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浙江大学学报(工学版)
浙江大学学报(工学版)
航空航天技术     
基于能量管理的无人机无动力着陆引导策略
田华1, 赵文杰2, 方舟2, 李平1,2
1.浙江大学 控制科学与工程学系,浙江 杭州 310027； 2.浙江大学 航空航天学院,浙江 杭州 310027
Guidance strategy of unpowered landing based on energy management for unmanned aerial vehicle
TIAN Hua1, ZHAO Wen jie2, FANG Zhou2, LI Ping1,2
1. Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China;2. School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China
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摘要：
针对小型固定翼无人机在空中发生推进系统故障的紧急情况,研究基于能量管理的无动力着陆引导策略.在质点动力学分析的基础上,结合无人机的可飞包线及能量走廊定律,提出基于高度和待飞距离的动压在线规划方法.考虑到该在线规划方法对模型的依赖性,针对无人机气动参数存在不准确性的问题,将反馈控制的思想引入动压剖面的实时修正过程.在固定翼无人机飞行仿真平台上对上述方法进行半实物实验验证.仿真数据显示,当气动模型不准确时,采用有控制介入的在线规划方法可以快速地将期望动压规划至最优解,从而显著地提高着陆精度.结果表明,采用研究的着陆引导策略能够有效地实现无人机的无动力自主稳定着陆.
Abstract:

 A guidance strategy of landing for engine failed small scaled fixed wing unmanned aerial vehicle (UAV) was analyzed based on energy management. An on line dynamic pressure (DP) programming method based on altitude and distance to go (DTG) was proposed considering the safe flight envelope and energy profiles’ law for UAVs based on analyses for particle dynamics. In view of the dependence of the method upon the UAVs’ model, the idea of feedback control was introduced to revise the DP profiles in real time aiming at aerodynamic parameters’ inaccuracy. Semi physical simulations were designed and implemented on a fixed wing UAV’s flight experiment platform. Data show that the on line programming method with intervention of control can quickly lead the expected DP to the optimal value, and the precision of fixed point landing can be significantly improved. The landing guidance strategy can effectively achieve unpowered landing autonomously and stably．
出版日期: 2015-10-29
:  V 249  
基金资助:

国家自然科学基金资助项目(61004066).
通讯作者: 方舟,男,副教授.ORCID: 0000 0002 4119 3377.     E-mail: zfang@zju.edu.cn
作者简介: 田华(1988—),女,博士生,从事无人机建模、控制与仿真的研究.E-mail: htian@iipc.zju.edu.cn
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引用本文:

田华, 赵文杰, 方舟, 李平.

基于能量管理的无人机无动力着陆引导策略
[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008 973X.2015.10.024.

TIAN Hua, ZHAO Wen jie, FANG Zhou, LI Ping. Guidance strategy of unpowered landing based on energy management for unmanned aerial vehicle. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008 973X.2015.10.024.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008 973X.2015.10.024    或    http://www.zjujournals.com/eng/CN/Y2015/V49/I10/1999

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