四火箭助推无人机起飞与降落控制算法

固定翼无人机起降过程对场地要求高，这限制了其应用。为此，提出四火箭助推无人机实现短距离起降的方案，并对火箭助推无人机起降控制算法进行研究。设计火箭助推无人机起降过程的控制策略；建立无人机气动力、助推火箭作用力、发动机推力及控制律数学模型，构建无人机起降过程的动力学方程；设计一种基于PID 控制的控制算法，控制目标无人机在各种干扰环境下安全稳定地完成起降过程；利用MATLAB 软件编程进行仿真计算，并通过对比仿真结果与试飞结果，来验证该控制算法的有效性。结果表明：所设计的控制算法及控制律满足目标无人机起降过程的控制要求。

Design and Analysis of Landing Control Algorithm for Four Rocket Propelled UAV

Abstract: The takeoff and landing control algorithm of rocket assisted UAV is studied in order to innovate a short takeoff and landing method for large high subsonic UAV. In the research process, the control strategy of rocket assisted UAV during takeoff and landing is designed; The mathematical models of UAV aerodynamic force, booster rocket force, engine thrust and control law are established; The dynamic equation of UAV takeoff and landing process is constructed; A control algorithm based on PID control is designed to control the take-off and landing process of the target UAV safely and stably under various interference environments. MATLAB software is used for programming and simulation. The simulation results show that the designed control algorithm and control rate meet the control requirements of the takeoff and landing process of the target UAV.