Trajectory optimisation of an aerobatic air race
Trajectory optimisation of an aerobatic air race
复制标题
特技空中竞赛轨迹优化
作者：
H. Plas;H. Visser
本文研究特技飞行竞赛最优轨迹的综合问题。一个典型的例子是红牛世界系列赛，高性能的特技飞行飞机在最快的时间内飞行规定的障碍滑雪路线，该路线由特别设计的充气塔组成，称为“空气门”。我们寻求优化的轨迹就是基于这样一个过程。空气竞赛问题制定为最小时间的最优控制问题，并解决了开环形式使用直接数值多相轨迹优化方法的基础上配置和非线性规划。所采用的配置算法的多相功能是用来使一个滚动时域优化方法，其中只有有限数量的演习顺序被认为是。结果表明，滚动时域控制方法提供了一个接近最优的解决方案，在一个显着降低计算成本相对于轨迹优化在整个过程中。为了避免基于欧拉角的运动方程中的路径倾斜奇异性，使用基于四元数的点质量模型公式。数值计算结果的额外300 S，一个专门设计的特技飞行器。
Abstract This paper deals with the synthesis of optimal trajectories for aerobatic air races. A typical example of an air race event is the Red Bull Air Race World Series, where high-performance aerobatic aircraft fly a prescribed slalom course consisting of specially designed inflatable pylons, known as ‘air gates’, in the fastest possible time. The trajectory that we seek to optimise is based on such a course. The air race problem is formulated as a minimum-time optimal control problem and solved in open-loop form using a direct numerical multi-phase trajectory optimisation approach based on collocation and non-linear programming. The multiphase feature of the employed collocation algorithm is used to enable a Receding-Horizon optimisation approach, in which only a limited number of manoeuvres in sequence is considered. It is shown that the Receding-Horizon control approach provides a near-optimal solution at a significantly reduced computational cost relative to trajectory optimisation over the entire course. To avoid the path inclination singularity in the equations of motion based on Euler angles, a point-mass model formulation is used that is based on quaternions. Numerical results are presented for an Extra 300S, a purpose-designed aerobatic aircraft.