无人机自动回收技术研究

【作者】 齐照辉；

【导师】 王中伟；

【作者基本信息】 国防科学技术大学 ， 航空宇航推进理论与工程， 2002， 硕士

【摘要】 本文以无人机(UAV)自动回收技术作为研究对象，以结构简单、机动灵活、经济实用为目的，研究了无人机自动回收导航系统、回收控制系统和无人机自动回收方案。 本文分析了无人机各导航系统导航精度，构建了GPS/INS／电视跟踪回收导航系统，并对电视跟踪系统定位无人机进行了误差分析和计算，采用PD控制律设计了无人机侧向角稳定、高度保持和指数拉平自动回收控制系统，并针对某型无人机进行了控制系统的6自由度全数字仿真，在此基础上，本文初步设计了一种简单实用的撞网回收系统，分析了回收网体尺寸的设计方法，进行了无人机撞网时网绳及无人机的强度分析和计算。更多还原

【Abstract】 With the purpose of improving the simplicity,agility,economy and practicability of the automatic recovery of unmanned automatic vehicle(UAV),the article has researched the automatic recovery techniques of unmanned automatic vehicle,Which includes the automatic recovery navigation systems,automatic recovery control techniques and automatic recovery projects.The article has brought up a new combination navigation system of GPS/INS and television tracker system,the accuracy of the television tracker navigation system to get the unmanned automatic vehicle’s location is analyzed and calculated. Applying PD control method,the article has designed the high-keeping stabilizing control system of the unmanned automatic vehicle. In addition,the article has also analyzed the even flying track to recovery and the automatic control system of even flying track to bump the net is designed too,both the high-keeping and the even flying track control systems are simulated really and digitally by 6 free degrees at the same time. Finally,a brief bumping net recover system is the first step designed and the methods to design the recovery bumping net are provided. Beyond these,the intensions of the unmanned automatic vehicle and the net of the bumping the net to recover system are analyzed and computed.更多还原