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

Abstract

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

CLC Number:

V249.1

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.

Figures/Tables 18

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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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Energy coordinated online trajectory planning and tracking for terrain following flight

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