地形跟随飞行能量协调在线轨迹规划与跟踪

doi:10.12305/j.issn.1001-506X.2024.12.28

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (12): 4192-4202.doi: 10.12305/j.issn.1001-506X.2024.12.28

• 制导、导航与控制 • 上一篇

地形跟随飞行能量协调在线轨迹规划与跟踪

朱日楠¹, 王彪¹^,²^,*, 张瀚文¹, 唐超颖¹, 徐锦法³

1. 南京航空航天大学自动化学院, 江苏南京 211106
2. 鹏城实验室, 广东深圳 518000
3. 南京航空航天大学直升机旋翼动力学国家级重点实验室, 江苏南京 210016

收稿日期:2023-10-12 出版日期:2024-11-25 发布日期:2024-12-30
通讯作者: 王彪
作者简介:朱日楠 (1999—), 男, 硕士研究生, 主要研究方向为地形跟随飞行控制
王彪 (1975—), 男, 副教授, 博士, 主要研究方向为导航、制导与控制
张瀚文 (2000—), 男, 硕士研究生, 主要研究方向为飞行器航迹规划
唐超颖 (1979—), 女, 副教授, 博士, 主要研究方向为导航、制导与控制
徐锦法 (1963—), 男, 教授, 博士, 主要研究方向为直升机飞行力学及控制
基金资助:
重庆市自然科学基金(CSTB2022NSCQ-LZX0068);南京航空航天大学研究生科研与实践创新计划(xcxjh20230315)

Energy coordinated online trajectory planning and tracking for terrain following flight

Rinan ZHU¹, Biao WANG¹^,²^,*, Hanwen ZHANG¹, Chaoying TANG¹, Jinfa XU³

1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
2. Peng Cheng Laboratory, Shenzhen 518000, China
3. National Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2023-10-12 Online:2024-11-25 Published:2024-12-30
Contact: Biao WANG

摘要/Abstract

摘要：

针对定速地形跟随飞行全局离线规划方案数据存储量大、机动飞行油耗大等问题, 提出基于级联模型预测控制(cascaded model predictive control, CMPC)的能量协调在线轨迹规划与跟踪方案。首先, 利用飞行器纵向质点运动学模型设计模型预测控制(model predictive control, MPC)在线轨迹规划器。从能量分配原理出发确定速度变化规律, 对于飞行时总能量不变而导致能量分配不合理的情况, 引入虚拟控制量实现总能量动态调节, 完成能量协调策略设计。其次, 引入地形粗糙度概念描述地形起伏程度, 基于此提出规划器自适应时域方案, 对于不同地形实现预测时域动态调节。结合MPC轨迹跟踪控制器, 并利用真实地形数据进行仿真实验。实验结果表明, 所提方案可在与全局离线规划方案航迹差异不大的前提下, 实现在线轨迹规划, 显著降低油耗，提高航程极限, 完成复杂地形的机动飞行任务。

关键词: 地形跟随, 能量协调, 轨迹规划, 模型预测控制, 自适应预测时域

Abstract:

Aiming at the problems such as large data storage volume and high flight fuel consumption in the global offline planning scheme for terrain following flight with invariant speed, an energy coordinated online trajectory planning and tracking scheme based on cascaded model predictive control (CMPC) is proposed. Firstly, the model predictive control (MPC) online trajectory planner is designed using the longitudinal kinematic model of the aircraft. Based on the principle of energy distribution, the velocity variation law is determined. For the situation where the total energy is unchanged during flight and the energy distribution is unreasonable, virtual control volume is introduced to realize the dynamic adjustment of total energy and the design of energy coordination strategy is completed. Secondly, the concept of terrain roughness is introduced to describe the topographic relief, based on this, the adaptive time-domain scheme of the planner is proposed to realize the dynamic adjustment of predictive time-domain for different terrain. Simulation test is conducted by MPC trajectory tracking controller and real terrain data. The simulation results show that the proposed scheme can realize online trajectory planning, significantly reduce fuel consumption, improve voyage range, and realize maneuvering flight missions in complex terrain under the premise of little difference in flight trajectory from the global offline planning scheme.

Key words: terrain following, energy coordination, trajectory planning, model predictive control (MPC), adaptive predictive time-domain

中图分类号:

V249.1

朱日楠, 王彪, 张瀚文, 唐超颖, 徐锦法. 地形跟随飞行能量协调在线轨迹规划与跟踪[J]. 系统工程与电子技术, 2024, 46(12): 4192-4202.

Rinan ZHU, Biao WANG, Hanwen ZHANG, Chaoying TANG, Jinfa XU. Energy coordinated online trajectory planning and tracking for terrain following flight[J]. Systems Engineering and Electronics, 2024, 46(12): 4192-4202.

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参考文献 31

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参数	数值
规划器执行周期T_c/s	2
预测模型采样时间T_s/s	0.5
误差权重q_e	0.03
控制权重r_u, r_v	1, 1
时域限制N_min, N_max	15, 50
自适应时域比例系数k	10
航迹角约束/(°)	[-20, 20]
地速约束/(m/s)	[180, 220]
法向加速度约束/g	[-2, 2]
安全离地高度H₀/m	50

参数	数值
跟踪器采样时间T_c/s	0.1
预测模型采样时间T_s/s	0.1
误差权重矩阵Q_e	diag[0.001, 0.003, 0.05]
控制权重矩阵R_Δu	diag[2 000, 15]
控制时域N_c	5
预测时域N_p	25
油门开度约束	[0, 1]
升降舵偏角约束/(°)	[-30, 30]
升降舵偏角变化率约束/(°/s)	[-60, 60]

飞行方案	油耗(无量纲)	航程损失/%
定速平飞(基准)	60.60	-
CMPC定速	64.65	6.68
CMPC能量协调	58.73	-3.09

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地形跟随飞行能量协调在线轨迹规划与跟踪

Energy coordinated online trajectory planning and tracking for terrain following flight

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