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针对复杂气流干扰对无人机着舰的影响,对无人机着舰的纵向下滑轨迹进行研究。首先,针对常规控制结构的不足,提出一种基于直接力控制的无人机着舰纵向控制策略,进而引出无人机广义轨迹概念;然后,考虑各种约束条件,将无人机纵向广义轨迹设计转化为约束非线性规划问题,求解得到不同海面自然风速下的纵向广义轨迹,以及该广义轨迹与海面自然风速的函数关系。算例优化设计结果满足各种约束条件和优化目标,可以保证无人机在不同海面自然风速下都具有更大的扰流抑制能力。
Aiming at the influence of complicated airflow disturbance on the UAV landing, the vertical gliding trajectory of UAV landing was studied. First of all, aiming at the shortage of conventional control structure, a direct control strategy based on direct force control is proposed, which leads to the concept of UAV generalized trajectory. Then, considering various constraints, the UAV longitudinal generalized trajectory The design is transformed into a constrained nonlinear programming problem, and the longitudinal generalized trajectory under different natural wind speeds over the sea surface is solved. The generalized trajectory is related to the natural wind speed over the sea surface. The result of the example optimization design satisfies all kinds of constraints and optimization objectives, which can ensure the UAVs to have greater disturbance suppression capability under different natural surface wind speeds.