船的垂直轨迹为波浪起伏曲线zs(t)＝1.22sin(0.6t)+0.305sin(0.2t)确定，记作zs(t)；所述的设计期望相对速度为为常数，为无人机与航母的期望相对速度沿机体坐标系的分解量。Among them, the planar trajectory of the ship is expected to be a straight line in the design described in step three, and the straight line trajectory is determined by the initial speed of the ship without control interference. The vertical trajectory of the ship is determined by the heave curve zs (t)=1.22sin(0.6t)+0.305sin(0.2t), denoted as zs (t); the desired relative speed of the design is is a constant, is the decomposition of the expected relative speed between the UAV and the aircraft carrier along the body coordinate system.
其中，在步骤四中所述的计算消除期望位置与实际位置之间的误差无人机与航母的期望相对位置其中Pe＝[xe,ye,ze]T为机体与航母空间轨迹之间的位置误差，可由规划轨迹起始点机体位置坐标Pa＝[xe,ye,ze]T与航母直线轨迹Ps＝[xs,ys,zs]T做差求得。其计算方法如下：Wherein, the calculation described in step four eliminates the error between the expected position and the actual position The desired relative position of the UAV and the aircraft carrier in Pe＝ [xe , ye , ze ]T is the position error between theairframe and the space trajectory of the aircraft carrier, which can becalculatedby The linear trajectory Ps =[xs , ys , zs ]T is obtained by doing the difference. Its calculation method is as follows:
无人机在进舰着舰的最后阶段，无人机截获合适的下滑道后，一直保持相同的俯仰角、速度和下沉率，直至无人机与航母飞行甲板碰撞，实现撞击式着舰。θa为无人机的俯仰角，其角度为无人机机体纵轴与地面坐标系纵轴之间夹角；θs为船俯仰角，其角度为航母机体系纵轴线与地面坐标系纵轴之间夹角。即θe＝θa-θs；；跟踪俯仰角、速度、下沉率误差其计算方法如下：In the final stage of the UAV entering the ship and landing, after the UAV intercepts a suitable glideslope, it maintains the same pitch angle, speed and sinking rate until the UAV collides with the flight deck of the aircraft carrier to achieve impact landing . θa is the pitch angle of the UAV, and its angle is the angle between the longitudinal axis of the UAV body and the vertical axis of the ground coordinate system; θs is the pitch angle of the ship, and its angle is the vertical axis of the aircraft carrier system and the vertical axis of the ground coordinate system. Angle between axes. That is, θe = θa - θs ;; the calculation method of tracking pitch angle, velocity and sinking rate error is as follows:
其中，in,
其中，在步骤五中所述的消除期望相对位置与实际相对位置之间的误差以及消除期望俯仰角与实际俯仰角之间的误差所需的控制量u，其计算方法如下：Among them, the control quantity u required to eliminate the error between the expected relative position and the actual relative position and the error between the expected pitch angle and the actual pitch angle described in step five is calculated as follows:
其中，in,
优点及效果：Advantages and effects:
本发明“一种基于双模型下的无人机自动着舰轨迹控制方法”，与现有技术比，其优点是：Compared with the prior art, the present invention "a method for controlling UAV's automatic landing trajectory based on dual models" has the following advantages:
1)该方法将无人机和航母的模型都被考虑到控制算法里，对求解其相对位置、相对速度以及对等角下滑技术方法更容易实现。1) This method takes the models of UAV and aircraft carrier into the control algorithm, and it is easier to realize the technical method of solving their relative position, relative velocity and equal angle glide.
2)该方法能够保证闭环系统的渐近稳定性能及收敛速度。2) This method can guarantee the asymptotically stable performance and convergence speed of the closed-loop system.
3)该方法采用反馈线性化方法，控制结构方法简单，对非线性系统的控制具有良好的控制效果，响应速度快，易于工程实现。3) This method adopts the feedback linearization method, the control structure method is simple, it has a good control effect on the control of the nonlinear system, the response speed is fast, and it is easy to implement in engineering.
控制工程师在应用过程中可以不需要考虑航母实际的巡航轨迹，只需要掌握航母与无人机的相对位置数据即可将该方法计算得到的控制量直接传输至执行机构实现轨迹功能。Control engineers do not need to consider the actual cruising trajectory of the aircraft carrier during the application process, but only need to master the relative position data of the aircraft carrier and the UAV, and then directly transmit the control quantity calculated by this method to the actuator to realize the trajectory function.
附图说明Description of drawings
图1为本发明无人机与航母示意图；Fig. 1 is the schematic diagram of unmanned aerial vehicle and aircraft carrier of the present invention;
图2为本发明航母与无人机水平面轨迹计算几何关系图；Fig. 2 is the calculation geometric relationship diagram of aircraft carrier and unmanned aerial vehicle horizontal plane track of the present invention;
图3为本发明航母与无人机垂面轨迹计算几何关系图；Fig. 3 is the calculation geometric relationship figure of aircraft carrier and unmanned aerial vehicle vertical track of the present invention;
图4为本发明所述控制方法流程框图；Fig. 4 is a flow chart of the control method of the present invention;
符号说明如下：The symbols are explained as follows:
PaPa＝[xa,ya,za]T为无人机地面坐标系当前位置；Pa Pa = [xa , ya , za ]T is the current position of the ground coordinate system of the UAV;
PsPs＝[xs,ys,zs]T为航母地面坐标系下的当前位置；Ps Ps =[xs ,ys ,zs ]T is the current position in the ground coordinate system of the aircraft carrier;
PePe＝[xe,ye,ze]T为地面坐标系下无人机与航母之间的相对位置；Pe Pe = [xe , ye , ze ]T is the relative position between the UAV and the aircraft carrier in the ground coordinate system;
X1X1＝[xe,ye,ze,θe]T为地面坐标系下无人机与航母之间的相对位置与姿态；X1 X1 =[xe , ye , ze ,θe ]T is the relative position and attitude between the UAV and the aircraft carrier in the ground coordinate system;
X2X2＝[ue,ve,we,re]T为地面坐标系下无人机与航母之间的相对速度与姿态角速度；X2 X2 =[ue ,ve ,we ,re ]T is the relative velocity and attitude angular velocity between the UAV and the aircraft carrier in the ground coordinate system;
Xc为地面坐标系下无人机与航母之间的期望相对位置与姿态；Xc is the desired relative position and attitude between the UAV and the aircraft carrier in the ground coordinate system;
uu＝[δT,δa,δe,δr]为无人机控制量；uu=[δT , δa , δe , δr ] is the UAV control quantity;
θa无人机沿地面坐标系的俯仰角；θa is the pitch angle of the UAV along the ground coordinate system;
θs航母的沿地面坐标系俯仰角；θs is the pitch angle of the aircraft carrier along the ground coordinate system;
无人机相对航母期望俯仰角； The expected pitch angle of the UAV relative to the aircraft carrier;
θe无人机与航母之间的相对俯仰角；θe is the relative pitch angle between the UAV and the aircraft carrier;
无人机相对航母俯仰角误差； The pitch angle error of the UAV relative to the aircraft carrier;
δT单个发动机产生推力；δT a single engine produces thrust;
δγ控制装置的方向舵；Rudder for deltagamma controls;
δe控制装置的水平舵；Horizontal rudders for deltae controls;
δa控制装置的副翼；the ailerons of the deltaa control device;
υaυa＝[ua,va,wa]T无人机机体坐标系下矢量速度分量；υa υa ＝[ua , va , wa ]T The vector velocity component in the body coordinate system of the UAV;
υsυs＝[us,vs,ws]T航母机体坐标系下矢量速度分量；υs υs ＝[us ,vs ,ws ]T vector velocity component in aircraft carrier body coordinate system;
υeυe＝[ue,ve,we]T无人机与航母之间机体坐标系下相对矢量速度分量；υe υe = [ue , ve , we ]T The relative vector velocity component in the body coordinate system between the UAV and the aircraft carrier;
ωaωa＝[pa,qa,ra]T无人机机体系下的角速度分量；ωa ωa ＝[pa ,qa ,ra ] Angular velocity component ofT unmanned aerial vehicle system;
qa无人机机体坐标系下俯仰角速度；qa Pitch angular velocity in the UAV body coordinate system;
qs航母机体坐标系下俯仰角速度；qs Pitch angular velocity in aircraft carrier body coordinate system;
qe无人机与航母之间机体坐标系下相对俯仰角速度；qe is the relative pitch angular velocity between the UAV and the aircraft carrier in the body coordinate system;
ζ航母体轴与甲板跑到轨迹夹角；The angle between the ζ aircraft carrier body axis and the deck running track;
R航母体坐标系到地面坐标系转换矩阵；R Transformation matrix from aircraft carrier body coordinate system to ground coordinate system;
Rbg无人机体坐标系到地面坐标系转换矩阵；Rbg UAV body coordinate system to ground coordinate system conversion matrix;
Rsa航母体坐标系到无人机体坐标系转换矩阵；Rsa is the conversion matrix from the aircraft carrier body coordinate system to the UAV body coordinate system;
ms航母的质量；ms the mass of the carrier;
ma无人机的质量；ma the mass of the drone;
Fa无人机的气动力；Fa The aerodynamic force of the UAV;
Ma无人机的气动力矩；Ma The aerodynamic moment of the UAV;
τs航母的水动力及力矩；τs The hydrodynamic force and moment of the aircraft carrier;
Ia无人机的转动惯量；Ia The moment of inertia of the UAV;
B控制矩阵；B control matrix;
k1速度增益矩阵；k1 speed gain matrix;
k2位移增益矩阵；k2 displacement gain matrix;
C(vs)科里奥利和向心力矩阵；C(vs ) Coriolis and centripetal force matrix;
D(vs)阻尼参数矩阵；D(vs ) damping parameter matrix;
具体实施方式detailed description
下面结合附图，对本发明中的各部分设计方法作进一步的说明：Below in conjunction with accompanying drawing, each part design method in the present invention is further described:
本发明“一种基于双模型下的无人机自动着舰轨迹控制方法”，其具体步骤如下：The present invention "a kind of UAV automatic landing trajectory control method based on dual models", its specific steps are as follows:
步骤一：建立无人机与航母运动学和动力学模型Step 1: Establish the kinematics and dynamics model of UAV and aircraft carrier
1)如图1所示，以无人机重心为原点建立体坐标系Oaxayaza；以航母重心为原点建立体坐标系Osxsyszs；以地面上任一点为原点建立惯性坐标系Ogxgygzg，其中原点Og为地面任意一点，Ogxg指向北，Ogyg指向东，Ogzg指向地心。1) As shown in Figure 1, the body coordinate system Oa xa ya za is established with the UAV center of gravity as the origin; the body coordinate system Os xs ys zs is established with the aircraft carrier’s center of gravity as the origin; any point on the ground Establish an inertial coordinate system Og xg yg zg for the origin, where the origin Og is any point on the ground, Og xg points to the north, Og yg points to the east, and Og zg points to the center of the earth.
2)无人机动力学模型如下航母平面动力学模型如下2) The UAV dynamics model is as follows The aircraft carrier plane dynamics model is as follows
由于航母与无人机之间存在相对运动的位置关系， Since there is a relative motion position relationship between the aircraft carrier and the UAV,
即相对运动学模型为That is, the relative kinematic model is
步骤二：根据反馈线性化理论方法设计无人机对航母轨迹控制器。Step 2: Design the UAV-to-carrier trajectory controller based on the feedback linearization theory.
将航母与无人机相对运动学模型转换成如下形式：The relative kinematics model of the aircraft carrier and the UAV is transformed into the following form:
其中，in,
①相对位置状态量① Relative position state quantity
②无人机体坐标系到地面坐标系转换矩阵② UAV body coordinate system to ground coordinate system transformation matrix
③反馈线性化控制矩阵③ Feedback linearization control matrix
步骤三：设计期望航母的空间轨迹；设计期望相对跟踪值；设计期望相对速度。Step 3: Design the expected space trajectory of the aircraft carrier; design the expected relative tracking value; design the expected relative speed.
设计期望船的平面轨迹为直线，直线轨迹由船无控制干扰情况下初始速度确定。船的垂直轨迹为波浪起伏曲线zs(t)＝1.22sin(0.6t)+0.305sin(0.2t)确定，记作zs(t)；设计无人机与航母的期望相对位置其中期望相对速度为为常数，为无人机与航母的期望相对速度沿机体坐标系的分解量；分别为期望无人机与航母相对俯仰角与俯仰角速度。其中，The design expects the planar track of the ship to be a straight line, and the straight line track is determined by the initial speed of the ship without control disturbance. The vertical trajectory of the ship is determined by the wave heave curve zs (t)=1.22sin(0.6t)+0.305sin(0.2t), denoted as zs (t); the expected relative position of the design UAV and the aircraft carrier in The expected relative velocity is is a constant, is the decomposition of the expected relative speed of the UAV and the aircraft carrier along the body coordinate system; Respectively, the relative pitch angle and pitch angle velocity between the expected UAV and the aircraft carrier. in,
步骤四：计算消除期望位置与实际位置之间误差。Step 4: Calculate and eliminate the error between the expected position and the actual position.
计算消除期望位置与实际位置之间的误差Pe＝[xe,ye,ze]T为机体与航母空间轨迹之间的位置误差，可由规划轨迹起始点机体位置坐标Pa＝[xe,ye,ze]T与航母直线轨迹Ps＝[xs,ys,zs]T做差求得。其计算方法如下：Calculation to remove the error between the desired position and the actual position Pe＝ [xe , ye , ze ]T is the position error between theairframe and the space trajectory of the aircraft carrier, which can becalculatedby The linear trajectory Ps =[xs , ys , zs ]T is obtained by doing the difference. Its calculation method is as follows:
无人机在进舰着舰的最后阶段，无人机截获合适的下滑道后，一直保持相同的俯仰角、速度和下沉率，直至无人机与航母飞行甲板碰撞，实现撞击式着舰。θa为无人机的俯仰角，其角度为无人机机体纵轴与地面坐标系纵轴之间夹角；θs为船俯仰角，其角度为航母机体系纵轴线与地面坐标系纵轴之间夹角。即θe＝θa-θs；；跟踪俯仰角、速度、下沉率误差其计算方法如下：In the final stage of the UAV entering the ship and landing, after the UAV intercepts a suitable glideslope, it maintains the same pitch angle, speed and sinking rate until the UAV collides with the flight deck of the aircraft carrier to achieve impact landing . θa is the pitch angle of the UAV, and its angle is the angle between the longitudinal axis of the UAV body and the vertical axis of the ground coordinate system; θs is the pitch angle of the ship, and its angle is the vertical axis of the aircraft carrier system and the vertical axis of the ground coordinate system. Angle between axes. That is, θe = θa - θs ;; the calculation method of tracking pitch angle, velocity and sinking rate error is as follows:
步骤五：各执行部件控制信号计算：计算实现控制量所需的执行部件控制量u＝[δT,δa,δe,δr]。Step 5: Calculation of the control signals of each execution unit: calculating the control quantity u of the execution unit required to realize the control quantity u=[δT , δa , δe , δr ].
在步骤四中所述的消除期望相对位置与实际相对位置之间的误差以及消除期望俯仰角与实际俯仰角之间的误差所需的控制量u，其计算方法如下：The calculation method of the control quantity u required to eliminate the error between the desired relative position and the actual relative position and the error between the desired pitch angle and the actual pitch angle described in step four is as follows:
即：which is:
设计状态控制量Design State Control Volume
其中，in,
u＝[u1u2u3u4]T＝[δTδrδaδe]Tu＝[u1 u2 u3 u4 ]T ＝[δT δr δa δe ]T
。 .
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025308.0ACN105425812B (en) | 2016-01-14 | 2016-01-14 | Unmanned aerial vehicle automatic landing trajectory control method based on dual models |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025308.0ACN105425812B (en) | 2016-01-14 | 2016-01-14 | Unmanned aerial vehicle automatic landing trajectory control method based on dual models |
| Publication Number | Publication Date |
|---|---|
| CN105425812Atrue CN105425812A (en) | 2016-03-23 |
| CN105425812B CN105425812B (en) | 2020-10-30 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610025308.0AActiveCN105425812B (en) | 2016-01-14 | 2016-01-14 | Unmanned aerial vehicle automatic landing trajectory control method based on dual models |
| Country | Link |
|---|---|
| CN (1) | CN105425812B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491083A (en)* | 2017-09-11 | 2017-12-19 | 北京航空航天大学 | A kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method |
| CN107678442A (en)* | 2016-08-01 | 2018-02-09 | 北京航空航天大学 | A kind of four rotors based under dual model it is autonomous ship control method |
| CN108873929A (en)* | 2018-05-24 | 2018-11-23 | 北京航空航天大学 | A kind of fixed wing aircraft autonomous landing on the ship method and system |
| CN109062032A (en)* | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN111123967A (en)* | 2020-01-02 | 2020-05-08 | 南京航空航天大学 | A landing control method for fixed-wing UAV based on adaptive dynamic inverse |
| CN111496792A (en)* | 2020-04-27 | 2020-08-07 | 北京科技大学 | A robot arm input saturation fixed time trajectory tracking control method and system |
| CN112198888A (en)* | 2019-12-31 | 2021-01-08 | 北京理工大学 | An adaptive PID control method considering the autonomous take-off and landing of UAV on a maneuvering platform |
| CN112859927A (en)* | 2021-02-03 | 2021-05-28 | 华南理工大学 | Method for generating track of multi-rotor unmanned aerial vehicle in landing process of mobile platform |
| CN114527780A (en)* | 2022-01-26 | 2022-05-24 | 中国人民解放军92728部队 | Intelligent carrier landing guide control method and system for carrier-based helicopter |
| CN120161730A (en)* | 2025-05-20 | 2025-06-17 | 中国航空工业集团公司沈阳飞机设计研究所 | A method and device for simulating automatic landing of an aircraft based on fuzzy theory |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2944337A1 (en)* | 1979-11-02 | 1982-06-03 | Vereinigte Flugtechnische Werke Gmbh, 2800 Bremen | ARRANGEMENT FOR THE AUTOMATIC LANDING OF AN AIRCRAFT |
| CN102393641A (en)* | 2011-10-21 | 2012-03-28 | 南京航空航天大学 | Automatic landing guide control method for carrier aircraft based on deck motion compensation |
| US20130261853A1 (en)* | 2004-11-08 | 2013-10-03 | Bell Helicopter Textron Inc. | Vehicle management system using finite state machines |
| CN103411609A (en)* | 2013-07-18 | 2013-11-27 | 北京航天自动控制研究所 | Online composition based aircraft return route programming method |
| CN103760906A (en)* | 2014-01-29 | 2014-04-30 | 天津大学 | Control method for neural network and nonlinear continuous unmanned helicopter attitude |
| CN104049537A (en)* | 2014-06-19 | 2014-09-17 | 金陵科技学院 | Non-affine non-linear flight control system robust adaptive fault-tolerant control system |
| CN104216417A (en)* | 2014-09-22 | 2014-12-17 | 北京航空航天大学 | Dynamic control allocation method of stratospheric airship based on four-vector propeller |
| CN104803005A (en)* | 2015-05-13 | 2015-07-29 | 南京航空航天大学 | Automatic carrier landing composite control method of carrier airflow compensation-containing carrier-borne aircraft |
| CN104865970A (en)* | 2015-05-06 | 2015-08-26 | 南京航空航天大学 | Unmanned aerial vehicle flight trajectory tracking control system |
| CN104880946A (en)* | 2015-04-03 | 2015-09-02 | 南京航空航天大学 | Carrier-based aircraft automatic landing control method based on robust preview control |
| CN104991552A (en)* | 2015-04-24 | 2015-10-21 | 南京航空航天大学 | Shipboard aircraft automatic landing vertical controller based on controller switching, and control method thereof |
| CN105138012A (en)* | 2015-09-09 | 2015-12-09 | 南京航空航天大学 | GPS-guided unmanned aerial vehicle automatic carrier-landing adaptive control system and method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2944337A1 (en)* | 1979-11-02 | 1982-06-03 | Vereinigte Flugtechnische Werke Gmbh, 2800 Bremen | ARRANGEMENT FOR THE AUTOMATIC LANDING OF AN AIRCRAFT |
| US20130261853A1 (en)* | 2004-11-08 | 2013-10-03 | Bell Helicopter Textron Inc. | Vehicle management system using finite state machines |
| CN102393641A (en)* | 2011-10-21 | 2012-03-28 | 南京航空航天大学 | Automatic landing guide control method for carrier aircraft based on deck motion compensation |
| CN103411609A (en)* | 2013-07-18 | 2013-11-27 | 北京航天自动控制研究所 | Online composition based aircraft return route programming method |
| CN103760906A (en)* | 2014-01-29 | 2014-04-30 | 天津大学 | Control method for neural network and nonlinear continuous unmanned helicopter attitude |
| CN104049537A (en)* | 2014-06-19 | 2014-09-17 | 金陵科技学院 | Non-affine non-linear flight control system robust adaptive fault-tolerant control system |
| CN104216417A (en)* | 2014-09-22 | 2014-12-17 | 北京航空航天大学 | Dynamic control allocation method of stratospheric airship based on four-vector propeller |
| CN104880946A (en)* | 2015-04-03 | 2015-09-02 | 南京航空航天大学 | Carrier-based aircraft automatic landing control method based on robust preview control |
| CN104991552A (en)* | 2015-04-24 | 2015-10-21 | 南京航空航天大学 | Shipboard aircraft automatic landing vertical controller based on controller switching, and control method thereof |
| CN104865970A (en)* | 2015-05-06 | 2015-08-26 | 南京航空航天大学 | Unmanned aerial vehicle flight trajectory tracking control system |
| CN104803005A (en)* | 2015-05-13 | 2015-07-29 | 南京航空航天大学 | Automatic carrier landing composite control method of carrier airflow compensation-containing carrier-borne aircraft |
| CN105138012A (en)* | 2015-09-09 | 2015-12-09 | 南京航空航天大学 | GPS-guided unmanned aerial vehicle automatic carrier-landing adaptive control system and method |
| Title |
|---|
| 史小平等: "Hamilton 系统的鲁棒自适应控制及在航天器中的应用", 《四川大学学报(工程科学版)》* |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107678442A (en)* | 2016-08-01 | 2018-02-09 | 北京航空航天大学 | A kind of four rotors based under dual model it is autonomous ship control method |
| CN107678442B (en)* | 2016-08-01 | 2022-03-04 | 北京航空航天大学 | Dual-model-based four-rotor autonomous landing control method |
| CN107491083A (en)* | 2017-09-11 | 2017-12-19 | 北京航空航天大学 | A kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method |
| CN108873929A (en)* | 2018-05-24 | 2018-11-23 | 北京航空航天大学 | A kind of fixed wing aircraft autonomous landing on the ship method and system |
| CN109062032B (en)* | 2018-10-19 | 2021-08-31 | 江苏省（扬州）数控机床研究院 | A Robotic PID Variable Impedance Control Method Based on Approximate Dynamic Inverse |
| CN109062032A (en)* | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN112198888A (en)* | 2019-12-31 | 2021-01-08 | 北京理工大学 | An adaptive PID control method considering the autonomous take-off and landing of UAV on a maneuvering platform |
| CN111123967B (en)* | 2020-01-02 | 2021-05-11 | 南京航空航天大学 | A landing control method for fixed-wing UAV based on adaptive dynamic inverse |
| CN111123967A (en)* | 2020-01-02 | 2020-05-08 | 南京航空航天大学 | A landing control method for fixed-wing UAV based on adaptive dynamic inverse |
| CN111496792A (en)* | 2020-04-27 | 2020-08-07 | 北京科技大学 | A robot arm input saturation fixed time trajectory tracking control method and system |
| CN112859927A (en)* | 2021-02-03 | 2021-05-28 | 华南理工大学 | Method for generating track of multi-rotor unmanned aerial vehicle in landing process of mobile platform |
| CN112859927B (en)* | 2021-02-03 | 2022-03-29 | 华南理工大学 | Trajectory generation method of multi-rotor UAV in the process of landing on mobile platform |
| CN114527780A (en)* | 2022-01-26 | 2022-05-24 | 中国人民解放军92728部队 | Intelligent carrier landing guide control method and system for carrier-based helicopter |
| CN120161730A (en)* | 2025-05-20 | 2025-06-17 | 中国航空工业集团公司沈阳飞机设计研究所 | A method and device for simulating automatic landing of an aircraft based on fuzzy theory |
| Publication number | Publication date |
|---|---|
| CN105425812B (en) | 2020-10-30 |
| Publication | Publication Date | Title |
|---|---|---|
| CN105425812B (en) | Unmanned aerial vehicle automatic landing trajectory control method based on dual models | |
| CN107807663B (en) | Formation keeping control method for unmanned aerial vehicles based on adaptive control | |
| Zhen et al. | Adaptive super-twisting control for automatic carrier landing of aircraft | |
| Zhen et al. | Preview control and particle filtering for automatic carrier landing | |
| Zheng et al. | Adaptive sliding mode relative motion control for autonomous carrier landing of fixed-wing unmanned aerial vehicles | |
| Oh et al. | Approaches for a tether-guided landing of an autonomous helicopter | |
| CN102830622B (en) | A self-disturbance rejection automatic flight control method for a quadrotor aircraft | |
| CN103760906B (en) | Neural network and non-linear continuous depopulated helicopter attitude control method | |
| CN106444822B (en) | A kind of stratospheric airship path tracking control method based on space vector field guidance | |
| CN102163057B (en) | A Plane Path Tracking Control Method for Autonomous Airship | |
| CN106292294B (en) | Shipborne UAV auto landing on deck control device based on model reference self-adapting control | |
| Adami et al. | 6DOF flight control of fixed-wing aircraft by trajectory linearization | |
| CN104199303B (en) | Stratospheric satellite planar path tracking control method based on vector field guidance | |
| CN105759832A (en) | Four-rotor aircraft sliding mode variable structure control method based on inversion method | |
| CN107491083B (en) | Four-rotor-wing autonomous landing method based on saturation self-adaptive sliding mode control | |
| CN103955218A (en) | Unmanned surface vehicle trajectory tracking control device and method based on nonlinear control theory | |
| CN103869701A (en) | Attitude sequence resolving-based air vehicle novel real-time guide method | |
| Jung et al. | A comprehensive flight control design and experiment of a tail-sitter UAV | |
| CN104597911A (en) | Adaptive optimal butt joint trajectory tracking flying control method for air refueling receiving machine | |
| CN105116914A (en) | Stratospheric-airship-analytic-model-based prediction path tracking control method | |
| CN111290278A (en) | A robust attitude control method for hypersonic aircraft based on predictive sliding mode | |
| Hervas et al. | Sliding mode control of fixed-wing uavs in windy environments | |
| CN107678442A (en) | A kind of four rotors based under dual model it is autonomous ship control method | |
| Lei et al. | Adaptive neural network control of small unmanned aerial rotorcraft | |
| Hegde et al. | Transition flight modeling and robust control of a VTOL unmanned quad tilt-rotor aerial vehicle |
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |