[1]周晨昶,王道波,王 猛.基于向量场法的固定翼无人机制导算法的设计与实现[J].机械与电子,2022,(08):53-61.
　ZHOU Chenchang,WANG Daobo,WANG Meng.Design and Implementation of Path Following Algorithm Based on Vector Field Method for Fixed-wing UAV[J].Machinery & Electronics,2022,(08):53-61.
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基于向量场法的固定翼无人机制导算法的设计与实现()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年08期
页码:
53-61
栏目:
机电一体化技术
出版日期:
2022-08-24

文章信息/Info

Title:
Design and Implementation of Path Following Algorithm Based on Vector Field Method for Fixed-wing UAV
文章编号:
1001-2257 ( 2022 ) 08-0053-09
作者:
周晨昶; 王道波; 王 猛
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
ZHOU Chenchang ;  WANG Daobo ;  WANG Meng
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
固定翼无人机; 路径跟随; 向量场; 抗风干扰
Keywords:
fixed-wing UAV ;  path following ;  vector field ;  the interference resistance of wind
分类号:
V279
文献标志码:
A
摘要:
研究某中小型固定翼无人机在风干扰环境下的制导控制问题,对无人机路径跟随制导算法进行了改进。结合该无人机的姿态控制系统与路径跟随问题模型,设计了一种基于向量场的侧向制导算法,该算法只考虑侧偏距作为影响航线角指令变化的唯一因素,代替了基于 PID 的侧向制导算法,并与 PID 纵向制导算法进行了融合。通过数字仿真实验和半实物仿真实验验证了改进后算法的有效性和优越性,无人机路径跟随性能明显更优,抗风干扰能力显著提升。
Abstract:
This paper studies the guidance control problem of a small and medium-sized fixed-wing UAV under wind disturbances and improves the path following guidance algorithm.Combining the autopilot models and the path following problem models of the UAV , a lateral guidance algorithm based on vector field is designed.The algorithm only considers the side offset as the only factor affecting the change of route angle command , replaces the lateral guidance algorithm based on PID , and integrates with the PID longitudinal guidance algorithm.Finally , its performance is evaluated by various simulations.The experimental results show that the performance of UAV path following is significantly enhanced , and the interference resistance of wind is significantly improved.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2022-02-28
作者简介:周晨昶 ( 1996- ),男,江苏江阴人,硕士,研究方向为无人机系统;王道波 ( 1957- ),男,河北易县人,博士,教授,研究方向为无人机系统、精密伺服控制、航空发动机控制。
更新日期/Last Update: 2022-09-30