Research On Preview Control Based Carrier Landing Control For Unmanned Aerial Vehicle

Unmanned aerial vehicles(UAVs)have been paid more and more attention in civil and military fields because of their low cost and zero casualties in recent years.For the UAVs,the automatic carrier landing control technology is one of the key technologies needed to be solved.To solve this problem,a new automatic carrier landing control method based on optimal preview control is proposed and verified by a nonlinear UAV model.Firstly,the nonlinear mathematical model of the UAV is established according to its’ dynamics and kinematics equations,and the model is linearized.The UAV’s landing method and the generation of the reference landing trajectory are analyzed.Based on this,the trajectory tracking control of the UAV landing based on traditional PID control is simulated by Matlab.Secondly,the analysis of the influence factors during the landing process is performed.The modeling of the deck motion is studied,and the influence of the deck motion on the ideal landing point is studied.Then,the modeling of the steady component in the air wake is studied,and taking the “Sliver-Fox” as the study object,the influence of the air wake on the landing trajectory is studied.Then,the optimal preview control based carrier landing flight control system for the UAV is proposed.In which,the optimal preview control law is designed based on the decoupled UAV’s linear model.And the designed control law is plugged into the full nonlinear model of the UAV for simulation.By compared with the traditional PID controller,the efficiency of the proposed controller is verified,which can achieve no steady-state error,and improve the control performance of the flight control system greatly.Finally,the preview control based deck motion compensation and wake suppression are studied.The deck motion compensation strategy combined the Kalman filtering based deck motion compensator and the preview controller,and the simulation is conducted to verify the feasibility of the deck motion compensation strategy under different sea conditions.The preview feed-forward interference suppression channel is used to suppress the air wake.Comprehensive simulation results show that,compared to the traditional LQ controller,the proposed controller can compensate the deck motion and suppress the air wake interference more effectively.