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1、小型舰载无人机撞网回收控制技术研究ABSTRACTRecoveryofcarrier-basedsmallUAV(unmannedaerialvehicle)isanimportantpartofresearchoncarrier-based.smallUAV.Thispapermainlyfocusesoncontroltechnologyofcarrier-basedMUAVwithconventionaerodynamicdistributionduringrecoveryprocess,andthenumericalsimulationverificationofentire
2、glidingprocessiscarriedout.Firstly,thecurrentsituationofthedevelopmentofsmallUAVisanalysedandsummarized,focusingonthewayofnetrecovery.Thenonlinearmathematicalmodelofsix-freedomisestablishedusingflightdataofasmallUAVwhichisonserviceabroad,andselecttheappropriatetrimpointsintherecoveryphase,bytri
3、mandlinearization,alinearmodelnearthetrimpointisestablished.Thenaturalcharacteristicsareanalysedbasedonlinearmodelandnonlinearmodel.Secondly,theenvironmentmodeloftherecoveryprocessisbuilt,i.e.thedeckmotionmodelandturbulencemodel.Thecarriermodelofnetrecoverysystemisgiven,therelationshipbetweenla
4、ndingerrorandrecoverynetworksizeisdiscussed,andthedriftoftheidealspotcausedbydeckmotionisanalysed.Andalso,thereferencetrajectoryconsideringtheairwakeanddeckmotionisgiven,whichcouldbeinputsoftheguidancesystemtoleadtheUAVtothecenteroftherecoverynetwithperfectangle.Alsotheoverallcontrolstructuredi
5、agramispresented,andtheguidancelawisdesignedusinga-bfilteringguidancemethod.Thirdly,theflightcontrollawisdesignedusingclassiccontrolmethod.Thecomprehensivesimulationwithairwakeanddeckmotioncompensationusingcontrolsystembasedonclassicalcontrolisestablished.Thesimulationresultsshowthat,thecontrol
6、lercanmeettherequirementsofcontrollingandtracking.Finally,focusingonthecharacteristicsoflightqualityandhighenvironmentalsensitivityof
smallUAV,designacontrollerbasedonthecombinationofslidingmodecontrolandoptimalcontrol,
consideringthedeckmotioncompensationandairwake,thecontrastanalysiswithclass
7、icPIDcontrol
methodiscarriedon.Simulationresultsshowthattheslidingmodecontrolperformsbetterwith
disturbance.Keywords:UAV,netrecovery,flightcontrol,slidingmodecontrolII万方数据南京航空航天大学硕士学位论文目录第一章绪论......................................
