Unmanned aerial vehicle three-dimensional trajectory guidance method based on inverse dynamics

Abstract

The invention discloses an unmanned aerial vehicle three-dimensional trajectory guidance method based on inverse dynamics and belongs to the technical field of unmanned air vehicle navigation guidance and control. The method comprises the following steps: firstly, performing primary inverse dynamics resolving on position state equations of the unmanned aerial vehicle by combining an analytical method and a numerical iteration method at the aim of a certain trajectory section of a certain unmanned aerial vehicle, and performing secondary inverse dynamics resolving on ground velocity and track angle state equations of the unmanned aerial vehicle so as to obtain the command thrust, command attack angle and command track roll angle of the unmanned aerial vehicle; inputting the command quantities into the designed attitude control loop so as to control the actual ground velocity and position of the unmanned aerial vehicle, and enabling the actual position of the unmanned aerial vehicle to be convergent to a reference trajectory between way points by adopting PID (Proportion Integration Differentiation) control. According to the method disclosed by the invention, the ground velocity and three-dimensional position of the unmanned aerial vehicle can be simultaneously and accurately controlled, the expected flight path of the unmanned aerial vehicle is adjusted on line, and the controller computing cost is low.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control of unmanned aerial vehicles, and in particular relates to a three-dimensional trajectory guidance method for unmanned aerial vehicles based on inverse dynamics. Background technique [0002] UAVs, also known as unmanned aerial vehicles, are widely used in military and civilian fields; UAV guidance refers to making UAVs fly along a given trajectory through command programs. With the increasingly diverse tasks performed by UAVs, people's requirements for the maneuverability of UAVs are also increasing. The traditional two-dimensional trajectory guidance law can no longer meet the demand. Realizing high-precision tracking control of three-dimensional trajectories can make UAVs It is of great significance to complete special tasks such as terrain avoidance, formation flight and autonomous aerial refueling. [0003] In the trajectory tracking control of UAVs, it is of great pr...

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Problems solved by technology

[0010] It can be seen from formula (1) (2) that (V g , χ, γ) and (T, α, β, μ) are mutually coupled control variables, if the traditional PID control is adopted, the control effect will be seriously affected by the coupling effect

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