基于参考轨迹的 无人机自主着陆控制系统设计与仿真

Design and Simulation of UAV Autonomous Landing Control System Based on Reference Trace

摘要:

针对无人机以不同载荷自主着陆时,固定的纵向参考轨迹线不能满足着陆速度及其他着陆参数对轨迹的要求的问题,文章根据无人机不同的飞行性能和着陆性能要求,设计纵向着陆轨迹,结合着陆过程的控制逻辑,设计控制律。并通过 Matlab/Simulink建立无人机的自主着陆阶段的仿真模型,验证了设计的着陆轨迹和着陆控制律 满足着陆性能要求。

Abstract:

According to the problem that the single reference trajectory line of longitude autonomous landing cannot meetthe requirements of UAV with different landing speed and flight performance requirement, when the UAV auto-landingwith different load. Based on the different flight performance and landing performance requirements of UAVs, the longitu.dinal landing trajectory and the control logic of landing process were designed, and the simulation model of the UAV’s au. tonomous landing process was established based on Matlab/Simulink. Landing trajectory and control law met the landingperformance requirements.