The invention discloses an aerial
recovery track design method for a cable-
buoy-unmanned aerial vehicle combination, and aims to realize stable and safe
recovery of an unmanned aerial vehicle. The method comprises the following steps: firstly, constructing a
mooring rope-
buoy-unmanned aerial vehicle combination dynamic model; then, the balance position of the
assembly under different cable lengths is determined through flight
simulation, and a cubic spline interpolation method is applied to obtain the whole-process expected
recovery track of the cable-
buoy-unmanned aerial vehicle
assembly; secondly, a cable winding length instruction is designed by introducing a
Sigmoid function, and continuity and smoothness of the cable winding process are ensured; then, according to the whole-process expected recovery trajectory and the cable winding length instruction, a whole-process trajectory tracking instruction in the three-axis direction of the cable-buoy-unmanned aerial vehicle combination is obtained; and finally, verifying the designed recovery instruction by adopting a
backstepping control method based on an extended
state observer. According to the cable-buoy-unmanned aerial vehicle combination track design method based on the Sigmoid cable winding instruction, the smoothness and continuity of the cable winding instruction and the recycling track can be guaranteed, meanwhile,
impact of instantaneous loads on the cable is avoided, and therefore the stability of unmanned aerial vehicle air recycling is improved; the unmanned aerial vehicle can be safely dragged back to the cabin of the mother aircraft.