无人机自主着陆高度控制系统设计研究

Research of Height Control Technique on UAV Automatic Landing

摘要:

无人机自主着陆是无人机任务执行后顺利回收的重要阶段；论文根据固定翼无人机着陆滑跑的特点,设计了无人机着陆滑跑的下滑高度轨迹及高度控制回路；在已知无人机着陆性能和空气动力学模型的情况下,根据无人机飞行任务的需求,研究了直线下滑段的轨迹设计,利用指数拉平方法设计了末端拉平段的轨迹,并结合PID控制技术对无人机的纵向俯仰控制回路以及整个无人机高度控制回路进行了建模和详细研究,利用MATLAB仿真技术对设计的控制方案的性能进行了详细分析,获得了相应的关键设计参数；对设计的高度控制回路方案的数学仿真和基于FlightGear飞行环境模拟系统的半物理仿真验证了所设计的自主着陆高度控制系统的可行性,具有一定的参考实用价值。

Abstract:

In order to achieve the small UAV automatic landing on UAV research project, an UAV automatic landing-vertical height control strategy was provided. According to the UAV flight mission requirements, the aircraft landing performance and aerodynamic model, the design of the straight line sliding trajectory was researched. Besides, an index leveled method has also been used to design the glide path. The PID control techniques has been used to design a reasonable vertical and pitch control loop model, as well as high control loop model. Some necessary performance analysis and critical parameters selection has been finished by MATLAB simulation. After completed the design of UAV control system, a principle simulation based on MATLAB and hard-in loop simulation based on FlightGear flying environment simulator validate the efficacy and practicability of the flight high control strategy. This can be as a reference for UAV high control loop design.