无人机地面运动控制与仿真

Simulate and Control of Unmanned Aerial Vehicle’s Ground Moving

摘要:

为了解决无人机纠偏刹车系统中实际存在的问题,对无人机地面运动进行了研究,采用前轮转弯、方向舵、差动刹车联合使用模式,以无人机的侧偏角、侧偏距为反馈信号,设计了无人机地面运动纠偏控制律,通过遗传算法的全局优化过程实现其纠偏参数寻优,在Simulink平台建立了无人机纠偏数学模型；试验结果表明,建立的无人机地面运动纠偏数学模型正确有效,能够模拟出无人机地面运动的真实情况；基于遗传算法的控制策略能够实现一定范围内的无人机地面运动纠偏,提高跑道的利用率。

Abstract:

In order to solve the actual problems arose with the lateral deviation braking system, a mathematical model of lateral deviation control of Unmanned Aerial Vehicle was built on Simulink, the correction algorithm of Unmanned Aerial Vehicle moving on the ground was designed and its correction parameter was programmed to the best by the front wheel steering, the nose wheel string, the difference in combined brake model and the rudder to control the lateral deviation correction, and also by the application of the full optimization process of genetic algorithms. By applying the control method of genetic algorithms, it is possible to achieve certain level of deviation correction in the Unmanned Aerial Vehicle’s moving on the ground and can thus improve the utilization of runways.