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在无人机着舰的最后阶段,舰船的甲板运动严重威胁着无人机的着舰安全,其中沉浮和横摇运动威胁最大。首先介绍了三旋翼无人机的建模方法、控制律以及模拟的甲板运动模型;在此基础上,针对舰船甲板运动对无人机安全着舰的影响,提出了抗舰船横摇/沉浮的着舰控制方案;最后,对控制方案下的着舰性能进行了仿真分析。仿真结果表明,该控制方案可以满足着舰指标要求。
In the final phase of droning, the deck movement of the ship poses a serious threat to the safety of the UAV. The ups and downs and rolling movements are the most threatening. Firstly, the modeling method, control law and simulated deck motion model of the three-rotor UAV are introduced. Based on the above, aiming at the influence of ship deck motion on the safe landing of UAVs, the anti-ship roll / Ups and downs of the ship control program; Finally, the control plan of the ship performance simulation analysis. The simulation results show that the control scheme can meet the requirements of landing targets.