无人机空中加油自主会合的制导与控制

针对无人机空中加油的自主会合问题,进行了相应制导律和非线性控制器的设计。通过改进的带角度约束的三维比例制导律实现对航向角的控制,以协调转弯的方式将航迹角指令转化为姿态角指令。基于无人机六自由度的动力学模型,针对无人机的姿态控制,采用时标分离的方法设计了慢子系统和快子系统,并对这两个子系统分别进行动态逆控制设计。同时,基于滑模控制的方法设计了满足自主会合要求的速度控制律。在保证无人机飞行稳定的基础上,实现了对控制和制导指令的精确跟踪。仿真结果表明,所设计的制导律和控制律能够实现无人机空中加油的自主会合,具有良好的动态特性。

Guidance and control of UAV autonomous rendezvous in aerial refueling

Aiming at the problem of the unmanned aerial vehicle (UAV) autonomous rendezvous in aerial refueling,the corresponding guidance law and the nonlinear controllers were designed.By using modified three-dimensional proportional navigation law with angle constraint,the requirement for heading was achieved,the guidance commands were transformed into attitude commands with the turn coordination.Based on UAV 6-DOF model,the low speed subsystem and the fast speed subsystem were designed using the time-scale separation method,two nonlinear dynamic inversion controllers were designed for two subsystems for UAV attitude.Meanwhile,the velocity control law based on sliding mode control was proposed to meet the requirements of autonomous rendezvous.The system guaranteed the flight stability of UAV and achieved the accurate tracking of guidance and control commands.Simulation results verify the validity of the proposed guidance law and control law,which can achieve UAV autonomous rendezvous in aerial refueling,and has good dynamic performance.