飞行控制翻译汇编.doc

A new nonlinear guidance logic, that has demonstrated superior performance in guiding unmanned air vehicles (UAVs) on curved trajectories, is presented. The logic approximates a proportional-derivative controller when following a straight line path, but the logic also contains an element of anticipatory control enabling tight tracking when following curved paths. The method uses inertial speed in the computation of commanded lateral acceleration and adds adaptive capability to the change of vehicle speed due to external disturbances, such as wind. Flight tests using two small UAVs showed that each aircraft was controlled to within 1.6 meters RMS when following circular paths. The logic was ultimately used for air rendezvous of the two aircraft, bringing them in close proximity to within 12 meters of separation, with 1.4 meters RMS relative position errors 一种新的非线性导航理论被提出了，它在无人飞行器在弯曲轨迹飞行的运用中表现出了优良性能。当直线飞行时，这个理论接近于一个比例微分控制器，但是，这个理论包含了一个预期控制的元素，使飞行器紧紧跟随曲线路径。该方法把惯性速度运用于command横向加速度的计算（command lateral acceleration）并且增加了针对由于外部干扰（例如风）而引起飞行器的速度变化的自适应能力。使用两架小型无人飞行器的飞行试验表明：当以圆形轨迹飞行时，飞行器将被控制在1.6米以内时。该理论最终运用于飞行器的空中交会，使飞行器之间保持在接近12米的距离内，允许1.4米的相对误差 Nomenclature 术语 V Vehicle velocity 飞行速度 补偿速度 L1 A line defined from vehicle position to a reference point on a desired trajectory 在预定轨迹中，定义前飞行位置到参考点的的直线（距离？） η Angle created from V to the line L1 (clockwise direction is positive) 速度方向V与我们的L1直线的方向的夹角（顺时针方向为正） ascmd Acceleration command sideways i.e. perpendicular to vehicle velocity direction 侧向加速度，垂直于飞行器的速度方向 d Cross-track error 交叉航迹误差 R Radius of circle or circular segment 圆或则圆弧的半径 L Lyapunov function 李亚普诺夫函数 I. Introduction Two approaches can be considered for the problem of trajectory tracking. One method separates the vehicle guidance and control problems into an outer guidance loop and an inner control loop. The inner loop controls the vehicle to follow acceleration commands which are generated by the outer loop. Simple strategies, based on geometric and kinematic pr