无人机拖曳式空中回收机翼折叠过程预设性能抗摆动控制

doi:10.7527/S1000-6893.2025.31840

Abstract

Abstract:

To address the swing suppression control problem for wing rotation process of UAV towed aerial recovery assembly， an anti-swing control method based on appointed-time preset performance control is proposed. Firstly， the characteristics of the aerial recovery assembly are analyzed. A six degree of freedom nonlinear model of the aerial recovery assembly is established using the Newton-Euler method， the additional forces and moments caused by the wing rotation are analyzed， and additional force and additional moment models containing the wing rotation angle are established. Secondly， in response to the strong nonlinear characteristics of aerodynamic force and aerodynamic torque changes during wing rotation， this paper adopts unsteady computational fluid dynamics methods to calculate the aerodynamic force and moments during this process， and establishes aerodynamic force and aerodynamic moments models containing the wing rotation angle. On this basis， the six degrees of freedom nonlinear models are transformed to affine nonlinear form， and a composite anti-swing control method integrating a non-constraining force vector sum direction feedforward compensation controller with an appointed-time prescribed performance control feedback controller is proposed. A simulation is carried out and the results show that， the maximum longitudinal displacement of the proposed method is 0.16 m， and the maximum lateral displacement is 0.18 m， demonstrating significant advantages of the proposed method.

Key words: Unmanned aerial vehicle (UAV), aerial recovery, rotary wing, dynamics modeling, prescribed performance

CLC Number:

V249.122

Guocheng YAN, Honglun WANG, Yanxiang WANG, Yuebin LUN, Junfan ZHU. Prescribed performance anti-swing control for wing rotation process of UAV towed aerial recovery[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(24): 331840.

Figures/Tables 30

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Table 1

Parameters of simulation

参数	数值
飞行高度 $H / k m$	3
无人机质量 $m / k g$	400
飞行速度 $V / (m ⋅ s - 1)$	120
初始航向角 $χ 0 / °$	0
初始侧滑角 $β 0 / °$	0
初始滚转角 $σ 0 / °$	0
缆绳长度 $L 0 / m$	24
转动惯量 $I x / (k g ⋅ m 2)$	39.497
转动惯量 $I y / (k g ⋅ m 2)$	495.308
转动惯量 $I z / (k g ⋅ m 2)$	514.864
惯性矩 $I x y / (k g ⋅ m 2)$	0
惯性矩 $I y z / (k g ⋅ m 2)$	0
惯性矩 $I x z / (k g ⋅ m 2)$	5.237

Table 1

Fig.17

Fig.18

Table 2

Parameters of controllers

参数

数值

控制增益

K 1 = d i a g 1,1

，

K 2 = d i a g 3,5, 5

K 3 = d i a g 10,20,20

ESO参数

k 1 o, 1 = 1, k 1 o, 2 = 1

k 3 o, 1 = 40, k 3 o, 2 = 400

TD参数

$r 1 = 1, h 1 = 0.01$ ， $r 2 = 10, h 2 = 0.01$

$r 1 = 20, h 1 = 0.01$

Table 2

Table 3

Parameters of ATPPC method

参数	数值
$T a i$	$5$
$k f i$	0.1
$r i$	0.7
$k 0 i$	0.1

Table 3

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Prescribed performance anti-swing control for wing rotation process of UAV towed aerial recovery

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