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针对UCAV对地攻击轨迹规划问题,提出一种基于Radau伪谱法(RPM)的求解策略。首先,构建了最优控制问题的一般框架,分析了RPM求解最优控制问题的基本原理及实现方式;在充分考虑UCAV的气动力特性、发动机推力特性及大气环境特性的基础上建立了UCAV三自由度(3-DOF)质点模型,并详细分析了UCAV初始和终端位置、速度、姿态约束、飞行性能和战场环境等约束条件,在此基础上构建UCAV对地攻击轨迹规划问题框架;最后,利用RPM将轨迹规划的最优控制问题转化为非线性规划问题并求得最优解。仿真结果表明,该方法能以较高的精度和速度生成满足各种复杂约束要求、连续并且真实可行的最优轨迹。
In view of the trajectory planning problem of ground attack by UCAV, a solution strategy based on Radau pseudospectral method (RPM) is proposed. First, the general framework of the optimal control problem is constructed, and the basic principle and implementation of the optimal control problem of RPM are analyzed. Based on the aerodynamic characteristics of UCAV, the thrust characteristics of engine and the characteristics of atmospheric environment, UCAV three (3-DOF) particle model. The constraints of UCAV initial and final position, velocity, attitude constraints, flight performance and battlefield environment are analyzed in detail. Based on this, the framework of UCAV trajectory planning problem is constructed. Finally, Using RPM, the optimal trajectory planning control problem is transformed into a nonlinear programming problem and the optimal solution is obtained. The simulation results show that the proposed method can generate the optimal trajectories that meet various complex constraints and are continuous and feasible with high accuracy and speed.