混合动力复合翼应急迫降在线航迹规划与制导

doi:10.7527/S1000-6893.2019.23105

电子电气工程与控制

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混合动力复合翼应急迫降在线航迹规划与制导

王子安, 龚正, 陈永亮, 史志伟, 徐锦法

南京航空航天大学航空学院, 南京 210016

收稿日期:2019-04-22 修回日期:2019-05-13 出版日期:2019-10-15 发布日期:2019-10-26
通讯作者: 龚正 E-mail:matthewzhenggong@nuaa.edu.cn
基金资助:
国家自然科学基金（11402115）；江苏高校优势学科建设工程资助项目

Online path planning and guidance for hybrid VTOL UAVs forced landing

WANG Zian, GONG Zheng, CHEN Yongliang, SHI Zhiwei, XU Jinfa

College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2019-04-22 Revised:2019-05-13 Online:2019-10-15 Published:2019-10-26
Supported by:
National Natural Science Foundation of China(11402115)

摘要/Abstract

摘要： 针对混合动力复合翼飞行器巡航模式下空中停车后无动力应急迫降（VTOL）问题，提出在线航迹规划与制导方法。根据复合翼空中停车时初始位置/航向不确定散布，发展一套满足动力学约束、终端约束的三维航迹在线规划方法：利用几何规划方法快速生成扩展Dubins二维航迹，再根据下滑性能约束进行三维扩展。针对低速无动力下滑航迹跟踪更易受风干扰以及三维航线分段连接处曲率不连续的特性，发展一种基于非线性模型预测控制的三维制导算法。将纵横解耦的制导律嵌入到预测模型框架内，跟踪误差、外界风扰动、航迹曲率不连续等非线性因素则通过系统输出建立目标约束，其后利用滚动优化实时求解制导指令。最后对航迹在线规划方法与三维制导律的适用性进行仿真分析与验证，结果表明所提出的航迹规划方法适用于不确定初始位置/航向散布的应急迫降在线规划，所提的制导算法具备抵抗风扰、提高三维制导精度的能力。

关键词: 无动力应急迫降, 三维航迹规划, 三维Dubins航迹, 非线性模型预测控制, 三维航迹跟踪

Abstract: An online path planning and a guidance law method are proposed for the unpowered forced landing problem of the hybrid Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles(UAVs). According to the casual initial location and heading when the UAV losses power, a three-dimensional path planning method that satisfies both dynamic and terminal constraints is developed. Using the geometric planning method for designing the extended Dubins plane path, three-dimensional curves are generated based on the gliding stability and performance. Since the unpowered path following is susceptible to wind disturbances in low speed and the curvature of planed curves is discontinuous, a three-dimensional guidance algorithm based on nonlinear model predictive control is proposed. Combined with the lateral-longitudinal decoupled guidance dynamic, nonlinear factors such as following error, external wind disturbance and path curvature discontinuity are modeled as the system output constraints, and guide commands are solved through rolling in real time. Finally, the validation of the online path planning method and the guidance law are simulated and verified. The simulation results show that the proposed online planning method is suitable for the emergency landing from casual locations and headings, and the proposed guidance algorithm has the capability to resist wind disturbance and follow the three-dimensional path accurately.

Key words: forced landing, 3D path planning, 3D Dubin path, nonlinear model predictive control, 3D path following

中图分类号:

V249.1

王子安, 龚正, 陈永亮, 史志伟, 徐锦法. 混合动力复合翼应急迫降在线航迹规划与制导[J]. 航空学报, 2019, 40(10): 323105-323105.

WANG Zian, GONG Zheng, CHEN Yongliang, SHI Zhiwei, XU Jinfa. Online path planning and guidance for hybrid VTOL UAVs forced landing[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(10): 323105-323105.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

混合动力复合翼应急迫降在线航迹规划与制导

Online path planning and guidance for hybrid VTOL UAVs forced landing

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