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针对飞行器在线轨迹规划问题提出一种基于准平衡滑翔条件的轨迹在线规划方法及利用PID控制器实现的全状态跟踪制导方法。利用准平衡滑翔条件推导了高度、速度及航程等关键参数之间的解析关系,基于此条件结合飞行器当前状态与终端约束实现了物理可实现的滑翔轨迹快速规划;根据需要的速度和高度反馈量设计了PID控制器,实现纵向轨迹跟踪,通过飞行器航向误差走廊保证了飞行航向。仿真算例验证了该方法能实现轨迹在线规划,并对外部偏差具有较强的鲁棒性。
Aiming at the on-line trajectory planning of aircraft, a trajectory online planning method based on quasi-equilibrium gliding conditions and a full state tracking guidance method using PID controller are proposed. Based on the condition of the aircraft and the terminal constraints, the physically achievable glide trajectory planning is realized quickly. Based on the required speed and altitude feedback The PID controller is designed to track the longitudinal trajectory and ensure the flight course through the corridor of course error of the aircraft. Simulation results show that the proposed method can realize on-line trajectory planning and has strong robustness to external deviations.