無人機空中加油會合段制導與控制系統(tǒng)設計及視景仿真
發(fā)布時間：2018-12-07 19:29
【摘要】：迄今無人機得到廣泛應用,并經(jīng)歷多次實戰(zhàn)考驗,完成任務能力顯著�？罩屑佑涂梢栽龃鬅o人機的作戰(zhàn)半徑,延長飛行時間,提升有效載荷,提高無人機的總體作戰(zhàn)效能。本文針對空中加油會合階段無人受油機的制導與控制問題進行了探索和研究。首先,本文對空中加油會合階段中加油機和受油機的飛行策略進行了分析,在此基礎上研究了無人受油機空中加油自主會合策略和任務要求,建立了無人受油機的動力學模型和加油機運動模型。同時,分析了加油機和無人受油機的相對運動關系,為制導與控制系統(tǒng)的設計打下堅實的基礎。其次,設計了無人受油機飛行控制系統(tǒng)。從精確跟蹤制導指令的角度,采用動態(tài)逆方法設計飛行控制系統(tǒng),使飛機直接跟蹤航跡角指令�？紤]到建模誤差和不確定性干擾的影響,設計了基于RBF神經(jīng)網(wǎng)絡的Backstepping飛行控制系統(tǒng),并通過仿真驗證了所設計的控制系統(tǒng)的有效性。結果表明,通過引入神經(jīng)網(wǎng)絡補償不確定性干擾,提高了飛行控制系統(tǒng)的魯棒性。再次,針對空中加油會合的任務,根據(jù)無人受油機與加油機的視線角及無人受油機飛行速度之間關系建立了滿足會合要求的滑�？刂泼�,設計了滑模追蹤制導律,實現(xiàn)了自主會合。基于Dubins最短路徑原理,根據(jù)幾何關系設計了空中加油會合航路點生成器,計算出預計轉彎點和預計會合點。仿真結果表明,該方法優(yōu)化了無人受油機的飛行軌跡,提高了效率。最后,基于Vega、MFC和MATLAB搭建了空中加油會合視景仿真系統(tǒng),實現(xiàn)了從不同視角觀察受油機在空中加油會合過程中的運動。研究表明,本文設計的無人機空中加油會合制導與控制系統(tǒng),實現(xiàn)了引導和控制無人受油機與加油機會合。本文的研究成果對實現(xiàn)無人受油機自主會合工程化具有參考價值。
[Abstract]:So far, UAV has been widely used, has experienced many practical tests, and has a remarkable ability to accomplish missions. Aerial refueling can increase the combat radius, extend flight time, enhance payload, and improve the overall operational efficiency of UAV. In this paper, the problem of guidance and control of the unmanned gasoline engine in the air refueling rendezvous stage is explored and studied. Firstly, this paper analyzes the flight strategies of refueling and receiving units in the air refueling rendezvous stage, and then studies the autonomous rendezvous strategy and task requirements of the unmanned refueling units. The dynamic model and the motion model of the oil tanker are established. At the same time, the relative motion relationship between the tanker and the unattended engine is analyzed, which lays a solid foundation for the design of the guidance and control system. Secondly, the flight control system is designed. The flight control system is designed by using the dynamic inverse method from the point of view of accurate tracking guidance instruction, so that the aircraft can directly track the track angle instruction. Considering the influence of modeling error and uncertain disturbance, the Backstepping flight control system based on RBF neural network is designed, and the effectiveness of the designed control system is verified by simulation. The results show that the robustness of flight control system is improved by introducing neural network to compensate uncertainty disturbance. Thirdly, according to the relationship between the angle of sight and the flight speed of the unattended and refueling engine, the sliding mode control surface is established to meet the meeting requirements, and the sliding mode tracking guidance law is designed for the task of air refueling rendezvous. Autonomous rendezvous is realized. Based on the principle of Dubins shortest path, an air refueling rendezvous route generator is designed according to geometric relation, and the predicted turning point and expected rendezvous point are calculated. The simulation results show that this method optimizes the flight trajectory and improves the efficiency. Finally, an aerial refueling rendezvous visual simulation system is built based on Vega,MFC and MATLAB, which realizes observing the motion of the receiving unit in the process of refueling meeting from different angles of view. The research shows that the unmanned aerial refueling control and guidance system designed in this paper can guide and control the Unmanned gasoline engine and the refueling engine. The research results in this paper have reference value for the realization of autonomous rendezvous engineering.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279
[Abstract]:So far, UAV has been widely used, has experienced many practical tests, and has a remarkable ability to accomplish missions. Aerial refueling can increase the combat radius, extend flight time, enhance payload, and improve the overall operational efficiency of UAV. In this paper, the problem of guidance and control of the unmanned gasoline engine in the air refueling rendezvous stage is explored and studied. Firstly, this paper analyzes the flight strategies of refueling and receiving units in the air refueling rendezvous stage, and then studies the autonomous rendezvous strategy and task requirements of the unmanned refueling units. The dynamic model and the motion model of the oil tanker are established. At the same time, the relative motion relationship between the tanker and the unattended engine is analyzed, which lays a solid foundation for the design of the guidance and control system. Secondly, the flight control system is designed. The flight control system is designed by using the dynamic inverse method from the point of view of accurate tracking guidance instruction, so that the aircraft can directly track the track angle instruction. Considering the influence of modeling error and uncertain disturbance, the Backstepping flight control system based on RBF neural network is designed, and the effectiveness of the designed control system is verified by simulation. The results show that the robustness of flight control system is improved by introducing neural network to compensate uncertainty disturbance. Thirdly, according to the relationship between the angle of sight and the flight speed of the unattended and refueling engine, the sliding mode control surface is established to meet the meeting requirements, and the sliding mode tracking guidance law is designed for the task of air refueling rendezvous. Autonomous rendezvous is realized. Based on the principle of Dubins shortest path, an air refueling rendezvous route generator is designed according to geometric relation, and the predicted turning point and expected rendezvous point are calculated. The simulation results show that this method optimizes the flight trajectory and improves the efficiency. Finally, an aerial refueling rendezvous visual simulation system is built based on Vega,MFC and MATLAB, which realizes observing the motion of the receiving unit in the process of refueling meeting from different angles of view. The research shows that the unmanned aerial refueling control and guidance system designed in this paper can guide and control the Unmanned gasoline engine and the refueling engine. The research results in this paper have reference value for the realization of autonomous rendezvous engineering.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279
【參考文獻】
相關期刊論文 前10條
1 溫杰;;美國無人機自主空中加油技術取得突破[J];國際航空;2015年05期
2 孫立華;;空中加油——從有人機到無人機[J];航空世界;2015年01期
3 全權;魏子博;高俊;張瑞峰;蔡開元;;軟管式自主空中加油對接階段中的建模與控制綜述[J];航空學報;2014年09期
4 梁勇;張友安;雷軍委;;一種基于Dubins路徑的在線快速航路規(guī)劃方法[J];系統(tǒng)仿真學報;2013年S1期
5 顧云濤;;無人機導航技術研究[J];現(xiàn)代導航;2013年03期
6 馮福沁;張勝修;曹立佳;王林旭;趙煒;;基于RBF神經(jīng)網(wǎng)絡的自適應反演大機動飛行控制器設計[J];電光與控制;2013年05期
7 朱曉輝;江浩;;Vega環(huán)境下的某飛行器視景仿真的實現(xiàn)[J];現(xiàn)代電子技術;2012年13期
8 蓋文東;王宏倫;李大偉;;基于自適應動態(tài)逆的自動空中加油軌跡跟蹤[J];北京航空航天大學學報;2012年05期
9 吳文海;周思羽;陳曉棟;袁春光;;飛行器軌跡控制若干術語探討[J];飛行力學;2011年03期
10 吳友謙;裴海龍;;基于Dubins曲線的無人直升機軌跡規(guī)劃[J];計算機工程與設計;2011年04期
相關碩士學位論文 前8條
1 項林杰;自主空中加油受油機精確控制與仿真[D];南京航空航天大學;2015年
2 魯可;無人戰(zhàn)斗機著艦飛行控制研究[D];南京航空航天大學;2013年
3 劉f，
本文編號：2367720
本文鏈接：http://sikaile.net/kejilunwen/hangkongsky/2367720.html
