Unmanned aerial vehicle control method capable of meeting autonomous landing requirements of maneuvering platform
A UAV and platform technology, applied in non-electric variable control, target-seeking control, attitude control, etc., can solve the problems of restricting control efficiency and control accuracy, and achieve improved maneuverability, rapid response, and smooth landing trajectory , Faster and more stable landing effect
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[0118] Example 1
[0119] Assume that the trajectory of the target platform is a straight line, the initial point is at the origin, and the target platform moves in a straight line at a constant speed at a speed of 2m / s. 10m),
[0120] The position and motion information is input into the built simulation model, and the trajectory simulation of autonomous landing is carried out. Among them, the proportional guidance coefficient k is 4, and the yaw angle of the quadrotor UAV is set to 30°.
[0121] The trajectory simulation of the target platform and the quadrotor UAV is as follows image 3 As can be seen from Figure 3, the quadrotor UAV can achieve autonomous landing, and the landing trajectory is relatively smooth, the initial section is more curved, and the end is less curved.
[0122] In addition, observe and analyze some control variables in the output process, such as Figure 4 Shown is the response curve for three-axis overload, starting from Figure 4 It can be see...
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[0124] Example 2
[0125] The simulation experiment of the autonomous landing trajectory is carried out on the target platform with complex motion. Assuming that the target platform moves according to the sinusoidal trajectory, the simulation experiment diagram of the trajectory curve of the target platform and the quadrotor UAV is as follows: Figure 7 shown.
[0126] from Figure 7 It can be seen from the figure that the quadrotor UAV can land successfully and smoothly after the target mobile platform moves for two periods T, and the tracking effect is good in the process. In addition, it can be found from the figure that the tracking and landing process of the target maneuvering is relatively large. , the motion trajectory of the quadrotor has a large curvature in the initial stage, that is, it follows with a large normal overload turn. After the tracking, the trajectory is gradually smoothed, and it slowly approaches the target. Finally, the three-axis normal overload and...
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