[1]王 程,曹 东,方银浩.基于直接力控制的水上无人机高精度自主降落控制[J].机械与电子,2026,44(08):89-95.
　WANG Cheng,CAO Dong,FANG Yinhao.High-precision Autonomous Landing Control for Unmanned Seaplanes Based on Direct Lift Control[J].Machinery & Electronics,2026,44(08):89-95.
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基于直接力控制的水上无人机高精度自主降落控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年08期
页码:
89-95
栏目:
飞行控制与导航
出版日期:
2026-08-25

文章信息/Info

Title:
High-precision Autonomous Landing Control for Unmanned Seaplanes Based on Direct Lift Control
文章编号:
1001-2257(2026)08-0089-07
作者:
王 程; 曹 东; 方银浩
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
WANG Cheng; CAO Dong; FANG Yinhao
(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
关键词:
水上无人机; 魔毯; 直接力控制; 自主降落
Keywords:
unmanned seaplanes; MAGIC CARPET; direct lift control; autonomous landing
分类号:
V279;V249.1
文献标志码:
A
摘要:
为提高固定翼水上无人机在自主降落过程中的轨迹跟踪精度和响应速度,提出一种基于“魔毯”(MAGIC CARPET)直接力控制的水上无人机高精度自主降落控制方法。首先,建立了固定翼水上无人机降落过程的非线性数学模型,并分析不同襟翼构型下的气动特性。然后,借鉴 “魔毯” 直接力控制思想,以襟翼作为直接升力操纵面,实现下滑轨迹的快速修正。其中,升降舵通道用于稳定迎角并补偿襟翼偏转产生的俯仰力矩,油门通道用于保持降落过程速度稳定。最后,开展了与常规纵向控制方法的对比仿真实验。结果表明,“魔毯”直接力控制器轨迹能够有效提升水上无人机自主着水的纵向控制精度、响应速度和抗风性能。
Abstract:
To enhance the trajectory tracking accuracy and response rapidity of a fixed-wing unmanned seaplanes during autonomous landing,a high-precision autonomous landing control method based on MAGIC CARPET direct lift control is proposed.Firstly,a nonlinear mathematical model of the landing phase is established for the fixed-wing unmanned seaplane,and the aerodynamic characteristics under different flap configurations are analyzed.Then,drawing upon the MAGIC CARPET direct force control philosophy, the flaps are employed as a direct lift control surfaces to achieve rapid correction of the glideslope trajectory.In this scheme,the elevator channel is dedicated to stabilizing the angle of attack and compensating for the pitching moment induced by flap deflection,while the throttle channel is used to maintain a constant airspeed throughout the landing process.Finally,comparative simulations are conducted against conventional longitudinal control methods.The results demonstrate that the MAGIC CARPET direct force controller can significantly improve the longitudinal control accuracy,response speed,and wind-disturbance rejection performance of unmanned seaplanes during autonomous water landing.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2026-06-25
作者简介:王 程 (2002-),男,江苏盐城人,硕士研究生,研究方向为无人飞行器飞行控制;曹 东 (1972-),男,安徽池州人,硕士,副研究员,研究方向为无人飞行器飞行控制、嵌入式控制系统、检测技术与自动化装置等。
更新日期/Last Update: 2026-08-28