[1]颜宗渊,王道波,王博航,等.基于矢量场法的无人机三维路径跟踪控制[J].机械与电子,2021,(10):50-56.
　YAN Zongyuan,WANG Daobo,WANG Bohang,et al.３D Path Tracking Control of UAV Based on Vector Field Method[J].Machinery & Electronics,2021,(10):50-56.
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基于矢量场法的无人机三维路径跟踪控制()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年10期
页码:
50-56
栏目:
自动控制与检测
出版日期:
2021-10-24

文章信息/Info

Title:
３D Path Tracking Control of UAV Based on Vector Field Method
文章编号:
１００１-２２５７ ( ２０２１ ) １０-００５０-０７
作者:
颜宗渊; 王道波; 王博航; 周晨昶; 姜 燕
南京航空航天大学自动化学院,江苏 南京 ２１１１０６
Author(s):
YAN Zongyuan ;  WANG Daobo ;  WANG Bohang ;  ZHOU Chenchang ;  JIANG Yan
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing ２１１１０６ , China )
关键词:
固定翼无人机; 路径跟踪; 矢量场法; 制导律算法
Keywords:
fixed wing UAV ;  path tracking ;  vector field ;  guidance law algorithm
分类号:
V２４９. ４
文献标志码:
A
摘要:
为实现固定翼无人机自主跟踪预定的三维路径,提出了一种基于矢量场法的三维路径跟踪算法.建立了固定翼无人机的运动学模型,并介绍了用于三维路径跟踪的矢量场法,分别推导得出了直线路径和螺旋线路径跟踪所需的期望速度矢量,得到跟随路径所需的期望航向角和航迹角,为无人机横向通道控制和纵向通道控制提供输入,将无人机引导到预定的轨迹上.此外,针对航段切换问题,提出了一种基于圆角几何的切换策略,采用螺旋线来拟合相邻航段,根据无人机是否通过半平面作为切换准则,实现无人机平滑过渡相邻航段.通过仿真实验评估该算法在不同初始条件下的性能,结果表明该方法能使无人机跟踪预定的三维路径,且具有良好的跟踪性能.
Abstract:
In order to achieve the UAV tacking the desired ３D path , a ３D path tracking algorithm based on vector field is proposed．The kinematics model of fixed wing UAV is established , and the vector field method for ３D path tracking is introduced．The expected velocity vectors for straight path and spiral path tracking are derived respectively , and the expected heading angle and track angle for following path are obtained , which provide input for lateral channel control and longitudinal channel control of UAV．In addition , aiming at the problem of segment switching , a switching strategy based on fillet geometry is proposed．Helix is used to fit the adjacent segments．According to whether the UAV passes through the half plane or not , the UAV can smoothly transit the adjacent segments．The performance of the algorith munder different initial conditions is evaluated through simulation experiments．The simulation results show that the method can make UAV track the predetermined three-dimensional path , and has good tracking performance．

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: ２０２１-０５-０６
作者简介:颜宗渊 ( １９９６－ ),男,江西吉安人,硕士研究生,研究方向为无人机飞行控制;王道波 ( １９５７－ ),男,河北易县人,教授,博士研究生导师,研究方向为无人机飞行控制与仿真、机电模拟技术、电动伺服控制技术以及液压伺服技术.
更新日期/Last Update: 2021-11-11