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探讨了小型无人机如何通过从大气扰动中获取能量来达到提高航程航时的目的。基于纵向质点模型建立了纵向运动学模型以及动力学模型,在此基础上得到飞行单位距离的能量改变量的函数,构造优化模型把能量获取问题转化为轨迹优化问题,并引入稳定平衡条件进行求解,同时进行控制律的设计,并在Matlab/Simu-link中对模型以及控制律的有效性进行了仿真验证。
Explores how a small UAV can achieve its mission of increasing range and flight by capturing energy from atmospheric disturbances. Based on the longitudinal particle model, a longitudinal kinematic model and a dynamic model are established. Based on this, a function of the amount of energy change in the unit distance of the flight is obtained. The structural optimization model transforms the energy acquisition problem into a trajectory optimization problem, and a stable equilibrium condition is introduced to solve the problem At the same time, the design of control law is carried out and the validity of the model and the control law is verified by Matlab / Simu-link.