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复杂条件下无人机着陆纵向控制技术研究

On Longitudinal Control of Landing for UAVs under Complex Conditions

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摘要

无人机自动着陆过程受环境因素影响较大,为了提高无人机在复杂条件下的着陆精度,增强无人机环境适应性,针对某无人机精确着陆要求,分析了无人机着陆误差较大的主要原因,给出了改进措施,分别验证了陡下滑段自动配平和浅下滑段动力补偿的控制效果。最后采用蒙特卡罗方法对各种不确定性下的着陆进行仿真验证,仿真结果表明,改进后的着陆方案能够有效地减小无人机着陆误差,提高无人机着陆精度。

Abstract

The landing precision of an Unmanned Aerial Vehicles (UAVs) is influenced seriously by the complexity of the environment.In this article,we focus on the accuracy landing of UAV,and analyze the main factors that bring in errors.Some methods were given for improving the performance and environmental adaptability of UAVs in landing process.Simulation was made with Monte Carlo method to examine the suitability of these control methods under different sort of uncertainties.The results show that the improved control method can reduce the deviation of landing points,and increase the landing precision.

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中图分类号:V249

DOI:10.3969/j.issn.1671-637x.2014.11.012

所属栏目:工程应用

基金项目:中央高校基本科研业务费专项资金(NZ2012008)

收稿日期:2013-10-30

修改稿日期:2013-12-20

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作者单位    点击查看

李磊:南京航空航天大学自动化学院, 南京 210016
黄一敏:南京航空航天大学自动化学院, 南京 210016
孙春贞:南京航空航天大学自动化学院, 南京 210016

备注:李磊(1989-),男,湖北恩施人,硕士生,研究方向为先进飞行控制技术。

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引用该论文

LI Lei,HUANG Yi-min,SUN Chun-zhen. On Longitudinal Control of Landing for UAVs under Complex Conditions[J]. Electronics Optics & Control, 2014, 21(11): 62-65

李磊,黄一敏,孙春贞. 复杂条件下无人机着陆纵向控制技术研究[J]. 电光与控制, 2014, 21(11): 62-65

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