无人机自主飞行控制与管理决策技术研究
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摘要
无人机在当前的战争中起着不可替代的作用,本文围绕无人机的自主飞行控制与管理决策技术中的关键问题展开了设计与仿真。
第一部分研究了基于开放式的分层递阶结构的无人机自主飞行管理体系结构。探讨了该结构的主要组成部分,对关键模块的结构和功能进行了研究。
第二部分对所设计的结构中关键的模块进行了设计。首先设计了航迹规划模块和航迹跟踪模块。针对航迹规划的实际需要,将航迹规划划分为二维的航线规划和二维航线点之间的三维航迹规划;提出动态权值的三维LPA*的航迹规划方法对二维航线产生的航线点之间进行规划,对突然出现的新威胁,运用三维D* Lite进行实时重规划。其次对具有完全非线性特征的慢模态,设计了航迹角跟踪指令飞行控制器。再次对无人机自主控制的一项关键技术——自主起飞与着陆控制技术,进行了研究,对无人机起飞过程中三轮滑跑、两轮滑跑和离陆升空过程进行了纵向控制律的设计;对无人机着陆过程设计了定高系统、下滑波束导引系统、自动拉平系统和侧向波束导引系统,并进行了仿真验证。最后对无人机飞行管理中的任务规划与调度建立了任务管理系统。将一个完整的飞行任务通过Petri网分解出的若干子任务,用事件触发进行管理和调度,Stateflow对无人机进行复杂的逻辑判断,用GUI实现了一个友好的人机界面。
第三部分在Windows平台上基于虚拟仿真软件MultiGen Creator、Vega和VC++研究了无人机自主飞行全过程的三维视景仿真,生动演示了起飞、飞行、着陆的全过程。
UAV plays an irreplaceable role in the current war. This thesis works on key issues of the autonomous flight control and management decision-making technologies of UAV.
Firstly, the UAV autonomous flight management system structure, which is based on the open hierarchical structure, is studied. Also structure and function of key modules are studies.
Secondly, we design the keys of the above structure. First, route planning module and the route tracking module are designed. The route planning is split into two steps: a 2D itinerary planning and a 3D trajectory planning between each couple of 2D points according to factual needs. An algorithm of 3D LPA* based on dynamic weighting is presented to do the 3D-route planning. The D* Lite algorithm is used to do the real-time re-planning to avoid new threats. Afterward a track angle tracking flight controller is designed for the completely non-linear characteristics of the very slow mode. Then a key technology of UAV autonomous control, the autonomous take-off and landing control technology is studied. The longitudinal control laws of three-wheel ground sliding, two-wheel ground sliding and climbing processes are designed. The setting high system, glide beam guiding system, the auto leveling control system and lateral beam guiding system are designed and simulated separately. Then the mission management system is established for the mission planning and scheduling of the UAV flight management system. A complete flight task is decomposed into a number of sub-tasks, using the Petri nets through events triggered to do the management and scheduling. Stateflow realizes complex logic judgment of the UAV to ensure the correct implementation. Meanwhile GUI achieves a friendly man-machine interface.
Finally, based on Windows platform, the three dimension visual simulation of the entire process of UAV flight is developed by using MultiGen Creator and Vega softwares, which show the processes of take-off, flight and landing vividly.
第一部分研究了基于开放式的分层递阶结构的无人机自主飞行管理体系结构。探讨了该结构的主要组成部分,对关键模块的结构和功能进行了研究。
第二部分对所设计的结构中关键的模块进行了设计。首先设计了航迹规划模块和航迹跟踪模块。针对航迹规划的实际需要,将航迹规划划分为二维的航线规划和二维航线点之间的三维航迹规划;提出动态权值的三维LPA*的航迹规划方法对二维航线产生的航线点之间进行规划,对突然出现的新威胁,运用三维D* Lite进行实时重规划。其次对具有完全非线性特征的慢模态,设计了航迹角跟踪指令飞行控制器。再次对无人机自主控制的一项关键技术——自主起飞与着陆控制技术,进行了研究,对无人机起飞过程中三轮滑跑、两轮滑跑和离陆升空过程进行了纵向控制律的设计;对无人机着陆过程设计了定高系统、下滑波束导引系统、自动拉平系统和侧向波束导引系统,并进行了仿真验证。最后对无人机飞行管理中的任务规划与调度建立了任务管理系统。将一个完整的飞行任务通过Petri网分解出的若干子任务,用事件触发进行管理和调度,Stateflow对无人机进行复杂的逻辑判断,用GUI实现了一个友好的人机界面。
第三部分在Windows平台上基于虚拟仿真软件MultiGen Creator、Vega和VC++研究了无人机自主飞行全过程的三维视景仿真,生动演示了起飞、飞行、着陆的全过程。
UAV plays an irreplaceable role in the current war. This thesis works on key issues of the autonomous flight control and management decision-making technologies of UAV.
Firstly, the UAV autonomous flight management system structure, which is based on the open hierarchical structure, is studied. Also structure and function of key modules are studies.
Secondly, we design the keys of the above structure. First, route planning module and the route tracking module are designed. The route planning is split into two steps: a 2D itinerary planning and a 3D trajectory planning between each couple of 2D points according to factual needs. An algorithm of 3D LPA* based on dynamic weighting is presented to do the 3D-route planning. The D* Lite algorithm is used to do the real-time re-planning to avoid new threats. Afterward a track angle tracking flight controller is designed for the completely non-linear characteristics of the very slow mode. Then a key technology of UAV autonomous control, the autonomous take-off and landing control technology is studied. The longitudinal control laws of three-wheel ground sliding, two-wheel ground sliding and climbing processes are designed. The setting high system, glide beam guiding system, the auto leveling control system and lateral beam guiding system are designed and simulated separately. Then the mission management system is established for the mission planning and scheduling of the UAV flight management system. A complete flight task is decomposed into a number of sub-tasks, using the Petri nets through events triggered to do the management and scheduling. Stateflow realizes complex logic judgment of the UAV to ensure the correct implementation. Meanwhile GUI achieves a friendly man-machine interface.
Finally, based on Windows platform, the three dimension visual simulation of the entire process of UAV flight is developed by using MultiGen Creator and Vega softwares, which show the processes of take-off, flight and landing vividly.
引文
[1]高劲松,陈哨东,邹庆元,孙隆和,美国无人机的自主性[J],国际航空,2006(6):21
[2] M. Pachter,P.R. Chandler,Challenges of Autonomous Control[J],IEEE Control Systems,August,1998:92-97
[3]张新国,从自动飞行到自主飞行——飞行控制与导航技术发展的转折和面临的挑战[J],飞机设计,2003,9(3):55-59
[4] Panos J Antsaklis,Kevin M. Pssino,S.J. Wang,An Introduction to Autonomous Control Systems[J],IEEE Control Systems,June 1991:5-13
[5] J.C. Neidhoefer,intelligent Control for Autonomous Aircraft Mission[D],Alabama USA,University of Alabama,1999
[6]武国庆,姜长生,曾国贵,关于自助式智能系统研究和发展的几个重要问题[J],电光与控制,2002,4(10):27-31
[7]郭锁凤,申功璋,吴成富,先进飞行控制系统[M],北京,国防工业出版社,2003
[8]文传源,现代飞行控制系统[M],北京,北京航空航天大学出版社,1992
[9]夏洁,高金源,余舟毅,基于禁忌搜索的启发式任务路径规划算法[J],控制与决策,2002,17(11):773-776
[10]马云红,周德云,基于遗传算法的无人机航路规划,电光与控制,2005,12(5):24-27
[11]赵文婷,彭俊毅,基于VORONOI图的无人机航迹规划,系统仿真学报,2006,18(增刊2):159-165
[12] Frazzeli Emilio,Robust hybrid control for autonomous vehicle motion planning[D],Massachusetts Institute of Technology,2001
[13] Pellazar Miles B,Vehicle Route Planning with Constraints Using Genetic Algorithms[J],Proceed of the IEEE,national Aerospace and Electronics Conference,1994:111-118
[14] Vacbtsevanos G,Kim Wetal,Autonomous vehicles:from flight control to mission planning using fuzzy logic techniques[J],Proceed of the 13th international digital signal processing conference,1997:977-981
[15] McLain T W,Beard R W,Trajectory Planning for Coordinated Rendezvous of Unmanned Air Vehicle[J],Guidance, Navigation, and Control Conference and Exhibit,AIAA2000:2000-4369
[16]唐强,朱志强,王建元,国外无人机自主飞行控制研究[J],系统工程与电子技术,2004,26(3):418-422
[17]邱晓红,廖芳,无人战斗机飞行管理与控制技术研究[J],航空科学技术,1999(2):27-30
[18] SARIDIS G,Toward the realization of intelligent controls[J],Proc of the IEEE,1979,67(4):1115-1133
[19]张红,卢广山,朱荣刚,无人作战飞机任务系统技术研究[J],电光与控制,2006,13(1):55-59
[20]崔铁军,数字地图制图中的地图数据处理方法[J],解放军测绘学院学报,1999,16(1):50-53
[21]奚大平,江文萍,数字地图的三维可视化研究及其若干应用,地球科学[J],2002,27(3):278-284
[22]林宗坚,“4D”技术及其应用[J],测绘工程,1997,9:1-5
[23]黄明,武装直升机航迹规划与航迹控制研究,[硕士学位论文],南京,南京航空航天大学,2004
[24]胡志忠,徐克虎,沈春林,低空突防用数字地图信息的融合处理[J],南京航空航天大学学报,2000,32(4):434-438
[25]胡志忠,沈春林,基于数字地图预处理的实时航迹规划[J],南京航空航天大学学报,2002,34(4):382-385
[26] E.W.Dijkstra,A note on two problems connection with graphs,Numer Math[J],1959(1):269–271.
[27]冯星,空射巡航导弹的火控技术研究,[硕士学位论文],南京,南京航空航天大学,2003
[28] N.Nilsson,Problem-Solving Methods in Artificial Intelligence,McGraw-Hill,1971
[29]李春华,郑昌文,周成平,丁明跃,袁鸿翼,金惠香,一种三维航迹快速搜索方法[J],宇航学报,2002,23(3):13-17
[30] Sven Koenig,Maxim Likhachev,David Furcy,Lifelong planning A*[J],Artificial Intelligence,2004,155(3):93-146
[31] G.Ramalingam,T.Reps,An incremental algorithm for a generalization of the shortest path problem[J],Journal of Algorithms 1996(21):267–305
[32] Asseo.S.J,Shaw.P.D,Automation of fighter aircraft trajectory control[J],Proceedings of 1983,National Aerospace Electronics Conference,1332-1339
[33]朱秋芳,歼击机超机动飞行控制及多机协同多目标攻击技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[34] S Antony,Snell,Dale F Enns,William L,Garrard,Nonlinear inversion flight control for a supermaneuverable aircraft,Journal of guidance, control and dynamics,1992,15(4):976-984
[35]张立,新一代战斗机飞行控制系统及三维实时分布式仿真平台研究,[硕士学位论文],南京航空航天大学,2000
[36] Silverman.L.M,Inversion of multivariable linear systems,IEEE Trans on Automatic Control,1969,14(3):595-598
[37]贺也平,飞行器综合低空突防系统关键技术研究,[博士学位论文],南京,南京航空航天大学,1999
[38]宁东方,无人机自动着陆控制系统的设计与实现研究,[硕士学位论文],西安,西北工业大学,2006
[39] S.Pradeep,Nonlinear control of Unmanned Combat Aircraft during takeoff[J],AIAA-2002-0250
[40]刘金琨,先进PID控制MATLAB仿真[M],北京,电子工业出版社,2004
[41]肖顺达,飞行自动控制系统[M],北京,国防工业出版社,1980
[42]张明廉,飞行控制系统[M],北京,航空工业出版社,1993
[43]王孝英,褚德培,飞机操作前轮偏转运动的数学模型及数值仿真[J],应用力学学报,1997,14(4)
[44] Magali.Barhier,Elodie.Chanthery,Autonomous mission management for unmanned aerial vehicles[J],Aerospace Science and Technology,2004(8):359-368
[45]周锐,成晓静,余舟毅,陈宗基,智能化战术任务管理系统研究[J],北京航空航天大学学报,2005,31(8):858-862
[46]陈江红,李宏光,基于Matlab环境的Petri网的仿真方法,微计算机信息[J],2003(12):103-108
[47]朱清峰,宋爱国,黄惟一,受控Petri Net在遥控机器人作业规划中的应用研究[J],东南大学学报,1999,29(2):12-17
[48]陶继平,徐文艳,杨根科,王豪,基于Stateflow的Petri网仿真方法,计算机仿真[J],2006,23(12):96-100
[49]孟晓梅,刘文庆,MultiGen Creator教程,北京,国防工业出版社,2005,7
[50]王延红,杨平利,仇小鹏,陈晖,仿真建模软件Creator的应用技术,计算机仿真,2005,22(7):179-181
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[53]李军,王绍棣,常建刚等,基于Vega的视景驱动软件的分析与设计,系统仿真学报,2003,15(3):397-411
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[57] S.Koenig and M.Likhachev,Improved fast replanning for robot navigation in unknown terrain,Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),2002
[2] M. Pachter,P.R. Chandler,Challenges of Autonomous Control[J],IEEE Control Systems,August,1998:92-97
[3]张新国,从自动飞行到自主飞行——飞行控制与导航技术发展的转折和面临的挑战[J],飞机设计,2003,9(3):55-59
[4] Panos J Antsaklis,Kevin M. Pssino,S.J. Wang,An Introduction to Autonomous Control Systems[J],IEEE Control Systems,June 1991:5-13
[5] J.C. Neidhoefer,intelligent Control for Autonomous Aircraft Mission[D],Alabama USA,University of Alabama,1999
[6]武国庆,姜长生,曾国贵,关于自助式智能系统研究和发展的几个重要问题[J],电光与控制,2002,4(10):27-31
[7]郭锁凤,申功璋,吴成富,先进飞行控制系统[M],北京,国防工业出版社,2003
[8]文传源,现代飞行控制系统[M],北京,北京航空航天大学出版社,1992
[9]夏洁,高金源,余舟毅,基于禁忌搜索的启发式任务路径规划算法[J],控制与决策,2002,17(11):773-776
[10]马云红,周德云,基于遗传算法的无人机航路规划,电光与控制,2005,12(5):24-27
[11]赵文婷,彭俊毅,基于VORONOI图的无人机航迹规划,系统仿真学报,2006,18(增刊2):159-165
[12] Frazzeli Emilio,Robust hybrid control for autonomous vehicle motion planning[D],Massachusetts Institute of Technology,2001
[13] Pellazar Miles B,Vehicle Route Planning with Constraints Using Genetic Algorithms[J],Proceed of the IEEE,national Aerospace and Electronics Conference,1994:111-118
[14] Vacbtsevanos G,Kim Wetal,Autonomous vehicles:from flight control to mission planning using fuzzy logic techniques[J],Proceed of the 13th international digital signal processing conference,1997:977-981
[15] McLain T W,Beard R W,Trajectory Planning for Coordinated Rendezvous of Unmanned Air Vehicle[J],Guidance, Navigation, and Control Conference and Exhibit,AIAA2000:2000-4369
[16]唐强,朱志强,王建元,国外无人机自主飞行控制研究[J],系统工程与电子技术,2004,26(3):418-422
[17]邱晓红,廖芳,无人战斗机飞行管理与控制技术研究[J],航空科学技术,1999(2):27-30
[18] SARIDIS G,Toward the realization of intelligent controls[J],Proc of the IEEE,1979,67(4):1115-1133
[19]张红,卢广山,朱荣刚,无人作战飞机任务系统技术研究[J],电光与控制,2006,13(1):55-59
[20]崔铁军,数字地图制图中的地图数据处理方法[J],解放军测绘学院学报,1999,16(1):50-53
[21]奚大平,江文萍,数字地图的三维可视化研究及其若干应用,地球科学[J],2002,27(3):278-284
[22]林宗坚,“4D”技术及其应用[J],测绘工程,1997,9:1-5
[23]黄明,武装直升机航迹规划与航迹控制研究,[硕士学位论文],南京,南京航空航天大学,2004
[24]胡志忠,徐克虎,沈春林,低空突防用数字地图信息的融合处理[J],南京航空航天大学学报,2000,32(4):434-438
[25]胡志忠,沈春林,基于数字地图预处理的实时航迹规划[J],南京航空航天大学学报,2002,34(4):382-385
[26] E.W.Dijkstra,A note on two problems connection with graphs,Numer Math[J],1959(1):269–271.
[27]冯星,空射巡航导弹的火控技术研究,[硕士学位论文],南京,南京航空航天大学,2003
[28] N.Nilsson,Problem-Solving Methods in Artificial Intelligence,McGraw-Hill,1971
[29]李春华,郑昌文,周成平,丁明跃,袁鸿翼,金惠香,一种三维航迹快速搜索方法[J],宇航学报,2002,23(3):13-17
[30] Sven Koenig,Maxim Likhachev,David Furcy,Lifelong planning A*[J],Artificial Intelligence,2004,155(3):93-146
[31] G.Ramalingam,T.Reps,An incremental algorithm for a generalization of the shortest path problem[J],Journal of Algorithms 1996(21):267–305
[32] Asseo.S.J,Shaw.P.D,Automation of fighter aircraft trajectory control[J],Proceedings of 1983,National Aerospace Electronics Conference,1332-1339
[33]朱秋芳,歼击机超机动飞行控制及多机协同多目标攻击技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[34] S Antony,Snell,Dale F Enns,William L,Garrard,Nonlinear inversion flight control for a supermaneuverable aircraft,Journal of guidance, control and dynamics,1992,15(4):976-984
[35]张立,新一代战斗机飞行控制系统及三维实时分布式仿真平台研究,[硕士学位论文],南京航空航天大学,2000
[36] Silverman.L.M,Inversion of multivariable linear systems,IEEE Trans on Automatic Control,1969,14(3):595-598
[37]贺也平,飞行器综合低空突防系统关键技术研究,[博士学位论文],南京,南京航空航天大学,1999
[38]宁东方,无人机自动着陆控制系统的设计与实现研究,[硕士学位论文],西安,西北工业大学,2006
[39] S.Pradeep,Nonlinear control of Unmanned Combat Aircraft during takeoff[J],AIAA-2002-0250
[40]刘金琨,先进PID控制MATLAB仿真[M],北京,电子工业出版社,2004
[41]肖顺达,飞行自动控制系统[M],北京,国防工业出版社,1980
[42]张明廉,飞行控制系统[M],北京,航空工业出版社,1993
[43]王孝英,褚德培,飞机操作前轮偏转运动的数学模型及数值仿真[J],应用力学学报,1997,14(4)
[44] Magali.Barhier,Elodie.Chanthery,Autonomous mission management for unmanned aerial vehicles[J],Aerospace Science and Technology,2004(8):359-368
[45]周锐,成晓静,余舟毅,陈宗基,智能化战术任务管理系统研究[J],北京航空航天大学学报,2005,31(8):858-862
[46]陈江红,李宏光,基于Matlab环境的Petri网的仿真方法,微计算机信息[J],2003(12):103-108
[47]朱清峰,宋爱国,黄惟一,受控Petri Net在遥控机器人作业规划中的应用研究[J],东南大学学报,1999,29(2):12-17
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