无人飞行器伺服系统余度控制接口的设计与实现

介绍了一种在无人飞行器中设计应用的伺服系统余度控制接口,该接口实现了数字总线和模拟量两余度接口控制,可有效提高伺服系统的可靠性和抗干扰能力;分析了无人飞行器机载伺服系统的结构组成和工作模式,选择了CAN总线作为机载数字通讯总线,论述了机载伺服系统余度控制接口的工作原理,同时给出了伺服控制器的硬件接口电路及软件工作流程;实验结果表明余度控制接口工作稳定,控制通道转换平稳,该接口能满足无人飞行器控制系统的要求。     

基于GPS射频模拟信号源的无人机导航系统研究

为了在室内验证卫星导航功能,采用飞机模型计算机、GPS硬件仿真器和GPS射频模拟信号源,提出了一种模拟卫星动态绝对定位的设计思想;根据导航计算需要,对系统中涉及到的不同坐标系进行转换;搭建半物理仿真平台,给出无人机自主导航的验证方案;仿真结果表明,基于GPS射频模拟信号源的无人机导航验证方法切实可行,导航系统具有良好的稳定性。     

基于LABVIEW的数据采集与分析系统

介绍了以LabVIEW 8.5为软件开发平台,以PC机、数据采集（DAQ）卡和各种气象因素传感器为主要硬件,构建了虚拟气象仪器系统。系统对6种天气数据进行实时的采集、图形化显示,并可实现对历史天气的分析与浏览。系统易于扩展到分布式天气信息的采集与处理,试用表明该系统性能稳定,具有易开发、界面直观、易扩展等特点,适合在气象科研领域中应用。     

基于GL Studio的无人机地面站天线控件设计与实现

为了实现良好的人机交互,并对无人机宽带数据链进行实时直观地监控,搭建了基于GL Studio的无人机地面站天线控件,并详细介绍了其设计开发原理和方法.GL Studio生成的地面站控件不仅具有良好的可移植性,而且还可以与多种软件开发平台实现很好的融合.     

Asynchronous double-precision windows based unmanned aerial vehicle real-time path planning

A real-time path planning approach based on asynchronous double-precision windows is proposed for unmanned aerial vehicles (UAVs). In this proposed method, cursory paths and elaborate paths are planned respectively in the global and local windows. Specifically, global cursory path planner and local elaborate path planner are integrated by rolling two windows on different frequencies with different modes. Simulation results demonstrate that the proposed approach is effective for realizing a balance between t...     

基于数传电台的靶用型无人机测控系统

靶用型无人机简称靶机,模拟航空飞行器的飞行性能和外部特性,用于防空探测系统和防空武器系统的功能和性能测试.由于靶机是一种消耗性资源,为其研制专用测控系统,价格昂贵且通用性受限.本着低成本、通用化和小型化的原则,以数传电台为核心硬件,设计了适用于靶机的测控系统.详细论述了该测控系统的总体设计、硬件设计和软件设计,并对测控作用距离进行了分析.该测控系统已在多型靶机上得到了成功应用.     

固定翼无人机的自抗扰反步控制

针对固定翼无人机姿态和速度控制中系统存在模型不确定性和外界扰动的情况,本文设计了基于扩张状态观测器的反步控制器抑制系统扰动以提高无人机的控制性能.首先建立无人机速度误差模型和姿态误差模型,其中姿态误差模型采用四元数作为变量以避免欧拉角在描述姿态时存在的奇点问题和复杂三角运算;进而设计扩张状态观测器对系统中存在的扰动进行估计,并将扰动估计值与控制器设计相结合,分别设计出姿态控制器和速度控制器来抑制扰动的影响且使无人机姿态和速度收敛到期望值.最后基于李雅普诺夫理论证明系统的稳定性.仿真结果表明,本文所设计方法能够抑制系统中存在的扰动.     

基于改进流体扰动算法与灰狼优化的无人机三维航路规划

针对复杂地形环境下的无人机三维航路规划问题, 提出一种基于改进的扰动流体动态系统与灰狼优化理论的混合航路规划算法. 构建改进的扰动流体动态系统数学模型, 通过修正初始汇流得到扰动流场, 流场流线即可看作规划航路, 能有效避免驻点、局部陷阱等问题. 通过模拟灰狼群体的等级制度和捕食策略, 并引入个体记忆功能和优胜劣汰选择规则, 对障碍物反应系数进行寻优. 仿真结果表明, 规划出的三维航路平滑、可飞, 具有良好的避障特性.

     

Bounded‐Input Control of the Quadrotor Unmanned Aerial Vehicle: A Vision‐Based Approach

In this paper, a bounded‐input controller is designed for the quadrotor vertical take‐off and landing unmanned aerial vehicle (UAV). Visual information is used to localize the aircraft with respect to its environment and an image‐based visual servo scheme is developed to navigate the motion of it. The visual features are selected from perspective image moments and projected on a rotated image plane, which simplifies the controller design. The flow of the features is used as the linear velocity information, and the controller assumes angular velocity and attitude information available for feedback. To design the controller, the dynamics of the quadrotor are decoupled into two parts: translational dynamics and rotational dynamics. First visual data are used to design a bounded‐input controller for the translational dynamics, and then a saturated controller is designed for the rotational dynamics. The boundedness of the controller increases the chance of keeping the visual features in the field of view of the camera. Furthermore, the controllers also cope with the unknown depth of the image, and the external disturbances. The complete stability analysis of the overall system is presented to show that all states are bounded and the error signals converge to zero asymptotically. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.     

固定翼巡线无人机实时蚁群算法路径规划

本文针对传统蚁群算法局部早熟等问题对算法进行了改进,并对无人机路径规划及重规划多条件约束问题进行了研究,提高蚁群算法航迹规划计算速度及全局性来满足实时蚁群算法航迹规划要求。文章针对传统蚁群算法的早熟问题采用全局与局部信息素互补衰减法,来高效完成蚁群算法寻优问题,并当无人机偏离航线时能及时根据无人机所在位置重新规划。通过实验结果得出蚁群算法具有快速的计算能力,能在短时间内对更改的路径进行响应,完成无人机自校正航迹规划。