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An adaptive wind-resistant path tracking control method for unmanned airship

A path tracking and unmanned airship technology, applied in three-dimensional position/channel control and other directions, can solve problems such as not considering the external wind field, achieve the effect of ensuring global asymptotic stability, improving tracking performance, and eliminating path tracking errors

Active Publication Date: 2018-01-09
北京天航华创科技股份有限公司
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AI Technical Summary

Problems solved by technology

The current path-following control methods are all designed based on the determined airship model, without considering the interference factors such as the external wind field.

Method used

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  • An adaptive wind-resistant path tracking control method for unmanned airship
  • An adaptive wind-resistant path tracking control method for unmanned airship

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Embodiment Construction

[0042] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:

[0043] "A self-adaptive wind-resistant path tracking control method for unmanned airship" of the present invention, see figure 1 As shown, the specific steps are as follows: Step 1: Given the expected tracking value

[0044] 1) Given the desired plane path is the path parameter, x p ,y p Desired position for the airship.

[0045] 2) Given the desired speed as u rc =C, C>0 is a constant.

[0046] Step 2: Adaptive integral guidance calculation

[0047] 1) Calculate the orientation angle of the desired path reference point

[0048] 2) Calculate the error between the current position of the airship and the reference point of the expected path [x,y] T is the current position of the unmanned airship.

[0049] 3) Calculate the adaptive law of wind field estimation k θx ,k θy>0 is an adaptive parameter, and the estimated value of the win...

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Abstract

An adaptive wind-resistant path tracking control method for an unmanned airship, the steps are as follows: 1. Given expected tracking value: given expected plane path; given expected speed; 2. Adaptive integral guidance calculation: calculated to eliminate the difference between expected position and actual The desired yaw angle and wind field estimation value required for the error between positions; 3. Yaw angle tracking control calculation: calculate the rudder control amount required to eliminate the error between the expected yaw angle and the actual yaw angle; 4. Relative Speed ​​tracking control calculation: Calculate the propeller control amount required to eliminate the error between the desired speed and the actual speed. The control flow is shown in the accompanying drawing.

Description

technical field [0001] The invention provides an adaptive wind-resistant path tracking control method for an unmanned airship, which provides a new control method for tracking a parameterized plane path when an unmanned airship flies in an unknown wind field, and belongs to the technical field of automatic control. Background technique [0002] An unmanned airship is a lighter-than-air aircraft. The biggest difference between it and a balloon is that it has a propulsion and flight control device. Typical flight states of an airship include takeoff, cruising flight, and landing. For the cruising flight of unmanned airship, the main control strategies are trajectory following control and path following control. The current path-following control methods are all designed based on the determined airship model, without considering the disturbance factors such as the external wind field. [0003] The present invention "A self-adaptive wind-resistant path tracking control method ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 郑泽伟祝明
Owner 北京天航华创科技股份有限公司
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