非匹配包线下无人机空基回收拖曳系统协调运动规划

doi:10.7527/S1000-6893.2022.27377

Abstract

Abstract:

This paper proposes a motion planning method that coordinates mothership movement and cable winch control to stabilize the drogue of the towed cable system during fixed-wing Unmanned Aerial Vehicle （UAV） aerial recovery with unmatched envelope. A multi-link cable-drogue and mothership dynamics model under the airflow disturbances was first established. Two optimal drogue trajectory control problems subject to the physical limits of the mothership and cable were then formulated， considering dynamic constraints of the towed cable and mothership. Next， the hp adaptive Radau pseudospectral method was employed to convert the optimal trajectory control problems into nonlinear programming problems which were then solved by the nonlinear programming solver software SNOPT. Finally， three typical scenarios including mothership motion planning under a quiet atmosphere and constant wind， and coordinating motion planning of mothership movement and cable winch under constant wind were conducted to verify the effectiveness of the proposed method. Numerical results show that the proposed method can well control the drogue trajectory subject to physical limits and wind disturbances.

Key words: aerial recovery, circularly towed cable system, motion planning, UAV, hp adaptive Radau pseudospectral method

CLC Number:

V249

Zikang SU, Haitong CHEN, Chuntao LI, Zhuolin XING, Honglun WANG. Coordinating motion planning for towed cable system in UAV aerial recovery with unmatched envelope[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 327377.

Figures/Tables 26

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Table 1

Parameters of cable and towed drogue［7，29］

对象	参数	数值
缆绳	长度 $l 0$ /m	1 200
	密度 $ρ l$ /（kg·m^-3）	970
	直径 $d l$ /m	2×10^-3
	弹性模量 $E$ /Pa	1.2×10¹¹

浮标	质量 $m d r$ /kg	30
	气动面积 $S d r$ /m²	0.785
	阻力系数 $C D d r$	0.42
	升力系数 $C L d r$	0.01

Table 1

Table 2

Constraints of mothership and cable［13，15］

对象	参数	数值
母机	空速速率 $V 0$ /（m·s^-1）	［40，100］
	航向角速率 $ψ ˙$ /（rad·s^-1）	［-0.35，0.35］
	航迹倾斜角 $γ$ /rad	［-0.35，0.35］
	加速度 $a 0 j$ /（m·s^-2）	［-6，6］

缆绳	收放长度 $l c$ /m	［-300，300］
	收放速率 $l ˙ c$ /（m·s^-1）	［-5，5］
	收放加速度 $l ¨ c$ /（m·s^-2）	［-1，1］

Table 2

Fig. 6

Fig. 7

Table 3

Parameters for drogue transition into circular flight

参数	数值
母机高度 $H 0 s$ /m	2 000
母机初始速度 $V 0 s$ /（m·s^-1）	120
母机终点速度 $V 0 e$ /（m·s^-1）	60
母机初始半径 $M s$ /m	1 600
母机终点半径 $M e$ /m	800
母机直线飞行结束时刻 $t s$ /s	20
母机过渡飞行结束时刻 $t c$ /s	220
母机盘旋飞行结束时刻 $t e$ /s	400

Table 3

Fig. 8

Table 4

Fig. 9

Fig. 10

Fig. 11

Fig. 12

Table 5

Fig. 13

Fig. 14

Fig. 15

Fig. 16

Fig. 17

Fig. 18

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Fig. 20

Fig. 21

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参数	母机	浮标
位置/m	（-800，0，-2 000）	（144.8，366.0，-1 568.0）
速度/（m·s^-1）	（0，-60，0）	（-27.5，10.9，0）

参数	母机	浮标
位置/m	（-776.9，-124.1，-1 947.0）	（144.8，366.0，-1 568.0）
速度/（m·s^-1）	（-0.1，-49.7，3.2）	（-27.5，10.9，0）

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Coordinating motion planning for towed cable system in UAV aerial recovery with unmatched envelope

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