论文标题
可及性作为计算直升机安全操作条件和自动紧急降落的统一框架
Reachability as a Unifying Framework for Computing Helicopter Safe Operating Conditions and Autonomous Emergency Landing
论文作者
论文摘要
我们提出了一种数字方法，以计算直升机的安全操作飞行条件，以便在发生部分或全部发动机故障的情况下确保安全着陆。不安全的操作区域是向后伸出的管的补充，可以在汉密尔顿 - 雅各比（HJ）方程的粘度解决方案的零下集合中找到。传统上，用于求解HJ方程的数值方法依赖于解决方案空间的离散网格，并显示了指数缩放的尺寸，这对于准确的直升机建模所需的高保真动力学模型来说是有问题的。我们通过制定轨迹优化问题来避免使用空间网格，在这种问题中，每个初始条件下的解决方案都可以以计算有效的方式计算。提出的方法显示，即使在非砍伐飞行条件下，也可以从任何操作条件中计算出一个自主登陆轨迹。
We present a numeric method to compute the safe operating flight conditions for a helicopter such that we can ensure a safe landing in the event of a partial or total engine failure. The unsafe operating region is the complement of the backwards reachable tube, which can be found as the sub-zero level set of the viscosity solution of a Hamilton-Jacobi (HJ) equation. Traditionally, numerical methods used to solve the HJ equation rely on a discrete grid of the solution space and exhibit exponential scaling with dimension, which is problematic for the high-fidelity dynamics models required for accurate helicopter modeling. We avoid the use of spatial grids by formulating a trajectory optimization problem, where the solution at each initial condition can be computed in a computationally efficient manner. The proposed method is shown to compute an autonomous landing trajectory from any operating condition, even in non-cruise flight conditions.
