CN101927831A - Variable pitch engine configuration based method for processing break of unmanned aerial vehicle remote control link - Google Patents

Abstract

The invention discloses a variable pitch engine configuration based method for processing break of an unmanned aerial vehicle remote control link, which sufficiently utilizes the initial pitch adjusting height of an unmanned aerial vehicle and the measurement range information of a height sensor, as well as the flight height information and the flight set height information when the remote control link is broken, finds a safe flight set height by determining and making decision stage by stage against the problem that the pitch cannot be adjusted through a remote command after the remote control link is broken, ensures that the unmanned aerial vehicle can fly safely when the remote control link is broken through height control by an elevator, thereby avoiding risks that the rotating speed of the engine is overspeed or not sufficient, and improving the flight safety of the unmanned aerial vehicle.

Description

A kind of no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations

Technical field

The invention belongs to unmanned plane autonomous flight control field, specifically, be meant a kind of processing method of interrupting based on the no-manned machine distant control chain circuit of Variable Pitch engine configurations.

Background technology

Driving engine is the chief component of engine installation.Aero-engine is with the heat energy of fuel or other forms ofly can changes mechanical energy into, and the device of flight required drive is provided for aircraft or other aerocrafts.The performance of aero-engine is one of principal element of decision aircraft performance.The improvement and the development of driving engine are depended in the raising of the flying speed of aircraft, flying height, voyage, load carrying ability and mobile operations to a great extent.It is big that modern aeroengine has thrust-weight ratio, and wind area is little, and starting, acceleration adapt to maneuvering flight soon, uses maintenance easy, advantages such as reliable operation.Aero-engine is the heart of aircraft, is one of decisive factor of aeroplane performance.Its main function provides the required power of airplane motion---and " thrust " or " pulling force ", in order to inertia and the air resistance that overcomes aircraft.

Along with the expansion of unmanned plane field of application, also more and more higher to the unmanned vehicle engine performance demands.For small-sized aviation piston engine, require to have that volume is little, output per litre is high, simple in structure, characteristic such as working service is convenient.Particularly, more and more higher for the requirement that unmanned plane can work long hours along with development of science and technology.For height and the not high unmanned plane of rate request, the general choice screw propeller is as propulsion mode, and characteristics such as the peculiar low oil consumption of screw propeller have satisfied the requirement of aviation unmanned plane to power system itself.Screw propeller can be divided into fixed pitch propeller and constant-speed propeller.For small-sized piston engine, it is low that fixed pitch propeller has a cost, and characteristic of simple structure is so be widely adopted.Airscrewpiston is meant screw propeller under the situation that non-slip and efficient are not lost, the distance that the moving circle of revolution moves forward.Pitch and blade angle (angle of the blade string of a musical instrument and propellerpiston) are mutually ratio.Because the blade angle of screw propeller is that what to be fixed is spacing, this fixed pitch propeller power normal and driving engine does not match, and along with the variation of height, bar pressure and density also change, rotating speed is not that excess revolutions is exactly not enough, and the pulling force (thrust) during take-off and landing is wayward.Therefore, to make displacement into adjustable for the screw propeller that piston engine is driven afterwards, i.e. the displacement oar.Like this, when taking off, climbing or cruising in the air, can regulate pitch by distant control chain circuit at any time at unmanned plane, with the power match of driving engine, avoid occurring rotating speed excess revolutions or not enough phenomenon.

The Variable Pitch of screw propeller is regulated and is realized by physical construction, owing to there is the influence of factors such as gap, stressed variation, pitch of every adjusting is also different to the influence of rotating speed, such as pitch of the every adjusting of the pitch angle of certain unmanned plane, pitch angle changes 0.5 degree, corresponding change in rotational speed is between 50rpm～150rpm, also have and regulate a pitch and the phenomenon of significant change does not take place rotating speed, so just need to regulate once again, so do not have strict corresponding relationship between Variable Pitch adjusting and the rotation speed change; If according to rotating speed automatically regulating pitch angle, the pitch adjusting then may occur and arrive end position, but the situation that rotating speed still can not meet the demands, thereby causing the regulating mechanism continuous firing, motor burns out accidents such as inefficacy.Safer a kind of mode is the rotating speed that the operator passes down according to remote measurement at present, by the distant control chain circuit transmission pitch regulating command of observing and controlling ground station.But in this manner, if interrupting appears in distant control chain circuit, then the pitch regulating command can't send to unmanned plane and implement control, just can't in time carry out corresponding adjusting according to engine speed, excess revolutions or not enough phenomenon appear easily, then driving engine is not that scuffing of cylinder bore stops exactly, directly influences the flight safety of unmanned plane.

Summary of the invention

The objective of the invention is to propose a kind of unmanned plane link down processing method based on the Variable Pitch engine configurations, utilize this method, can make the piston-engined unmanned plane of configuration Variable Pitch, automatically the situation that distant control chain circuit interrupts appears in reply in flight course, solution can't be regulated the situation of pitch, improves the flight safety of unmanned plane.

In order to achieve the above object, the present invention utilize flying height, the way point of unmanned plane elevation information, transfer information such as pitch elemental height, the residing state of unmanned plane was handled respectively when interrupting was appearred in distant control chain circuit, reached the purpose that ensures flight safety.Realization specifically comprises following three steps based on the no-manned machine distant control chain circuit interruption processing method of pitched:

Step 1: determine to transfer the pitch elemental height according to driving engine pitched characteristic,, determine the initial value of maximum assigned altitute according to the upper limit of height sensor measurement range;

Step 2: determine maximum assigned altitute

If interrupting appears in distant control chain circuit,, redefine maximum assigned altitute according to the assigned altitute of unmanned plane current flight height, flight, the relation between the adjusting pitch elemental height; If distant control chain circuit is normal, then maximum assigned altitute is remained the upper limit of height sensor measurement range;

Step 3: determine the flight assigned altitute

When carrying out the destination switching, according to the relation of course line, determine the assigned altitute of unmanned plane during flying, and realize highly controlling by elevating rudder to some height and maximum assigned altitute;

The advantage based on the no-manned machine distant control chain circuit interruption processing method of pitched that the present invention proposes is: the unmanned plane that is applicable to configuration Variable Pitch driving engine, need regulate pitch aloft, when the distant control chain circuit interruption occurring, automatically the safety that has improved unmanned plane during flying is handled in state of flight reply at that time according to unmanned plane.

Description of drawings

Fig. 1 is a method scheme drawing of the present invention;

Fig. 2 is a method flow diagram of the present invention.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing and example.

Be illustrated in figure 1 as a kind of no-manned machine distant control chain circuit interruption processing method scheme drawing of the present invention based on the Variable Pitch engine configurations.The present invention arrives a some elevation information according to initial adjustment pitch height, flying height, flight assigned altitute, the course line of unmanned plane, determine the flight assigned altitute, make unmanned plane when distant control chain circuit interrupts, can't regulate under the situation of pitch by the elevating rudder instruction by distant control chain circuit, still can safe flight.

A kind of no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations of the present invention, flow process realize by following three steps as shown in Figure 2:

Step 1: determine to transfer the pitch elemental height according to driving engine pitched characteristic,, determine the initial value of maximum assigned altitute, comprise the steps: according to the upper limit of height sensor measurement range

1) according to unmanned vehicle engine performance and airworthiness, pass through engine rig test, according to the driving engine propeller pitch angle, the climbing speed of unmanned plane, and when driving engine arrived the rotating speed of rating horsepower, corresponding flying height was after this along with increase highly, to need to regulate propeller pitch angle, then this flying height just can be defined as safe initial pitched height H j;

Here the situation difference of using at reality, two kinds of methods are specifically arranged, a kind of is when carrying out engine rig test, test at different pitch angles and corresponding climbing speed, find the cooresponding flying height of rotating speed when driving engine arrives rating horsepower, so corresponding a flying height, i.e. initial adjustment pitch height of each pitch angle and climbing speed, then these initial adjustment pitch height are averaged, this aviation value is defined as Hj; Another kind of simple method is an initial pitch angle of selecting a unmanned plane during flying commonly used, at this pitch angle and climbing speed, finds corresponding initial adjustment pitch height, and this initial adjustment pitch height is defined as Hj;

2), determine the initial value of initial maximum assigned altitute Hz, Hz=Hzd according to the measurement upper limit Hzd of height sensor;

Step 2: determine maximum assigned altitute;

When interrupting appears in distant control chain circuit, according to the assigned altitute Hg of unmanned plane current flight height H o, flight, the relation between the adjusting pitch elemental height Hj, redefine maximum assigned altitute Hz, comprise the steps:

(1), then compares the assigned altitute Hg and accent pitch elemental height Hj of current flight: if Hg＞Hj then enters (2) if distant control chain circuit interrupts; If Hg≤Hj then changes maximum assigned altitute value Hz into and transfers pitch elemental height value Hj, promptly Hz=Hj enters step 3; If distant control chain circuit is normal, then maximum assigned altitute Hz remains the upper limit Hzd of height sensor measurement range, and promptly Hz=Hzd enters step 3;

(2) compare current flight height H o and adjusting pitch elemental height Hj:, enter (3) if Ho＞Hj continues to compare Hg and Ho; If Ho≤Hj, then Hg=Hj enters (4);

(3) if Hg＞Ho then changes assigned altitute Hg into current flying height Ho, promptly Hg=Ho enters (4); If Hg≤Ho then keeps Hg constant, enter (4);

(4) change maximum assigned altitute value Hz into assigned altitute value Hg, promptly Hz=Hg enters step 3;

Step 3: determine the flight assigned altitute;

When carrying out the destination switching, according to the relation of course line, determine the assigned altitute of unmanned plane during flying, and carry out height according to the assigned altitute that flies and control to some height and maximum assigned altitute, comprise the steps:

1. if carrying out destination switches, then relatively arrive some assigned altitute Hx and maximum assigned altitute value Hz, enter 2.; Do not switch if do not carry out destination, then keep Hg, enter 3.;

2. if Hx＞Hz then changes assigned altitute Hg into maximum assigned altitute Hz, promptly 3. Hg=Hz enters; If Hx≤Hz then changes assigned altitute value Hg into a some assigned altitute Hx, promptly 3. Hg=Hx enters;

3. according to the assigned altitute of flight, realize highly control by elevating rudder, the height control law is:

${\mathrm{\δ}}_z=K_{\mathrm{hp}}(H-H_g)+K_{\mathrm{hI}}{\∫}_0^t(H-H_g)\mathrm{dt}+K_{\mathrm{\θ}}\mathrm{\θ}+K_{{\mathrm{\ω}}_z}{\mathrm{\ω}}_z;$

Wherein, δ _zBe the elevating rudder instruction, H is the flying height of unmanned plane, K _HpBe height control ratio coefficient, K _HIFor highly controlling integral coefficient, K _θBe the pitch angle control coefficient,

Be pitch angle speed control coefficient, θ is a pitch angle, ω _zBe pitch angle speed.

Embodiment:

Further specify the no-manned machine distant control chain circuit interruption processing method based on pitched provided by the invention below by the specific embodiment data, the concrete steps that the inventive method is applied to certain unmanned plane autonomous flight control are:

Step 1: determine to transfer the pitch elemental height according to driving engine pitched characteristic,, determine the initial value of maximum assigned altitute, comprise the steps: according to the upper limit of height sensor measurement range

1) calculates according to unmanned vehicle engine performance and airworthiness, determine the initial adjustment pitch height H j of a safety;

Unmanned vehicle engine is commonly used among the embodiment is 16.5 when spending with propeller pitch angle, taking off back is that 140km/h climbs with speed, when driving engine arrives the rotating speed 5500rpm of rating horsepower, cooresponding flying height is 3000m, after this along with highly increasing, then need to regulate propeller pitch angle, therefore initial pitched height can be defined as 3000m, i.e. Hj=3000m;

2), determine initial maximum assigned altitute Hz according to the measurement upper limit of height sensor;

This unmanned plane the measurement range of cargo-carring air data computer be-1000m～12000m i.e. Hzd=12000m, then Hz=12000m;

Step 2: determine maximum assigned altitute;

When interrupting appears in distant control chain circuit, according to the assigned altitute Hg of unmanned plane current flight height H o, flight, the relation between the adjusting pitch elemental height Hj, redefine maximum assigned altitute Hz, comprise the steps:

(1), compares the assigned altitute Hg and accent pitch elemental height Hj of current flight: if Hg＞Hj then enters (2) if distant control chain circuit interrupts; If Hg≤Hj then changes maximum assigned altitute value Hz into and transfers pitch elemental height value Hj, promptly Hz=Hj enters step 3; If distant control chain circuit is normal, then maximum assigned altitute Hz remains the upper limit Hzd of height sensor measurement range, and promptly Hz=Hzd enters step 3;

(2) compare current flight height H o and adjusting pitch elemental height Hj:, enter (3) if Ho＞Hj continues to compare Hg and Ho; If Ho≤Hj, then Hg=Hj enters (4);

(3) if Hg＞Ho then changes assigned altitute Hg into current flying height Ho, i.e. Hg=Ho; If Hg≤Ho then keeps Hg constant, enter (4);

(4) change maximum assigned altitute value Hz into assigned altitute value Hg, promptly Hz=Hg enters step 3;

If when distant control chain circuit interrupts, the assigned altitute Hg=5000m of unmanned plane during flying, flying height Ho=3300m, then satisfy Hg＞Hj, Ho＞Hj, and Hg＞Ho, assigned altitute Hg with flight is taken as current flying height Ho so, i.e. Hg=3300m, Hz=3300m;

Step 3: determine the flight assigned altitute;

Carrying out destination when switching, according to the relation of course line, determine the assigned altitute Hg of unmanned plane during flying, and the assigned altitute Hg that will fly delivers to flicon processing program and carries out height and control to some height H x and maximum assigned altitute Hz, comprise the steps:

1. if carrying out destination switches, then relatively arrive some assigned altitute Hx and maximum assigned altitute value Hz, enter 2.; Do not switch if do not carry out destination, then keep Hg, enter 3.;

2. if Hx＞Hz then changes assigned altitute Hg into maximum assigned altitute Hz, promptly 3. Hg=Hz enters; If Hx≤Hz then changes assigned altitute value Hg into a some assigned altitute Hx, promptly 3. Hg=Hx enters;

3. according to the assigned altitute of flight, realize highly control by elevating rudder, the height control law is:

${\mathrm{\δ}}_z=K_{\mathrm{hp}}(H-H_g)+K_{\mathrm{hI}}{\∫}_0^t(H-H_g)\mathrm{dt}+K_{\mathrm{\θ}}\mathrm{\θ}+K_{{\mathrm{\ω}}_z}{\mathrm{\ω}}_z;$

Wherein, δ _zBe the elevating rudder instruction, H is the flying height of unmanned plane, K _HpBe height control ratio coefficient, K _HIFor highly controlling integral coefficient, K _θBe the pitch angle control coefficient,

Be pitch angle speed control coefficient, θ is a pitch angle, ω _zBe pitch angle speed.

Determined maximum assigned altitute Hz=3300m according to step 2, then after this in-flight, highly be higher than Hz as if the course line to point, the assigned altitute Hg that then flies gets Hz; Highly be lower than Hz as if the course line to point, the assigned altitute Hg that then flies gets the course line to the some height, and according to flight assigned altitute Hg, carry out height control by elevating rudder, so far, can be implemented in the no-manned machine distant control chain circuit interrupt procedure, flying height can not be higher than 3300m again, and this highly is the maximum height of flight before distant control chain circuit interrupts, and is the safe altitude through pitched, has also guaranteed the safety of unmanned plane during flying thus;

According to step 3 and step 4, after distant control chain circuit recovers, because 12000m is the measurement upper limit of height sensor, the ceiling of unmanned plane necessarily is lower than 12000m, the destination height also necessarily is lower than 12000m, then necessarily satisfies Hx＜12000m, can guarantee link-recovery like this after, the leg necessarily makes flight assigned altitute Hg get a height H x when switching, carry out normal airline operation;

No-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations of the present invention, make full use of the initial pitched height of unmanned plane, height sensor measurement range information, and the flying height information when distant control chain circuit interrupts, flight assigned altitute information, can't regulate the problem of pitch by telecommand at having no progeny in the distant control chain circuit, through judging layer by layer and making a strategic decision, find the flight assigned altitute of a safety, and carry out height by elevating rudder and control, make unmanned plane can be when distant control chain circuit interrupts also can safe flight, the safety that has improved unmanned plane during flying.

Claims (5)

1. the no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations is characterized in that, comprises following step:

Step 1: determine to transfer the pitch elemental height according to driving engine pitched characteristic,, determine the initial value of maximum assigned altitute according to the upper limit of height sensor measurement range;

Step 2: determine maximum assigned altitute;

If interrupting appears in distant control chain circuit,, redefine maximum assigned altitute according to the assigned altitute of unmanned plane current flight height, flight, the relation between the adjusting pitch elemental height; If distant control chain circuit is normal, then maximum assigned altitute is remained the upper limit of height sensor measurement range;

Step 3: determine the flight assigned altitute;

When carrying out the destination switching, according to the relation of course line, determine the assigned altitute of unmanned plane during flying, and realize highly controlling by elevating rudder to some height and maximum assigned altitute.

2. a kind of no-manned machine distant control chain circuit interruption processing method according to claim 1 based on the Variable Pitch engine configurations, it is characterized in that: step 1 realizes according to following steps:

1) according to unmanned vehicle engine performance and airworthiness, pass through engine rig test, according to the driving engine propeller pitch angle, the climbing speed of unmanned plane, and when driving engine arrived the rotating speed of rating horsepower, corresponding flying height was after this along with increase highly, to need to regulate propeller pitch angle, then this flying height just can be defined as safe initial pitched height H j;

2), determine the initial value of initial maximum assigned altitute Hz, Hz=Hzd according to the measurement upper limit Hzd of height sensor;

3. a kind of no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations according to claim 2 is characterized in that: the concrete two kinds of implementations of described step 1) are:

When＜1〉carrying out engine rig test, test at different pitch angles and corresponding climbing speed, find the cooresponding flying height of rotating speed when driving engine arrives rating horsepower, corresponding flying height of each pitch angle and climbing speed then, it is initial adjustment pitch height, then these initial adjustment pitch height are averaged, this aviation value is defined as Hj;

＜2〉select a unmanned plane during flying initial pitch angle commonly used,, find corresponding initial adjustment pitch height, this initial adjustment pitch height is defined as Hj at this pitch angle and climbing speed.

4. a kind of no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations according to claim 1 is characterized in that: the described definite maximum assigned altitute of step 2 is realized according to following steps:

(1), then compares the assigned altitute Hg of current flight and transfer pitch elemental height Hj: if Hg＞Hj then enters (2) if interrupting appears in distant control chain circuit; If Hg≤Hj then changes maximum assigned altitute value Hz into and transfers pitch elemental height value Hj, promptly Hz=Hj enters step 3; If distant control chain circuit is normal, then maximum assigned altitute Hz remains the upper limit Hzd of height sensor measurement range, and promptly Hz=Hzd enters step 3;

(2) compare current flight height H o and adjusting pitch elemental height Hj:, enter (3) if Ho＞Hj continues to compare Hg and Ho; If Ho≤Hj, then Hg=Hj enters (4);

(3) if Hg＞Ho then changes assigned altitute Hg into current flying height Ho, promptly Hg=Ho enters (4); If Hg≤Ho then keeps Hg constant, enter (4);

(4) change maximum assigned altitute value Hz into assigned altitute value Hg, promptly Hz=Hg enters step 3.

5. a kind of no-manned machine distant control chain circuit interruption processing method based on the Variable Pitch engine configurations according to claim 1 is characterized in that: the described definite flight assigned altitute of step 3 is realized according to following steps:

1. if carrying out destination switches, then relatively arrive some assigned altitute Hx and maximum assigned altitute value Hz, enter 2.; Do not switch if do not carry out destination, then keep Hg, enter 3.;

2. if Hx＞Hz then changes assigned altitute Hg into maximum assigned altitute Hz, promptly 3. Hg=Hz enters; If Hx≤Hz then changes assigned altitute value Hg into a some assigned altitute Hx, promptly 3. Hg=Hx enters;

3. according to the assigned altitute of flight, realize highly control by elevating rudder, the height control law is:

${\mathrm{\δ}}_z=K_{\mathrm{hp}}(H-H_g)+K_{\mathrm{hI}}{\∫}_0^t(H-H_g)\mathrm{dt}+K_{\mathrm{\θ}}\mathrm{\θ}+K_{{\mathrm{\ω}}_z}{\mathrm{\ω}}_z;$

Wherein, δ _zBe the elevating rudder instruction, H is the flying height of unmanned plane, K _HpBe height control ratio coefficient, K _HIFor highly controlling integral coefficient, K _θBe the pitch angle control coefficient,

Be pitch angle speed control coefficient, θ is a pitch angle, ω _zBe pitch angle speed.

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