Research On Carrier Landing Control Technology Of The Large Fixed-Wing UAV

Due to its outstanding maneuverability and endurance,unmanned aerial vehicle(UAV)is becoming an important trend in the development of carrier-based aircraft.In this paper,the large fixed wing UAV is taken as the research object.Aiming at the problems of landing process,such as narrow landing area,strong nonlinear coupling and parameter perturbation of the model,air wake disturbance and ship deck motion,the landing control method is studied.The main contents include:Firstly,the mechanical model and kinematic model of unmanned maneuvering under wind disturbance are established,and its sliding performance is analyzed.The ship motion model and wind disturbance model are established.Secondly,according to the dynamic model of UAV inner loop under wind disturbance,the inner loop control law is designed by nonlinear dynamic inverse method.The unknown parameters and disturbance are estimated by adaptive method.The system stability and parameter boundedness are proved by Lyapunov method.Compared with the traditional angle of attack scheme,the scheme using the angle of attack of the track as the internal loop control variable can effectively suppress the influence of wind disturbance on the track of UAV.Thirdly,according to the angle kinematics model of the UAV under wind disturbance,the control law of the track angle loop is designed based on the dynamic inverse method to realize the accurate tracking of the track angle.Considering the requirement of UAV landing,a parameterized relative trajectory line is designed.According to the relative kinematics model of UAV and carrier,a relative trajectory tracking control law is designed based on the dynamic inverse method to achieve high-precision relative trajectory tracking.Fourthly,aiming at the landing error caused by deck motion,the height offset is estimated based on the discrete Kalman filter method,and the phase lag of the relative height controller is compensated in the end guidance section.Finally,the landing simulation is carried out in Matlab/Simulink environment.The simulation results show that the landing control method proposed in this paper can effectively suppress the parameter perturbation of UAV and wind disturbance,and can quickly track the height deviation caused by the deck motion,and achieve a high-precision landing in complex environment.