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基于北斗通信技術(shù)的無(wú)人機運動(dòng)軌跡跟蹤控制系統設計
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四川科技職業(yè)學(xué)院

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Design of UAV trajectory tracking control system based on Beidou communication technology
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    摘要:

    為使所獲俯仰角、滾轉角、偏航角跟蹤結果均與無(wú)人機實(shí)際運動(dòng)軌跡保持一致,實(shí)現對整條行進(jìn)軌跡的準確追蹤與控制,設計基于北斗通信技術(shù)的無(wú)人機運動(dòng)軌跡跟蹤控制系統。按照北斗通信技術(shù)的應用標準,定義運維報文、通知協(xié)商報文、業(yè)務(wù)數據報文三種不同格式的協(xié)議文件,并以此為基礎,深入分析無(wú)人機飛行器的內部結構組成,再結合大量行進(jìn)姿態(tài)數據,完成對無(wú)人機運動(dòng)軌跡跟蹤控制系統的動(dòng)力學(xué)建模。確保主供應電路的順暢連接,將所有傳輸電量按需匹配至全驅動(dòng)運動(dòng)結構、姿態(tài)調節器、自適應控制器、軌跡追蹤器四類(lèi)硬件應用結構中,完成系統的主控結構設計,聯(lián)合所有軟、硬件運行條件,實(shí)現基于北斗通信技術(shù)的無(wú)人機運動(dòng)軌跡跟蹤控制系統設計。根據實(shí)驗結果可知,在北斗通信技術(shù)的影響下,系統主機所獲得的俯仰角、滾轉角、偏航角跟蹤結果均不會(huì )與無(wú)人機實(shí)際運動(dòng)軌跡產(chǎn)生較大

    Abstract:

    In order to keep the tracking results of pitch angle, roll angle and yaw angle consistent with the actual trajectory of unmanned aerial vehicle (UAV), and realize the accurate tracking and control of the whole trajectory, a tracking control system of UAV trajectory based on Beidou communication technology is designed. According to the application standard of Beidou communication technology, three protocol files with different formats are defined: operation and maintenance message, notification and negotiation message and business data message. Based on this, the internal structure of UAV is deeply analyzed, and then the dynamic modeling of UAV trajectory tracking control system is completed by combining with a large amount of traveling attitude data. Ensure the smooth connection of the main supply circuit, match all the transmitted power to four types of hardware application structures: full-drive motion structure, attitude regulator, adaptive controller and trajectory tracker, complete the design of the main control structure of the system, and combine all the software and hardware operating conditions to realize the design of the trajectory tracking control system of UAV based on Beidou communication technology. According to the experimental results, under the influence of Beidou communication technology, the tracking results of pitch angle, roll angle and yaw angle obtained by the system host will not be significantly different from the actual trajectory of the UAV, which is more in line with the application requirements of accurately tracking the complete trajectory of the UAV compared with the application system based on adaptive integral backstepping method.

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黃琴.基于北斗通信技術(shù)的無(wú)人機運動(dòng)軌跡跟蹤控制系統設計計算機測量與控制[J].,2022,30(12):137-142.

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歷史
  • 收稿日期:2022-04-27
  • 最后修改日期:2022-05-25
  • 錄用日期:2022-05-25
  • 在線(xiàn)發(fā)布日期: 2022-12-22
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