作　　者： ;

机构地区： 广东工业大学华立学院

出　　处： 《计算机技术与发展》 2020年第2期183-187,共5页

摘　　要： 为了提高无人机的低空滑翔抗攻击突防和控制能力,提出一种基于快速模型预测的无人机低空滑翔抗攻击突防控制技术。采用融合传感识别技术进行无人机的姿态和位置参数信息采集,分析无人机的低空滑翔控制的物理环境参数模型,构建无人机飞行轨迹地图模型,使用标准卡尔曼滤波器进行无人机低空滑翔抗攻击突防控制信息的融合处理,根据信息融合结果进行控制指令设计。采用动态基元轨迹跟踪方法,得到无人机低空突防控制的滑模面,在有限Morrey空间内采用串联弹性驱动控制方法求得在控制约束参量分布模型的最优解。根据无人机低空突防段的初始位姿参数进行快速模型预测和飞行轨迹跟踪,实现低空滑翔抗攻击突防控制。仿真结果表明,采用该方法进行无人机低空滑翔抗攻击突防控制的精度较高,无人机的姿态参数的自适应调节性能较好。 In order to improve the anti-attack penetration and control ability of unmanned aerial vehicle(UAV),a low-altitude gliding anti-attack penetration control technique based on fast model prediction is proposed.The attitude and position parameters of UAV are collected by fusion sensor recognition technology.The physical environment parameter model of UAV’s low-altitude gliding control is analyzed,and the UAV flight trajectory map model is constructed.The standard Kalman filter is used to fuse the control information of anti-attack penetration control of UAV gliding at low altitude,and the control instruction is designed according to the result of information fusion.The sliding mode surface of the low altitude penetration control of UAV is obtained by using the dynamic primitive trajectory tracking method.The optimal solution of the distributed model of control constraint parameters is obtained by using the series elastic drive control method in finite Morrey space.According to the initial position and attitude parameters of the low altitude penetration section of the UAV,the fast model prediction and flight trajectory tracking are carried out to realize the anti-attack penetration control of the low-altitude glider.The simulation shows that the precision of anti-attack penetration control of UAV is higher and the adaptive adjustment performance of UAV attitude parameters is better.

关 键 词： 无人机 低空滑翔 抗攻击 控制律 标准卡尔曼滤波器

领　　域： [自动化与计算机技术—检测技术与自动化装置] [自动化与计算机技术—控制科学与工程] [电子电信—通信与信息系统] [电子电信—信息与通信工程]