Research On Lateral Deviation Correction Control For High-speed UAV Of Horizontal Recovery

For the recovery of large long endurance unmanned aerial vehicle(UAV),level recovery with landing gear is the main development direction.In the high-speed UAV landing process,the deviation caused by crosswind or initial disturbance is extremely dangerous.The UAV lateral deviation correction control system with good performance is the key to UAV high-speed landing safely.On MATLAB/Simulink platform,UAV landing dynamics model and landing antiskid braking system are established,which contain the air force,ground force,brake torque,steering force and other factors.According to the configuration characteristics of the UAV,three kinds of control strategies are proposed.They are rudder deviation correction,main wheel differential braking deviation correction and nose wheel steering deviation correction.Each deviation correction methods are studied and sub deviation correction control systems are designed based on linear PD control theory.Then corrective control simulation is carried out with lateral disturbance.Based on the above three sub control systems,paper puts forward the idea of joint deviation correction system with multiple sub deviation correction control systems.Set the weight coefficients of each sub deviation correction control system as design parameters,correction performance as the optimization goal,combine the gradient descent method and Newton method for parameters optimization to get the relationship between the sub control system weight coefficient and taxiing speed.By comparing the response of joint deviation correction system and sub deviation correction system,the feasibility and superiority of the joint deviation correction control system are verified.Further analysis for the impact of landing speed,initial yaw angle and sustained crosswind strength on the system response is carried out on optimized joint deviation control system.At last,the landing correction envelope surfaces of joint deviation correction control system are drawn.And for the national 4D level runway,the paper uses 1.5 safety factor to draw the practical landing correction envelope surfaces of UAV under the action of joint correction control system.