Path tracking control of solar-powered UAV based on energy management strategy

基于能量管理策略的太阳能无人机航迹跟踪控制

¹ School of Computer Science, Northwestern Polytechnical University, Xi'an 710072, China
² China Academy of Aerospace Aerodynamics, Beijing 100074, China
³ School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
⁴ Queen Mary University of London Engineering School, Northwestern Polytechnical University, Xi'an 710072, China

Received: 24 June 2022

Abstract

To coordinate the conflict between the high-altitude task and long-term energy efficiency of high-altitude long endurance solar UAV, it is one of the core issues of UAV control. A strategy combining the energy management with the route tracking is presented. Firstly, based on the three-dimensional particle motion model, energy storage battery model and solar energy acquisition model for the solar UAV, according to the aerodynamic parameters of the solar UAV and the typical horizontal flight, climb, descent and other motion processes of the solar UAV, the energy management strategy of the solar UAV is designed, and the allocation mechanism and optimal flight parameters of the energy acquisition, storage and consumption of the solar UAV in different flight stages are determined. The surplus solar energy is stored by using the gravitational potential energy, and then the energy management based on height adjustment is carried out to realize the longitudinal tracking control of the solar UAV under different lighting and energy conditions. Then based on the task requirements of the lateral movement of the solar UAV, a track tracking control method based on the feedback linearization method is established by decoupling the particle dynamics equation of the solar UAV, and the track tracking control of the solar UAV in the lateral direction is realized. Finally, a simulation throughout 24 hours is implemented and illustrated the effectiveness of the energy management strategy and route tracking control law.

摘要

协调高空长航时太阳能无人机的高空作业任务与长期能源利用效率之间的冲突, 是无人机控制的核心问题之一。基于太阳能无人机的能量获取、储存与消耗存在紧密的耦合关系, 提出了一种综合能量管理策略和航迹跟踪控制的方法。基于建立的太阳能无人机三维质点运动模型、储能电池模型以及太阳能获取模型, 根据太阳能无人机的气动参数以及太阳能无人机典型的平飞、爬升、下降等运动过程, 设计了太阳能无人机能量管理策略, 确定了太阳能无人机在不同飞行阶段能量获取、存储与消耗的分配机制及最优飞行参数; 利用重力势能储存多余太阳能, 进而进行基于高度调整的能量管理, 实现对太阳能无人机在不同光照和能量状态下的纵向跟踪控制。同时, 结合太阳能无人机横侧向运动的任务要求, 通过对太阳能无人机的质点动力学方程进行解耦, 建立了基于反馈线性化方法航迹跟踪控制方法, 实现太阳能无人机在横侧向的航迹跟踪控制。24 h时间闭合仿真表明, 该方法可满足储能电池的最低能量剩余要求以及航迹跟踪控制要求。