大工至善|大学至真分享 http://blog.sciencenet.cn/u/lcj2212916

博文

[转载]【无人机】【2007.05】无人机数字自动着陆系统

已有 213 次阅读 2021-8-18 19:11 |系统分类:科研笔记|文章来源:转载

图片


本文为美国德克萨斯农工大学(作者:THOMAS WILLIAM WAGNER)的硕士论文,共112页。

 

自动着陆控制器广泛应用于大型和小型/微型无人机,但用于中型无人机的控制器很少。这些无人机往往只装有有限的传感器和仪器,但必须具备良好的性能,克服建模的不确定性以及外部输入如湍流的干扰等。定量反馈理论是一种很有吸引力的控制方法,因为它为具有结构模型不确定性的系统提供了良好的性能和鲁棒性,已经成功地应用于许多飞行器问题,但还没有应用于自动着陆,已有的文献中只提出了内环综合。

 

本文介绍了一种基于离散定量反馈理论的中型无人机自动着陆控制器的设计与研制。开发了航向仪、下滑道跟踪器和自动耀斑的控制器,重点是外环综合。采用线性非实时六自由度Monte Carlo模拟方法,比较了定量反馈理论控制器和基线比例积分控制器在几种静止空气和湍流着陆情况下的性能。定量反馈理论控制器在静止和湍流空气中的性能与比例积分控制器相似。两种控制器对湍流的鲁棒性相似,但定量反馈理论控制器对湍流空气中的模型不确定性以及湍流中的传感器特性具有更好的鲁棒性。基于本文的研究结果,QFT控制器是一种很有前途的自动着陆控制器。

 

Autoland controllers are prevalent for both large and small/micro unmannedaerial vehicles, but very few are available for medium sized unmanned aerialvehicles. These vehicles tend to have limited sensors and instrumentation, yetmust possess good performance in the presence of modeling uncertainties, andexogenous inputs such as turbulence. Quantitative Feedback Theory is anattractive control methodology for this application, since it provides goodperformance and robustness for systems with structured model uncertainties. Ithas been successfully applied to many air-craft problems, but not to automaticlanding, and only inner-loop synthesis has been presented in the literature.This paper describes the synthesis and development of an automatic landingcontroller for medium size unmanned aerial vehicles, using discrete QuantitativeFeedback Theory. Controllers for the localizer, glideslope tracker, and automaticflare are developed, with a focus on the outer-loops synthesis. Linear,nonreal-time six degree-of-freedom Monte Carlo simulation is used to comparethe Quantitative Feedback Theory controller to a baseline Proportional-Integralcontroller in several still air and turbulent landing scenarios. TheQuantitative Feedback Theory controller provides performance similar to theProportional-Integral controller in still and in turbulent air. Bothcontrollers show similar robustness to turbulence, but the QuantitativeFeedback Theory controller provides significantly better robustness to modeluncertainties in turbulent air as well as to sensor characteristics inturbulence. Based on the results of the paper, the QFT controller is apromising candidate for an autoland controller.

 

1.         引言

2.         问题描述与定义

3.         飞行器模型

4.         数字控制器综合

5.         方法类型的选择

6.         非实时仿真的结果

7.         结论


更多精彩文章请关注公众号:205328s611i1aqxbbgxv19.jpg




http://wap.sciencenet.cn/blog-69686-1300370.html

上一篇:[转载]【电信学】【2002.01】室内移动导航系统的设计与实现
下一篇:[转载]【信息技术】【2006.11】基于熵的图像配准

0

该博文允许注册用户评论 请点击登录 评论 (0 个评论)

数据加载中...

Archiver|手机版|科学网 ( 京ICP备07017567号-12 )

GMT+8, 2021-12-1 00:49

Powered by ScienceNet.cn

Copyright © 2007- 中国科学报社

返回顶部