The invention discloses an air cooperative docking safety boundary modeling method based on a preset performance function. The method comprises the following steps: constructing a motion constraint space of a telescopic sleeve arm under the limitation of a controllable range of a mechanical joint based on a rigid physical structure of the telescopic sleeve arm; a segmented preset performance function is selected to design the motion control boundary of each joint of the telescopic sleeve arm, so that the tail end position of the telescopic sleeve arm is strictly restrained within a safe butt joint range under the condition that the mechanical motion constraint condition is met, and the telescopic sleeve arm reaches an expected butt joint position within the pre-butt joint time; and modeling the flight state boundary of the flexible small unmanned aerial vehicle. Based on a time scale separation principle, a similar segment preset performance function is selected to design a constraint boundary for the forward speed and the lateral vertical position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is strictly constrained in a safe docking range in an expected flight state, and finally, a bilateral controlled object simultaneously arrives at a pre-docking position in a safe motion state. And the efficiency and the accuracy of air cooperation docking are effectively improved.

    本发明公开基于预设性能函数的空中协作对接安全边界建模方法,基于伸缩套臂刚性物理结构构建伸缩套臂在机械关节可操纵范围限制下的运动约束空间;选取分段预设性能函数设计伸缩套臂各关节运动控制边界,以在满足机械运动约束条件下将伸缩套臂末端位置严格约束于安全对接范围内,并在预对接时间内到达期望对接位置;针对机动灵活的小型无人机飞行状态边界建模。本发明基于时标分离原则,选取相似分段预设性能函数对无人机前向速度及侧垂向位置设计约束边界,使无人机在期望飞行状态下严格约束于安全对接范围,最终使双边被控对象以安全运动状态同时抵达预对接位置,有效提高空中协作对接的效率与精确度。


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    Title :

    Air cooperation docking safety boundary modeling method based on preset performance function


    Additional title:

    基于预设性能函数的空中协作对接安全边界建模方法


    Contributors:
    SU ZIKANG (author) / XING ZHUOLIN (author) / XU ZHONGNAN (author) / JING XIANYONG (author)

    Publication date :

    2024-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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