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软翼无人机由柔性冲压式翼伞通过绳索悬挂带有动力发生装置的无人车构成。由于软翼无人机自身的特殊结构,使之存在附加质量、柔性结构以及内部相对运动,这给软翼无人机数学建模和自主飞行控制的研究带来很大障碍。基于数学模型的自主飞行控制器设计,可以低成本、高效率地获取无人机自主飞行控制算法。基于自行研制的软翼无人机实体系统,建立了6自由度数学模型,设计了自主飞行控制器和视景仿真系统,实现了对软翼无人机的数值和视景的联合仿真,并通过航迹点飞行仿真验证了自主飞行控制器和视景仿真系统的有效性。
The soft-wing UAV consists of an unmanned vehicle with a power generating device suspended by a rope with a flexible punching wing umbrella. Due to the special structure of the soft-wing UAV itself, additional quality, flexible structure and internal relative motion exist, which brings great obstacles to the research of mathematical modeling and autonomous flight control of the soft-wing UAV. Based on the mathematical model of autonomous flight controller design, autonomous flight control algorithm of UAV can be obtained with low cost and high efficiency. Based on the self-developed soft-wing UAV real system, a 6-DOF mathematical model is established, an autonomous flight controller and visual simulation system are designed, and the co-simulation of the numerical and visual scene of the soft-wing UAV is realized. The effectiveness of the autonomous flight controller and the visual simulation system is verified by flight simulations.