无人机空中加油会合段制导与控制系统设计及视景仿真

发布时间：2018-12-07 19:29

【摘要】：迄今无人机得到广泛应用,并经历多次实战考验,完成任务能力显著。空中加油可以增大无人机的作战半径,延长飞行时间,提升有效载荷,提高无人机的总体作战效能。本文针对空中加油会合阶段无人受油机的制导与控制问题进行了探索和研究。首先,本文对空中加油会合阶段中加油机和受油机的飞行策略进行了分析,在此基础上研究了无人受油机空中加油自主会合策略和任务要求,建立了无人受油机的动力学模型和加油机运动模型。同时,分析了加油机和无人受油机的相对运动关系,为制导与控制系统的设计打下坚实的基础。其次,设计了无人受油机飞行控制系统。从精确跟踪制导指令的角度,采用动态逆方法设计飞行控制系统,使飞机直接跟踪航迹角指令。考虑到建模误差和不确定性干扰的影响,设计了基于RBF神经网络的Backstepping飞行控制系统,并通过仿真验证了所设计的控制系统的有效性。结果表明,通过引入神经网络补偿不确定性干扰,提高了飞行控制系统的鲁棒性。再次,针对空中加油会合的任务,根据无人受油机与加油机的视线角及无人受油机飞行速度之间关系建立了满足会合要求的滑模控制面,设计了滑模追踪制导律,实现了自主会合。基于Dubins最短路径原理,根据几何关系设计了空中加油会合航路点生成器,计算出预计转弯点和预计会合点。仿真结果表明,该方法优化了无人受油机的飞行轨迹,提高了效率。最后,基于Vega、MFC和MATLAB搭建了空中加油会合视景仿真系统,实现了从不同视角观察受油机在空中加油会合过程中的运动。研究表明,本文设计的无人机空中加油会合制导与控制系统,实现了引导和控制无人受油机与加油机会合。本文的研究成果对实现无人受油机自主会合工程化具有参考价值。
[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.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

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