CN105425812B - Unmanned aerial vehicle automatic landing trajectory control method based on dual models - Google Patents

Unmanned aerial vehicle automatic landing trajectory control method based on dual models Download PDF

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CN105425812B
CN105425812B CN201610025308.0A CN201610025308A CN105425812B CN 105425812 B CN105425812 B CN 105425812B CN 201610025308 A CN201610025308 A CN 201610025308A CN 105425812 B CN105425812 B CN 105425812B
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unmanned aerial
aerial vehicle
aircraft carrier
relative
coordinate system
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CN105425812A (en
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祝明
金正浩
郑泽伟
孙亮
郭宇航
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

An automatic landing track control method of an unmanned aerial vehicle based on a dual model comprises the following specific steps: 1. establishing a dynamic model of the unmanned aerial vehicle and an aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier; 2. designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method; 3. designing a spatial track of a desired aircraft carrier; designing an expected relative tracking value; designing a desired relative speed; 4. calculating an expected versus actual longitudinal direction of cancellation
Figure DDA0000906854640000011
Transverse direction
Figure DDA0000906854640000012
And a vertical direction
Figure DDA0000906854640000013
Error in relative position; calculating to eliminate error between expected relative pitch angle and actual relative pitch angle
Figure DDA0000906854640000014
And pitch angle velocity
Figure DDA0000906854640000015
And rate of sinking
Figure DDA0000906854640000016
5. Each execution unit control signal calculates: an actuator control amount [ u ] required to calculate an actuator control amount [ required to realize the control amountT,a,e,r]. The control flow is shown in the attached figure.

Description

Unmanned aerial vehicle automatic landing trajectory control method based on dual models
Technical Field
The invention provides an automatic landing trajectory control method of an unmanned aerial vehicle based on a dual model, provides a new trajectory control method for automatic landing of the unmanned aerial vehicle, and belongs to the technical field of automatic control.
Background
The carrier-borne unmanned aerial vehicle is a navy unmanned aerial vehicle based on an aircraft carrier or other warships. The control object of the method is a fixed wing type unmanned aerial vehicle. The ship-based unmanned aerial vehicle adopting conventional propulsion is a nonlinear mechanical system, and typical flight states of the ship-based unmanned aerial vehicle comprise take-off, cruise flight, turning, landing and the like. For the automatic landing process of the unmanned aerial vehicle, most of the existing control methods only consider the research on the control laws of equiangular gliding, deck power compensation and the like of the unmanned aerial vehicle on the basis of the model control method of the unmanned aerial vehicle. The patent provides a research method for unmanned aerial vehicle trajectory control on the basis of a new modeling method, namely, a model of an unmanned aerial vehicle is considered, a model of an aircraft carrier is established, and then the two models are incorporated into a control calculation method. Therefore, compared with other control technical methods, the unmanned aerial vehicle has more engineering application value compared with the trajectory control of an aircraft carrier.
Although the automatic landing process of the unmanned aerial vehicle is short in time, the unmanned aerial vehicle goes through a series of very complex processes which are mainly divided into two important links of an accurate guidance and automatic control system, and the patent mainly considers the processing method of the automatic control system. At present, the mainstream control method is algorithms such as fuzzy PID (proportion integration differentiation) and dynamic inverse under a single unmanned aerial vehicle model, and most of the algorithms are only used for controlling the attitude of the unmanned aerial vehicle. According to the control method, on the basis of a relative model of the unmanned aerial vehicle and the aircraft carrier, the unmanned aerial vehicle performs tracking control according to the motion trail of the aircraft carrier and the relative position of the unmanned aerial vehicle and the aircraft carrier in a feedback linearization mode, and finally reaches the expected relative position. The feedback linear control method for the unmanned aerial vehicle and the aircraft carrier dual model can control not only the track of an object, but also the attitude of the unmanned aerial vehicle. The method considers the attitude control of the pitch angle in the aspect of attitude, namely, the method meets the new method of the equiangular gliding technology of the unmanned aerial vehicle.
The invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, and provides a track control method based on a dynamics nonlinear model. The method combines a dual-model control theory and a feedback linearization track algorithm. The closed-loop system controlled by the method is bounded and stable, and has a good convergence effect, so that an effective design means is provided for the realization of the unmanned aerial vehicle carrier landing engineering.
Disclosure of Invention
(1) The purpose is as follows: the invention aims to provide an automatic landing trajectory control method of an unmanned aerial vehicle based on a dual model, and a control engineer can realize the landing trajectory control of the unmanned aerial vehicle by combining actual parameters according to the method.
(2) The technical scheme is as follows: the invention relates to an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which mainly comprises the following steps:
the aircraft carrier space track consists of a horizontal plane cruise track and a vertical track. The horizontal cruise trajectory of an aircraft carrier is generally a straight line. The method comprises the steps of designing an expected aircraft carrier path track and course in advance, and then designing an unmanned aerial vehicle track controller according to a relative model and by utilizing a feedback linearization theory to enable a tracking error of the unmanned aerial vehicle track controller to approach zero in a limited time. In practical application, the state quantities of the position, the attitude, the speed and the like of the aircraft carrier are measured by an onboard sensor such as a combined GPS (global positioning system), and the control quantity calculated by the method is transmitted to a thrust control device, and the trajectory function of the unmanned aerial vehicle can be realized by an aileron, a rudder and a horizontal rudder executing device.
An automatic landing track control method of an unmanned aerial vehicle based on a dual model is characterized by comprising the following specific steps:
firstly, establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
And step two, designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method.
Designing a space track of the expected aircraft carrier; designing an expected relative tracking value; the desired relative velocity is designed.
Step four, calculating and eliminating the expected and actual relative longitudinal directions
Figure BDA0000906854620000021
Transverse direction
Figure BDA0000906854620000022
And a vertical direction
Figure BDA0000906854620000023
Error in relative position; calculating to eliminate error between expected relative pitch angle and actual relative pitch angle
Figure BDA0000906854620000024
And pitch angle velocity
Figure BDA0000906854620000025
And rate of sinking
Figure BDA0000906854620000026
Step five, calculating control signals of each execution part: calculating an actuator control amount u ═ required to realize the control amountT,a,e,r]。
Wherein, in the step one, a coordinate system O taking the gravity center of the unmanned aerial vehicle as an origin is establishedaxayaza(ii) a Coordinate system O with aircraft carrier gravity center as originsxsyszs(ii) a Inertial coordinate system O with any point on the ground as origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgPointing to the earth's center. And then establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
Wherein, in the step two, the unmanned aerial vehicle to aircraft carrier track controller is designed according to the feedback linearization theory method, and the calculation method comprises the following steps of converting a relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
Figure BDA0000906854620000027
wherein the content of the first and second substances,
state quantity of relative position
Figure BDA0000906854620000028
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Figure BDA0000906854620000029
Feedback linear control matrix
Figure BDA0000906854620000031
Wherein the design described in step three expects the planar trajectory of the vessel to be a straight line, the straight line trajectory being determined by the initial velocity of the vessel without control disturbances. The vertical path of the ship is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); the design expectation relative speed is
Figure BDA0000906854620000032
Is a constant number of times, and is,
Figure BDA0000906854620000033
and (4) decomposing the expected relative speed of the unmanned aerial vehicle and the aircraft carrier along a coordinate system of the aircraft body.
Wherein the calculation described in step four eliminates the error between the desired position and the actual position
Figure BDA0000906854620000034
Expected relative position of unmanned aerial vehicle and aircraft carrier
Figure BDA0000906854620000035
Wherein
Figure BDA0000906854620000039
Pe＝[xe,ye,ze]TThe position error between the body and the space track of the aircraft carrier can be calculated by the position coordinate P of the body at the starting point of the planned tracka＝[xe,ye,ze]TLinear locus P with aircraft carriers＝[xs,ys,zs]TAnd (5) obtaining the difference. The calculation method is as follows:
Figure BDA0000906854620000036
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier, and impact type carrier landing is realized. ThetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasThe pitch angle of the ship is the included angle between the longitudinal axis of the aircraft carrier system and the longitudinal axis of the ground coordinate system. I.e. thetae＝θa-θs(ii) a (ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
Figure BDA0000906854620000037
wherein the content of the first and second substances,
Figure BDA0000906854620000038
wherein, the control quantity u required for eliminating the error between the expected relative position and the actual relative position and the error between the expected pitch angle and the actual pitch angle in the step five is calculated by the following method:
Figure BDA0000906854620000041
wherein the content of the first and second substances,
Figure BDA0000906854620000042
Figure BDA0000906854620000043
the advantages and effects are as follows:
compared with the prior art, the invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which has the advantages that:
1) the method considers the models of the unmanned aerial vehicle and the aircraft carrier into a control algorithm, and is easy to realize the technical method for solving the relative position and the relative speed of the unmanned aerial vehicle and the aircraft carrier and the corresponding angular gliding.
2) The method can ensure the asymptotic stability performance and the convergence speed of the closed-loop system.
3) The method adopts a feedback linearization method, has simple control structure method, good control effect on the control of a nonlinear system, high response speed and easy engineering realization.
In the application process, a control engineer can directly transmit the control quantity obtained by calculation of the method to an executing mechanism to realize the track function only by mastering the relative position data of the aircraft carrier and the unmanned aerial vehicle without considering the actual cruising track of the aircraft carrier.
Drawings
FIG. 1 is a schematic view of an unmanned aerial vehicle and aircraft carrier of the present invention;
FIG. 2 is a diagram of the geometric relationship of the aircraft carrier and the unmanned plane horizontal track calculation;
FIG. 3 is a geometric relationship chart for calculation of the vertical trajectory of the aircraft carrier and the unmanned aerial vehicle according to the invention;
FIG. 4 is a flow chart of a control method according to the present invention;
the symbols are as follows:
PaPa＝[xa,ya,za]Tthe current position of the ground coordinate system of the unmanned aerial vehicle;
PsPs＝[xs,ys,zs]Tthe current position of the aircraft carrier under a ground coordinate system is obtained;
PePe＝[xe,ye,ze]Tthe relative position between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
X1X1＝[xe,ye,ze,θe]Tthe relative position and posture between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
X2X2＝[ue,ve,we,re]Trelative speed and attitude angular speed between the unmanned aerial vehicle and the aircraft carrier under a ground coordinate system;
Xc
Figure BDA0000906854620000051
the expected relative position and attitude between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system;
u u＝[T,a,e,r]control quantity for the unmanned aerial vehicle;
θathe pitch angle of the unmanned aerial vehicle along a ground coordinate system;
θspitching angle of the aircraft carrier along the ground coordinate system;
Figure BDA0000906854620000052
the unmanned aerial vehicle expects a pitch angle relative to the aircraft carrier;
θea relative pitch angle between the unmanned aerial vehicle and the aircraft carrier;
Figure BDA0000906854620000053
the pitch angle error of the unmanned aerial vehicle relative to the aircraft carrier;
Ta single engine generates thrust;
γa rudder of the control device;
ea horizontal rudder of the control device;
aan aileron of the control device;
υaυa＝[ua,va,wa]Tvector velocity component under the unmanned aerial vehicle body coordinate system;
υsυs＝[us,vs,ws]Tvector velocity component under the aircraft carrier coordinate system;
υeυe＝[ue,ve,we]Trelative vector velocity component under a body coordinate system between the unmanned aerial vehicle and the aircraft carrier;
ωaωa＝[pa,qa,ra]Tangular velocity component under the unmanned aerial vehicle body system;
qapitching elevation speed under an unmanned aerial vehicle body coordinate system;
qsthe speed of a depression elevation angle under a coordinate system of the aircraft carrier body;
qerelative pitch angle speed between the unmanned aerial vehicle and the aircraft carrier under a body coordinate system;
the zeta aircraft body axis and the deck run to a track included angle;
converting a matrix from the R aircraft carrier coordinate system to a ground coordinate system;
Rbgconverting a matrix from an unmanned aerial vehicle body coordinate system to a ground coordinate system;
Rsaconverting a matrix from an aircraft carrier body coordinate system to an unmanned aerial vehicle body coordinate system;
msthe mass of the aircraft carrier;
mathe mass of the drone;
Faaerodynamic force of the unmanned aerial vehicle;
Maaerodynamic moment of the unmanned aerial vehicle;
τshydrodynamic force and moment of the aircraft carrier;
Iathe rotational inertia of the unmanned aerial vehicle;
b, controlling a matrix;
k1a speed gain matrix;
k2a displacement gain matrix;
C(vs) A coriolis and centripetal force matrix;
D(vs) A damping parameter matrix;
Detailed Description
The design method of each part in the invention is further explained with the attached drawings as follows:
the invention discloses an automatic landing track control method of an unmanned aerial vehicle based on a dual model, which comprises the following specific steps:
the method comprises the following steps: establishing a kinematics and dynamics model of unmanned aerial vehicle and aircraft carrier
1) As shown in fig. 1, a body coordinate system O is established with the center of gravity of the unmanned aerial vehicle as the originaxayaza(ii) a Body coordinate system O established by taking aircraft carrier gravity center as originsxsyszs(ii) a Establishing an inertial coordinate system O by taking any point on the ground as an origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgPointing to the earth's center.
2) The dynamics model of the unmanned aerial vehicle is as follows
Figure BDA0000906854620000071
The plane dynamics model of the aircraft carrier is as follows
Figure BDA0000906854620000072
Because of the relative motion between the aircraft carrier and the unmanned aerial vehicle,
i.e. the relative kinematic model is
Figure BDA0000906854620000073
Step two: and designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method.
Converting the relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
Figure BDA0000906854620000074
wherein the content of the first and second substances,
state quantity of relative position
Figure BDA0000906854620000075
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Figure BDA0000906854620000076
Feedback linear control matrix
Figure BDA0000906854620000081
Step three: designing a spatial track of a desired aircraft carrier; designing an expected relative tracking value; the desired relative velocity is designed.
The plane track of the ship is designed to be a straight line, and the straight line track is determined by the initial speed of the ship under the condition of no control interference. The vertical path of the ship is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); designing expected relative position of unmanned aerial vehicle and aircraft carrier
Figure BDA0000906854620000082
Wherein
Figure BDA00009068546200000810
The desired relative velocity is
Figure BDA0000906854620000083
Is a constant number of times, and is,
Figure BDA0000906854620000084
the decomposition quantity of the expected relative speed of the unmanned aerial vehicle and the aircraft carrier along the coordinate system of the aircraft body is obtained;
Figure BDA0000906854620000085
the desired relative pitch angle and pitch angle velocity of the drone and aircraft carrier, respectively. Wherein the content of the first and second substances,
Figure BDA0000906854620000086
step four: the calculation eliminates the error between the desired position and the actual position.
Calculating to eliminate error between expected position and actual position
Figure BDA0000906854620000087
Pe＝[xe,ye,ze]TThe position error between the body and the space track of the aircraft carrier can be calculated by the position coordinate P of the body at the starting point of the planned tracka＝[xe,ye,ze]TLinear locus P with aircraft carriers＝[xs,ys,zs]TAnd (5) obtaining the difference. The calculation method is as follows:
Figure BDA0000906854620000088
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier, and impact type carrier landing is realized. ThetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasThe pitch angle of the ship is the included angle between the longitudinal axis of the aircraft carrier system and the longitudinal axis of the ground coordinate system. I.e. thetae＝θa-θs(ii) a (ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
Figure BDA0000906854620000089
step five: each execution unit control signal calculates: calculating an actuator control amount u ═ required to realize the control amountT,a,e,r]。
The control amount u required to eliminate the error between the desired relative position and the actual relative position and to eliminate the error between the desired pitch angle and the actual pitch angle, which are described in step four, is calculated as follows:
Figure BDA0000906854620000091
namely:
Figure BDA0000906854620000092
design state control quantity
Figure BDA0000906854620000093
Figure BDA0000906854620000094
Figure BDA0000906854620000095
Wherein the content of the first and second substances,
u＝[u1u2u3u4]T＝[T r a e]T
Figure BDA0000906854620000096
Figure BDA0000906854620000097
。

Claims (2)

1. an automatic landing track control method of an unmanned aerial vehicle based on a dual model is characterized by comprising the following specific steps:
firstly, establishing a dynamic model of the unmanned aerial vehicle and an aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier;
designing an unmanned aerial vehicle to aircraft carrier trajectory controller according to a feedback linearization theoretical method;
designing a space track of the expected aircraft carrier; designing an expected relative tracking value; designing a desired relative speed;
step four, calculating and eliminating the relative vertical between the expectation and the realityTo the direction of
Figure RE-FDA0002561430560000011
Transverse direction
Figure RE-FDA0002561430560000012
And a vertical direction
Figure RE-FDA0002561430560000013
Error in relative position; calculating to eliminate error between expected relative pitch angle and actual relative pitch angle
Figure RE-FDA0002561430560000014
And pitch angle rate qeAnd rate of sinking
Figure RE-FDA0002561430560000015
Step five, calculating control signals of each execution part: calculating an execution unit control amount u required to realize the control amount;
in the second step, the unmanned aerial vehicle to aircraft carrier trajectory controller is designed according to the feedback linearization theory method, and the calculation method is as follows: converting the relative kinematics model of the aircraft carrier and the unmanned aerial vehicle into the following form:
Figure RE-FDA0002561430560000016
wherein the content of the first and second substances,
state quantity of relative position
Figure RE-FDA0002561430560000017
Wherein, the parameter xeIs the relative vector position in the x direction between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system, yeIs the relative vector position in the y direction between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate system, zeIs the relative vector position theta in the z direction between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate systemeFor unmanned aerial vehiclesRelative angle of pitch, u, with aircraft carriereIs the relative speed v in the x direction between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate systemeIs the relative speed in the y direction, w, between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate systemeIs the relative speed q in the z direction between the unmanned aerial vehicle and the aircraft carrier under the ground coordinate systemeRelative pitch angle speed under a body coordinate system between the unmanned aerial vehicle and the aircraft carrier;
② unmanned plane body coordinate system to ground coordinate system conversion matrix
Figure RE-FDA0002561430560000021
Wherein the parameter thetaaFor pitching of the drone along a ground coordinate system
Feedback linear control matrix
Figure RE-FDA0002561430560000022
Wherein the parameters
Figure RE-FDA0002561430560000023
Are all pneumatic derivatives, IyIs the moment of inertia relative to the y-axis of the coordinate of the machine body;
the space track of the expected aircraft carrier is designed to comprise a plane track of the expected aircraft carrier and a vertical track of the expected aircraft carrier, the plane track of the expected aircraft carrier is designed to be a straight line, the straight line track is determined by the initial speed of the ship under the condition of no control interference, and the vertical track of the expected aircraft carrier is a wave fluctuation curve zs(t) — 1.22sin (0.6t) +0.305sin (0.2t) and is assigned as zs(t); the design expectation relative speed is
Figure RE-FDA0002561430560000024
C > 0 is a constant and is,
Figure RE-FDA0002561430560000025
for the desired relative speed of the unmanned aerial vehicle and the aircraft carrierMeasuring the decomposition amount along a coordinate system of the machine body;
the calculations described in step four eliminate the expected versus actual longitudinal direction (
Figure DEST_PATH_IMAGE002
) Transverse direction (
Figure DEST_PATH_IMAGE004
) And in the vertical direction (
Figure DEST_PATH_IMAGE006
) Error of relative position
Figure DEST_PATH_IMAGE008
Figure RE-FDA0002561430560000026
Figure RE-FDA0002561430560000027
Figure RE-FDA0002561430560000028
Figure RE-FDA0002561430560000029
Expected relative position of unmanned aerial vehicle and aircraft carrier
Figure RE-FDA00025614305600000210
Wherein
Figure RE-FDA00025614305600000211
Pe＝[xe,ye,ze]TIs the position error between the body and the aircraft carrier space trajectory, Pe＝[xe,ye,ze]TStarting from the planned track the position coordinates P of the bodya＝[xa,ya,za]Linear locus P with aircraft carriers＝[xs,ys,zs]The difference is obtained, and the calculation method is as follows:
Figure RE-FDA0002561430560000031
at the final stage of carrier landing of the unmanned aerial vehicle, after the unmanned aerial vehicle intercepts and captures a proper lower slideway, the same pitch angle, speed and sinking rate are kept until the unmanned aerial vehicle collides with a flight deck of an aircraft carrier to realize impact type carrier landing, namely thetaaThe pitch angle of the unmanned aerial vehicle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a longitudinal axis of a ground coordinate system; thetasIs the pitching angle of the aircraft carrier, and the angle is the included angle between the longitudinal axis of the aircraft carrier body system and the longitudinal axis of the ground coordinate system, namely thetae＝θa-θs(ii) a The calculation method for tracking the errors of the pitch angle, the speed and the sinking rate comprises the following steps:
Figure RE-FDA0002561430560000032
wherein the parameter qeRelative pitch angle speed under a body coordinate system between the unmanned aerial vehicle and the aircraft carrier; parameter weIs the speed relative to the z axis under the coordinate system of the unmanned plane and the aircraft carrier,
wherein the content of the first and second substances,
Figure RE-FDA0002561430560000033
(C1＞0,C2＞0,C3＞0)；
the control signal calculation of each execution unit described in the step five: the control amount u of the execution unit required for realizing the control amount is calculated by the following method:
Figure RE-FDA0002561430560000034
wherein k is1Is a velocity gain matrix, k2In order to shift the gain matrix,
Figure DEST_PATH_IMAGE010
is composed of
Figure DEST_PATH_IMAGE012
The inverse of the matrix of (a) is,
Figure RE-FDA0002561430560000035
Figure RE-FDA0002561430560000036
Figure RE-FDA0002561430560000037
is a non-control formula item;
wherein the content of the first and second substances,
Figure RE-FDA0002561430560000038
Figure RE-FDA0002561430560000039
2. the automatic landing trajectory control method of the unmanned aerial vehicle based on the dual model is characterized in that:
establishing a coordinate system O taking the gravity center of the unmanned aerial vehicle as an origin in the step oneaxayaza(ii) a Coordinate system O with aircraft carrier gravity center as originsxsyszs(ii) a Inertial coordinate system O with any point on the ground as origingxgygzgWherein the origin OgAt any point on the ground, OgxgPointing to north, OgygPointing to east, OgzgAnd pointing to the geocentric, then establishing a dynamic model of the unmanned aerial vehicle and the aircraft carrier, and establishing a relative kinematic equation according to the relative positions of the unmanned aerial vehicle and the aircraft carrier.
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