CN102073279A - Composite recognition method for flight dynamics model of unmanned helicopter - Google Patents

Abstract

The invention discloses a composite recognition method for a flight dynamics model of an unmanned helicopter, which belongs to the field of unmanned aerial vehicle dynamics modeling. The composite recognition method is characterized in that: the unmanned helicopter, a flight control computer, a data station, a ground station, a remote control transmitter and a remote control receiver are involved, wherein the flight control computer is used for assisted control for a recognition experiment to keep the relatively more stable flight conditions such as speed and height of the helicopter at the same time of ensuring the flight safety of the helicopter; a ground operator triggers the dynamic response of the helicopter by a remote control instruction; and the flight control computer adds the remote control instruction into the control input of the unmanned helicopter and records the remote control instruction together with an automatic control instruction for dynamic recognition after a flight experiment. In the method, manual remote control and assisted automatic control are simultaneously introduced, so that the flight dynamics model of the unmanned helicopter can be precisely and safely recognized.

Description

The compound discrimination method of unmanned helicopter flight kinetic model

Technical field

The present invention is the method that is used for identification unmanned helicopter flight kinetic model, safely, accurately and fully the flight dynamics model of identification depopulated helicopter.Be mainly used in technical fields such as Aero-Space and unmanned plane.

Background technology

The flight dynamics model reflection helicopter of depopulated helicopter is under state of flight, to the manipulation response characteristic of control input.Traditional method is that the pilot applies control command to helicopter in the flight course of helicopter, makes dynamic response with the excitation helicopter.The checking that the method is having the people to drive to have succeeded on the helicopter.

Yet this method is difficult on the pilotless helicopter to be used.Main cause is, with to have the people to drive helicopter different, the operator of depopulated helicopter needs on the ground by visual inspection and handles helicopter.Therefore can not be as the pilot who has the people to drive helicopter, the state of observation helicopter and manipulation in going straight up to the cabin all the time.In the kinetic model identification experiment under the unmanned helicopter flight state, helicopter flight speed is fast, is easy to ground controlling personnel's the sight line that flies out, thereby can't continues control to it.

Only find a kind of method at present, i.e. the constant acceleration method of U.S. Ka Naiji-Mei Long university proposition.Its principle is: make depopulated helicopter keep constant acceleration, after one section distance of measuring is in advance quickened, obtain testing the flying speed that needs.Yet the flying speed after constant acceleration, acceleration distance and the experiment beginning accurately keeps, and observes and handles and finish by the ground controlling personnel, and its precision is difficult to guarantee.In addition, because the constant acceleration method can not solve the problem of helicopter fly out of sight,, thereby be difficult to helicopter is encouraged fully so the time of experiment is very limited.

The present invention guarantees helicopter flight safety on the one hand by introducing the assisted control of flight-control computer, guarantees that on the other hand excessive variation does not take place the state of flight of helicopter.In addition, because the assisted control of flight-control computer, the flying distance of depopulated helicopter no longer is subjected to the restriction of operator's sight line, can encourage fully and is not handled the restriction of distance depopulated helicopter, and then intactly be carried out the identification experiment.Compare with the constant acceleration method, the present invention utilizes the assisted control of flight-control computer and guarantees stable state of flight, so can identification obtain accurate kinetic model.In addition, the present invention can also increase the security of identification experiment greatly.

Summary of the invention

The object of the present invention is to provide a kind of accurately method of identification unmanned helicopter flight kinetic model that is used for.

The invention is characterized in, contain: depopulated helicopter, flight-control computer, data radio, land station, remote transmitter and remote-control receiver, wherein, land station is used for the flight by data radio monitoring depopulated helicopter; Flight-control computer is used for the depopulated helicopter assisted control, guarantees unmanned helicopter flight safety on the one hand, the state of flight that keeps relative stability on the other hand (as speed and height); The ground controlling personnel send telecommand δ by remote transmitter to depopulated helicopter _RC(t), be used to encourage the dynamic response of depopulated helicopter.Flight-control computer reads the telecommand δ of remote-control receiver _RC(t) after, it is added among control input δ (t) of depopulated helicopter, and δ is instructed in its automatic control with flight-control computer _AC(t) note in the lump, be used for flight experiment dynamics identification afterwards, wherein t is a time point, simultaneously:

Under the effect of control input δ, depopulated helicopter is made simulated response on the basis of stabilized flight condition, and this response data R also goes on record, and is used for flight experiment dynamics identification afterwards;

Therefore, the control of depopulated helicopter input δ is automatic control instruction δ _ACWith telecommand δ _RCBoth sums, the output response of depopulated helicopter is both coefficient results; Authority COEFFICIENT K (0≤K≤1) decision automatic control instruction δ by prior setting _ACWith telecommand δ _RCControl authority:

δ＝Kδ _RC+(1-K)δ _AC

K is big more, and then operator's authority is big more, otherwise the authority of flight-control computer is big more; When K=1, the current passage of being excited of depopulated helicopter is controlled by the operator fully; When K=0, the current passage of being excited of depopulated helicopter is controlled by flight-control computer fully; Suitable K value need be selected and checking in the practical flight experiment; Through the data processing behind the flight experiment, can calculate the kinetic model of depopulated helicopter, wherein:

With the transport function is example, and the kinetic model of depopulated helicopter can be expressed as:

$\hat{H}\left(f\right)=\frac{{\hat{G}}_{\mathrm{\δR}}\left(f\right)}{{\hat{G}}_{\mathrm{\δ\δ}}\left(f\right)}$

Wherein,

With

Be respectively the cross-spectrum function that calculates according to control input δ and response data R and from spectral function, Be the unmanned helicopter flight kinetic model that calculates, f is a Frequency point.

The invention has the advantages that: under the acting in conjunction of automatic control instruction and telecommand, depopulated helicopter can be finished the identification experiment near stable state of flight.The kinetic model of depopulated helicopter can be accurately measured, flight safety can be guaranteed again.

Description of drawings

Fig. 1 is the schematic diagram of the compound discrimination method of unmanned helicopter flight kinetic model.

Among the figure, 1. depopulated helicopter, 2. flight-control computer, 3. data radio, 4. land station, 5. remote transmitter, 6. remote-control receiver.

Embodiment

The compound discrimination method of unmanned helicopter flight kinetic model mainly is made up of depopulated helicopter (1), flight-control computer (2), data radio (3), land station (4), remote transmitter (5) and remote-control receiver (6) etc.

Land station (4) is used for the flight by data radio (3) monitoring depopulated helicopter (1).Flight-control computer (2) is used for the assisted control of depopulated helicopter (1), guarantees the flight safety of depopulated helicopter (1) on the one hand, guarantees that on the other hand excessive variation does not take place its state of flight.Because control algolithms such as PID can need not kinetic model, debugging gets final product controlled device parameter in practical flight, so flight-control computer (2) can use this type of control algolithm earlier.After the identification experiment, utilize identification to obtain accurate kinetic model, flight-control computer (2) can use the control algolithm of control better effects if, to reach better flight control effect.

In depopulated helicopter (1) flight identification process, flight-control computer (2) is used to keep the metastable state of flight of depopulated helicopter (1), makes some important flight parameters (as flying speed and height) that excessive variation not take place.The ground controlling personnel send telecommand δ by remote transmitter (5) to depopulated helicopter (1) _RC(t), be used to encourage the dynamic response of depopulated helicopter (1).Flight-control computer (2) reads the telecommand δ of remote-control receiver (6) _RC(t) after, it is added among control input δ (t) of depopulated helicopter (1), and δ is instructed in its automatic control with flight-control computer (2) _AC(t) note in the lump, be used for flight experiment dynamics identification afterwards.Wherein t is a time point.

Under the effect of control input δ, depopulated helicopter (1) is made simulated response on the basis of stabilized flight condition, and this response data R also goes on record, and is used for flight experiment dynamics identification afterwards.

Therefore, in the identification process of depopulated helicopter (1), automatic control instruction δ _ACBe used for keeping metastable state of flight of depopulated helicopter (1) (as speed and height) and flight safety, telecommand δ as far as possible _RCBe used to encourage the dynamics of depopulated helicopter (1).The control input δ of depopulated helicopter (1) is automatic control instruction δ _ACWith telecommand δ _RCBoth sums, the output response of depopulated helicopter (1) is both coefficient results.Can be by authority COEFFICIENT K (0≤K≤1) the decision automatic control instruction δ that is provided with in advance _ACWith telecommand δ _RCControl authority:

δ＝Kδ _RC+(1-K)δ _AC

K is big more, and then operator's authority is big more, otherwise the authority of flight-control computer (2) is big more.When K=1, the current passage of being excited of depopulated helicopter (1) is controlled by the operator fully; When K=0, the current passage of being excited of depopulated helicopter (1) is controlled by flight-control computer (2) fully.Because the operator can can't effectively handle because of depopulated helicopter (1) fly out of sight, so K meeting reduction bigger than normal flight safety, and the K degree that can reduce the helicopter excitation less than normal.Suitable K value need be selected and checking in the practical flight experiment.

Through the data processing behind the flight experiment, can calculate the kinetic model of depopulated helicopter (1).With the transport function is example, and the kinetic model of depopulated helicopter (1) can be expressed as:

$\hat{H}\left(f\right)=\frac{{\hat{G}}_{\mathrm{\δR}}\left(f\right)}{{\hat{G}}_{\mathrm{\δ\δ}}\left(f\right)}$

Wherein, With Be respectively the cross-spectrum function that calculates according to control input δ and response data R and from spectral function,

Be depopulated helicopter (1) the flight dynamics model that calculates, f is a Frequency point.

Like this, under the acting in conjunction of automatic control instruction and telecommand, depopulated helicopter (1) can be finished the identification experiment near stable state of flight.Accurate kinetic model can be measured, flight safety can be guaranteed again.

Claims (1)

1. the compound discrimination method of unmanned helicopter flight kinetic model, it is characterized in that, contain: depopulated helicopter, flight-control computer, data radio, land station, remote transmitter and remote-control receiver, wherein, land station is used for the flight by data radio monitoring depopulated helicopter; Flight-control computer is used for the assisted control of identification experiment, guarantees unmanned helicopter flight safety on the one hand, keeps the metastable state of flight of depopulated helicopter (as speed and height) on the other hand; The ground controlling personnel are by the transmission telecommand δ of remote transmitter to helicopter _RC(t), be used to encourage the dynamic response of helicopter; Flight-control computer reads the telecommand δ of remote-control receiver _RC(t) after, it is added among control input δ (t) of depopulated helicopter, and δ is instructed in its automatic control with flight-control computer _AC(t) note in the lump, be used for flight experiment dynamics identification afterwards, wherein t is a time point, simultaneously:

Under the effect of control input δ, depopulated helicopter is made simulated response on the basis of stabilized flight condition, and this response data R also goes on record, and is used for flight experiment dynamics identification afterwards; The control input δ of depopulated helicopter is automatic control instruction δ _ACWith telecommand δ _RCBoth sums, the output response of depopulated helicopter is both coefficient results; Authority COEFFICIENT K (0≤K≤1) decision automatic control instruction δ by prior setting _ACWith telecommand δ _RCControl authority:

δ＝Kδ _RC+(1-K)δ _AC

K is big more, and then operator's authority is big more, otherwise the authority of flight-control computer is big more; When K=1, the current passage of being excited of depopulated helicopter is controlled by the operator fully; When K=0, the current passage of being excited of depopulated helicopter is controlled by flight-control computer fully; Suitable K value need be selected and checking in the practical flight experiment; Through the data processing behind the flight experiment, can calculate the kinetic model of depopulated helicopter.

Images