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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Autonomous Landing Control of Highly Flexible Aircraft Based on Lidar Preview in the Presence of Wind Turbulence
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Autonomous Landing Control of Highly Flexible Aircraft Based on Lidar Preview in the Presence of Wind Turbulence

机译：存在湍流下基于激光雷达预见的高柔性飞机自主着陆控制。

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This paper investigates preview-based autonomous landing control of a highly flexible flying wing model using short-range light detection and ranging (Lidar) wind measurements in the presence of wind turbulence. The preview control system is developed based on a reduced-order linear aeroelastic model and employs a two-loop control scheme. The outer loop employs the linear active disturbance rejection control and PI algorithms to track the reference landing trajectory and vertical speed, respectively, and to generate the attitude angle command. This is then used by the inner loop using H-infinity preview control to compute the control inputs to the actuators (control flaps and thrust). A landing trajectory navigation system is designed to generate real-time reference commands for the landing control system. A Lidar simulator is developed to measure the wind disturbances at a distance in front of the aircraft, which is provided to the inner-loop H-infinity preview controller as prior knowledge to improve control performance. Simulation results based on the full-order nonlinear flexible aircraft dynamic model show that the preview-based landing control system is able to land the flying wing effectively and safely, showing better control performance than the baseline landing control system (without preview) with respect to landing effectiveness and disturbance rejection. The control system's robustness to measurement error in the Lidar system is also demonstrated.
机译：本文研究了基于预览的高度灵活的飞行机翼模型的自主着陆控制，该模型使用短距离光检测和测距（激光雷达）风测量在存在风湍流的情况下进行。预览控制系统是基于降阶线性气动弹性模型开发的，并采用了两环控制方案。外环采用线性主动干扰抑制控制和PI算法分别跟踪参考着陆轨迹和垂直速度，并生成姿态角命令。然后由内部循环使用H-infinity预览控制来使用它来计算执行器的控制输入（控制襟翼和推力）。着陆轨迹导航系统设计用于生成着陆控制系统的实时参考命令。开发了激光雷达模拟器来测量飞机前方一定距离处的风扰，将其提供给内环H-infinity预览控制器作为提高控制性能的先验知识。基于全阶非线性柔性飞机动力学模型的仿真结果表明，基于预览的着陆控制系统能够有效，安全地降落机翼，相对于基线着陆控制系统（无预览），其显示出更好的控制性能。着陆效果和干扰抑制。还展示了控制系统对激光雷达系统中测量误差的鲁棒性。

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