无人机栖落机动建模与轨迹优化

对固定翼无人飞行器栖落机动的纵向运动进行了气动特性建模与轨迹优化设计。通过运动捕捉系统测量获得试验滑翔机实时飞行数据,并结合统计学原理和平板气动理论建立了气动模型和动力学模型。针对所建立的模型采用GPOPS优化工具箱设计了栖落机动标称轨迹。优化结果表明,不同初始速度条件下执行栖落机动的空间需求不同,但最终都可以实现以相同的栖落速度落到同一位置。

Modeling and trajectory optimization of perching maneuvers for UAV

In this paper, aerodynamic modeling and trajectory optimization of fixed-wing unmanned aircraft for perching maneuvers are investigated on the longitudinal motion.Aerodynamic coefficients of a glider are determined directly from free-flight data of real system trajectories.The identification of aerodynamic model is then presented based on the theory of statistics and the flat plate theory of aerodynamics.Nominal trajectory of perching maneuvers is designed using GPOPS optimization toolbox.The optimization results show that perching trajectories in different initial flight velocity are different within space demand, but finally can be achieved on the same position with the same speed.