CN101893892A - Control method for automatic parachute landing recovery of unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a control method for automatic parachute landing recovery of an unmanned aerial vehicle. A horizontal wind speed and a wind direction in air are estimated by fully utilizing information such as an air speed, a ground speed, a pitching angle, a course angle and the like; based on the estimation, a parachute opening point is calculated according to the centre of a recovery field; and lateral partial moment is controlled through an aileron and the flight height is controlled through an elevator, so that an airplane is guided and controlled to reach the parachute opening point so as to finish the control over the parachute landing recovery. By using the control method for the automatic parachute landing recovery, the recovery accuracy of the airplane after the parachute is opened in the presence of wind can be improved; and the method more adapts to the recovery requirement of complex environments so as to improve the safety for the recovery of the airplane.

Description

A kind of control method for automatic parachute landing recovery of unmanned aerial vehicle

Technical field

The invention belongs to the UAV Flight Control field, specifically, be meant a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle with parachute-opening way of recycling.

Background technology

Growing along with the unmanned plane application technology, the recovery technology of unmanned plane is also further developed, and in order to improve aircraft safety, is changed to compound way of recycling gradually by the single recovery mode.The way of recycling of unmanned plane generally has run back receipts, parachuting of wheeled cunning to reclaim, hit net and reclaim etc., these several ways of recycling are applied to different occasions at different unmanned planes, usually, though it is low that the parachuting way of recycling reclaims precision, debit's formula but wheeled relatively cunning is run back, requirement to runway, flight control, airborne equipment is lower, thereby is widely used in middle-size and small-size unmanned plane.

Usually, general unmanned plane parachute-opening removal process as shown in Figure 1.After unmanned plane executes task, then falling head is to predetermined recovery site flight, slow down simultaneously, after arriving parachute-opening point, carry out engine cut-off, and according to observing and controlling land station instruction or automatic deployment, if drag parachute is arranged then open drag parachute earlier, open gamp again after dropping to fixing speed, do not have then directly parachute-opening of drag parachute; Aircraft free-falling afterwards up to landing, and is cut umbrella as required, so far finishes parachuting and reclaims.Because aircraft is no longer controlled after the parachute-opening, aircraft floats down on the wind, its pick-up point is subjected to the influence of geographical environment, wind etc. very big, this has reduced the precision that parachuting is reclaimed to a great extent, make troubles and bother to the user of service, particularly around recovery site under the open inadequately situation, aircraft descends slowly and lightly and goes up or fall on the roof in advance to tree, the capital brings certain infringement for airframe or equipment, causes economic loss.

As shown in Figure 1, the parachute-opening point that unmanned plane is reclaimed in general parachuting is chosen on certain safe altitude H, and overlap with the recovery site center, in the ideal case, the recovery precision of this method is not higher when having air-dry disturbing, still, actual conditions all can have wind, especially when wind speed was big, in the overhead parachute-opening of recovery site central point, aircraft pick-up point deviation common and the recovery site center will be bigger.

Summary of the invention

The objective of the invention is is having under the situation of wind in order to solve, the unmanned aircraft parachute descent error is big, the technical matters that security is low, a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle is proposed, can make unmanned plane carry out parachuting under the situation of wind having, still have and reclaim precision and adaptive faculty preferably, improve the precision that unmanned aircraft parachute descent reclaims, improve the security that unmanned plane reclaims.

The present invention utilizes flying height, the flying speed information of unmanned plane, and according to recovery command, wind speed, the wind direction according to recovery site calculates parachute-opening point position automatically, unmanned plane is directed to this point carries out parachute-opening, realizes automatic parachute landing guiding recovery.The automatic parachute landing recovery control that realizes unmanned plane specifically comprises following six steps:

Step 1: by observing and controlling land station, send " recovery " instruction, carry out recovery site horizontal wind speed V to unmanned plane _w, wind direction ψ _wEstimation;

Step 2: the distance D of obtaining parachute-opening point A and recovery site center S;

Step 3: longitude, the latitude of determining parachute-opening point A;

Step 4: the longitude L that parachute-opening is put A ₀, latitude B ₀As the guider that exports unmanned plane to the point coordinate position to, guider calculates lateral deviation square Dz and lateral deviation is moved speed

Utilize flying height h, the rising or falling speed of unmanned plane then

Roll angle γ, roll angle speed ω _x, pitching angle theta, angle of pitch speed ω _zInformation, and control corresponding coefficient X _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}, obtain aileron steering order and elevating rudder steering order, make unmanned plane fly to parachute-opening point A according to aileron steering order and elevating rudder steering order by elevating rudder control and aileron control, behind the arrival parachute-opening point, carry out parachute-opening, finish parachuting and reclaim.

The invention has the advantages that:

(1) make full use of air speed, ground velocity and the angle of pitch of aircraft, wind speed and the wind direction that course angle estimates recovery site, and then obtain suitable parachute-opening point, having improved is having the precision that parachuting is reclaimed under the situation of wind, effectively improves aircraft and reclaims security;

(2) computing method of parachute-opening point of the present invention are to have used geocentric coordinate to resolve under terrestrial coordinate system, can improve the calculation accuracy of parachute-opening point, thereby improve the precision of Navigation Control.

Description of drawings

Fig. 1 is existing unmanned plane parachute-opening removal process synoptic diagram;

Fig. 2 is that unmanned aircraft parachute descent reclaims synoptic diagram among the present invention;

Fig. 3 is a method flow diagram of the present invention;

Embodiment

Below in conjunction with accompanying drawing and example control method for automatic parachute landing recovery of unmanned aerial vehicle of the present invention is described further.

Fig. 2, if parachute-opening point A overlaps with recovery site center S, then under air-dry situation of disturbing, can rack after the aircraft parachute-opening shown in 2 figure for unmanned plane automatic parachute landing among the present invention reclaims synoptic diagram, can not fall the recovery site center; The parachute-opening point that finds by the inventive method is such: the parachute-opening point is parallel with wind direction with the line of recovery site center S, with the angle ψ of north orientation ₀=ψ _w+ 180 degree, and be D apart from the distance at recovery site center,

H is parachute-opening point A height, V _wBe wind speed, V _yBe the decline rate after the unmanned plane parachute-opening.At this moment, can find unique one by angle ψ ₀Determine a parachute-opening point A with distance D.

Fig. 3 is an automatic deployment recycling and control method process flow diagram, and the present invention at first estimates horizontal wind speed, the wind direction of recovery site; Calculate the distance D of parachute-opening point A and recovery site center S then; Then according to D and ψ _w, resolve the longitude L that obtains parachute-opening point A ₀With latitude B ₀, at last with longitude L ₀, latitude B ₀Export to guider, thereby acquisition lateral deviation square and lateral deviation are moved speed,, thereby realize unmanned plane is directed to parachute-opening point A parachute-opening, finish the automatic parachute landing removal process by aileron control lateral deviation square, elevating rudder control height.

A kind of control method for automatic parachute landing recovery of unmanned aerial vehicle of the present invention, flow process is shown in Figure 3, comprises following step:

Step 1: by observing and controlling land station, send " recovery " instruction, carry out recovery site horizontal wind speed V to unmanned plane _w, wind direction ψ _wEstimation;

1) according to the air speed V of unmanned plane _k, pitching angle theta, course angle ψ, east orientation ground velocity V _e, north orientation ground velocity V _n, obtain at this moment the east component V of wind speed in the air _We, north component V _Wn, shown in (1), (2):

V _wn＝V _dn-V _k·cosθ·cosψ (1)

V _we＝V _de-V _k·cosθ·sinψ (2)

2) according to the east component V of wind speed _WeAnd north component V _WnObtain wind speed V _wWith wind direction ψ _w, shown in (3), (4):

$V_w=\sqrt{{V_{\mathrm{wn}}}^2+{V_{\mathrm{we}}}^2}---\left(3\right)$

${\mathrm{\ψ}}_w=\mathrm{arctg}\left(\frac{V_{\mathrm{we}}}{V_{\mathrm{wn}}}\right)---\left(4\right)$

Step 2: the distance D of obtaining parachute-opening point A and recovery site center S;

By the decline rate V after the unmanned plane parachute-opening _yAnd the height H of parachute-opening point A, obtain the distance D of parachute-opening point A and recovery site center S, as the formula (5):

$D=\frac{H\·V_w}{V_y}---\left(5\right)$

Step 3: longitude, the latitude of determining parachute-opening point A;

Longitude L by recovery site center S ₁, latitude B ₁, wind direction ψ _w, parachute-opening point A and recovery site center S distance D, obtain the longitude L of parachute-opening point A ₀, latitude B ₀, shown in (6), (7):

The latitude B of parachute-opening point A ₀For:

In the formula,

B _C1Be the geocentric latitude of recovery site center S,

B ₁Latitude for recovery site center S;

R _LongBe semimajor axis of ellipsoid, R _Long6378137.0m;

R _ShortBe semiminor axis of ellipsoid, R _Long=6356752.3m;

E _DBe the ellipse degree of bias of the earth, E _D=0.003352811 (1/298.25722);

The longitude L of parachute-opening point A ₀For:

In the formula,

L ₁Longitude for recovery site center S;

$\mathrm{\ΔL}=\frac{D\sin {\mathrm{\ψ}}_w}{R_p\cos B_{C1}};$

Step 4: the longitude L that parachute-opening is put A ₀, latitude B ₀As the guider that exports unmanned plane to the point coordinate position to, guider calculates lateral deviation square Dz and lateral deviation is moved speed

Utilize flying height h, the rising or falling speed of unmanned plane then

Roll angle γ, roll angle speed ω _x, pitching angle theta, angle of pitch speed ω _zInformation, and control corresponding COEFFICIENT K _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}, obtain aileron steering order and elevating rudder steering order, shown in (8), (9):

${\mathrm{\δ}}_x=K_{\mathrm{\γ}}[\mathrm{\γ}+k_{g1}(k_{g2}\mathrm{Dz}+\stackrel{\·}{D}z)]+K_{\mathrm{\ωx}}{\mathrm{\ω}}_x---\left(8\right)$

${\mathrm{\δ}}_z=K_{\mathrm{\θ}}[\mathrm{\θ}-K_h(H-h)+K_{\mathrm{hI}}{\∫}_0^t(H-h)\mathrm{dt}+K_{\mathrm{hz}}\stackrel{\·}{h}]+K_{\mathrm{\ωz}}{\mathrm{\ω}}_z---\left(9\right)$

Wherein, δ _xBe aileron steering order, δ _zBe elevating rudder steering order, K _γBe roll angle control coefrficient, k _G1For lateral deviation is moved speed control coefficient, k _G2For lateral deviation apart from control coefrficient, K _θBe angle of pitch control coefrficient, K _hBe height control coefrficient, K _HIBe height integral control coefficient, K _HdBe height derivative control coefficient, K _{ω z}Be angle of pitch rate controlled coefficient;

Make unmanned plane fly to parachute-opening point A according to aileron steering order and elevating rudder steering order by elevating rudder control and aileron control, behind the arrival parachute-opening point, carry out parachute-opening, finish parachuting and reclaim.

In step 4, described control coefrficient K _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}Acquisition methods be:

Set up corresponding full dose mathematical model according to the aerodynamic data of unmanned plane, and obtain the corresponding linear equation, utilize the classical control method in the control theory to choose control coefrficient K according to the microvariations linearization technique _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}, utilize designed control structure of unmanned plane full dose mathematical model checking and the controlled variable system that whether can make to satisfy the control requirement then, if satisfy system, then obtain control coefrficient, if do not satisfy, choose again.Wherein, setting up unmanned plane full dose mathematical model, microvariations linearization technique and classical control method all has a detailed description in flying the relevant books of control specialty.

Control method for automatic parachute landing recovery of unmanned aerial vehicle of the present invention, make full use of the angle of pitch, course angle, air speed, the ground velocity information of unmanned plane, estimate horizontal wind speed, the wind direction of recovery site, and then according to recovery site center S, find a suitable parachute-opening point A, by aileron control and elevating rudder control, make aircraft in this parachute-opening, improved the recovery precision after the situation that wind is arranged is got off the plane parachute-opening, more adapt to the recovery requirement of complex environment, thereby improved the security that aircraft reclaims.

Claims (6)

1. control method for automatic parachute landing recovery of unmanned aerial vehicle is characterized in that: comprise following step:

Step 1: by observing and controlling land station, send " recovery " instruction, carry out recovery site horizontal wind speed V to unmanned plane _w, wind direction ψ _wEstimation;

Step 2: the distance D of obtaining parachute-opening point A and recovery site center S;

Step 3: longitude, the latitude of determining parachute-opening point A;

Step 4: the longitude L that parachute-opening is put A ₀, latitude B ₀As the guider that exports unmanned plane to the point coordinate position to, guider calculates lateral deviation square Dz and lateral deviation is moved speed

, utilize flying height h, the rising or falling speed of unmanned plane then

Roll angle γ, roll angle speed ω _x, pitching angle theta, angle of pitch speed ω _zInformation, and corresponding roll angle control coefrficient K _γ, lateral deviation moves the speed control coefficient k _G1, lateral deviation is apart from control coefrficient k _G2, angle of pitch control coefrficient K _θ, height control coefrficient K _h, height integral control coefficient K _HI, height derivative control coefficient K _HdAngle of pitch rate controlled COEFFICIENT K _{ω z}, obtain aileron steering order and elevating rudder steering order; Make unmanned plane fly to parachute-opening point A according to aileron steering order and elevating rudder steering order by elevating rudder control and aileron control, behind the arrival parachute-opening point, carry out parachute-opening, finish parachuting and reclaim.

2. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 1 sends " recovery " instruction by observing and controlling land station to unmanned plane, carries out recovery site horizontal wind speed V _w, wind direction ψ _wEstimation be specially:

1) according to the air speed V of unmanned plane _k, pitching angle theta, course angle ψ, east orientation ground velocity V _e, north orientation ground velocity V _n, obtain at this moment the east component V of wind speed in the air _We, north component V _Wn, as follows:

V _wn＝V _dn-V _k·cosθ·cosψ (1)

V _we＝V _de-V _k·cosθ·sinψ (2)

2) according to the east component V of wind speed _WeAnd north component V _WnObtain wind speed V _wWith wind direction ψ _w, as follows:

$V_w=\sqrt{{V_{\mathrm{wn}}}^2+{V_{\mathrm{we}}}^2}---\left(3\right)$

${\mathrm{\ψ}}_w=\mathrm{arctg}\left(\frac{V_{\mathrm{we}}}{V_{\mathrm{wn}}}\right)---\left(4\right).$

3. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: the distance D that described step 2 is obtained parachute-opening point A and recovery site center S is specially:

By the decline rate V after the unmanned plane parachute-opening _yAnd the height H of parachute-opening point A, obtain the distance D of parachute-opening point A and recovery site center S, as follows:

$D=\frac{H\·V_w}{V_y}---\left(5\right).$

4. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 3 is specially:

Longitude L by recovery site center S ₁, latitude B ₁, wind direction ψ _w, parachute-opening point A and recovery site center S distance D, obtain the longitude L of parachute-opening point A ₀, latitude B ₀, as follows:

The latitude B of parachute-opening point A ₀For:

In the formula,

B _C1Be the geocentric latitude of recovery site center S,

B ₁Latitude for recovery site center S;

R _LongBe semimajor axis of ellipsoid, R _Long=6378137.0m;

R _ShortBe semiminor axis of ellipsoid, R _Long=6356752.3m;

E _DBe the ellipse degree of bias of the earth, E _D=0.003352811 (1/298.25722);

The longitude L of parachute-opening point A ₀For:

In the formula,

L ₁Longitude for recovery site center S;

$\mathrm{\ΔL}=\frac{D\sin {\mathrm{\ψ}}_w}{R_p\cos B_{C1}}.$

5. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 4 aileron steering order and elevating rudder steering order are specially:

${\mathrm{\δ}}_x=K_{\mathrm{\γ}}[\mathrm{\γ}+k_{g1}(k_{g2}\mathrm{Dz}+\stackrel{\·}{D}z)]+K_{\mathrm{\ωx}}{\mathrm{\ω}}_x---\left(8\right)$

${\mathrm{\δ}}_z=K_{\mathrm{\θ}}[\mathrm{\θ}-K_h(H-h)+K_{\mathrm{hI}}{\∫}_0^t(H-h)\mathrm{dt}+K_{\mathrm{hz}}\stackrel{\·}{h}]+K_{\mathrm{\ωz}}{\mathrm{\ω}}_z---\left(9\right)$

Wherein, δ _xBe aileron steering order, δ _zBe elevating rudder steering order, K _γBe roll angle control coefrficient, k _G1For lateral deviation is moved speed control coefficient, k _G2For lateral deviation apart from control coefrficient, K _θBe angle of pitch control coefrficient, K _hBe height control coefrficient, K _HIBe height integral control coefficient, K _HdBe height derivative control coefficient, K _{ω z}Be angle of pitch rate controlled coefficient.

6. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: in the described step 4, and control coefrficient K _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}Acquisition methods be:

Set up corresponding full dose mathematical model according to the aerodynamic data of unmanned plane, and obtain the corresponding linear equation, utilize the classical control method in the control theory to choose control coefrficient K according to the microvariations linearization technique _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}, utilize designed control structure of unmanned plane full dose mathematical model checking and the controlled variable system that whether can make to satisfy the control requirement then, if satisfy, then obtain control coefrficient, if do not satisfy, choose again.

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