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针对无人机自主着陆问题,给出了无人机自主着陆控制系统结构,分别设计了着陆段纵向控制回路和横侧向控制回路的控制律,提出了一种基于待飞距离的无人机着陆轨迹,将着陆轨迹划分为四个阶段:进场飞行段、直线下滑段、指数拉平段以及跑道滑行段,并针对各个飞行阶段分别给出了纵向轨迹方程。在MATLAB环境下对某低速无人机着陆段控制进行仿真,仿真结果表明:本文提出的基于待飞距离的无人机着陆轨迹和针对该着陆轨迹设计的控制律,能够有效地实现无人机安全平稳着陆,符合预定的指标要求。
According to the problem of autonomous landings of UAVs, the structure of autonomous landing control system of UAVs is given, and the control law of longitudinal control loops and transverse lateral control loops are designed respectively. A UAV based on the distance to be flown Landing trajectory, the landing trajectory is divided into four phases: approach flight stage, straight-line sliding section, exponential flat section and runway gliding section, and for each flight stage were given longitudinal trajectory equation. The simulation of landing control of a low-speed UAV in MATLAB environment shows that the UAV landing trajectory and the control law designed for the landing trajectory based on the distance to be flown in this paper can effectively realize the UAV Safe and stable landing, in line with the predetermined target requirements.