基于加速度的固定翼无人机控制用于导航应用
Acceleration-Based Control of Fixed-Wing UAVs for Guidance Applications
AI总结：
本文提出了一种基于加速度的固定翼无人机控制框架，通过工程映射和能量公式实现切向和法向加速度的转换，以实现比例导航的实用应用。
摘要：
加速度命令导航法（例如比例导航）在高层决策中具有吸引力，但其直接部署在固定翼无人机上具有挑战性，因为加速度不是直接执行的，必须通过姿态和推力在飞行包线约束下实现。本文提出了一种加速度级外环控制框架，将命令的切向和法向加速度转换为可执行的机体速率和归一化推力命令，与主流自动飞控系统（如PX4/APM）兼容。对于法向通道，我们推导出从期望法向加速度到滚转和俯仰速率命令的工程映射，以在小角度假设下调节升力矢量的方向和大小。对于切向通道，我们引入了受总能量控制启发的基于能量的公式，并从飞行数据中识别出一种经验性的推力-能量加速度关系，从而避免显式推进建模或推力台校准。我们进一步讨论了在饱和和非水平机动情况下法向和切向加速度之间的优先级处理。大量实飞实验在VTOL固定翼平台上展示了准确的加速度跟踪，并使仅使用机体速率和归一化推力接口就能实现比例导航的实用实现。
英文摘要：
Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be realized through attitude and thrust under flight-envelope constraints. This paper presents an acceleration-level outer-loop control framework that converts commanded tangential and normal accelerations into executable body-rate and normalized thrust commands compatible with mainstream autopilots (e.g., PX4/APM). For the normal channel, we derive an engineering mapping from the desired normal acceleration to roll- and pitch-rate commands that regulate the direction and magnitude of the lift vector under small-angle assumptions. For the tangential channel, we introduce an energy-based formulation inspired by total energy control and identify an empirical thrust-energy acceleration relationship directly from flight data, avoiding explicit propulsion modeling or thrust bench calibration. We further discuss priority handling between normal and tangential accelerations under saturation and non-level maneuvers. Extensive real-flight experiments on a VTOL fixed-wing platform demonstrate accurate acceleration tracking and enable practical implementation of proportional navigation using only body-rate and normalized thrust interfaces.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
