CN103645739A - Modularized airborne flight control software of miniature unmanned helicopter - Google Patents
Modularized airborne flight control software of miniature unmanned helicopter Download PDFInfo
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Abstract
The invention relates to modularized airborne flight control software of a miniature unmanned helicopter. The software comprises the following modules: an automatic state selection module, a rudder amount tracking state module, an attitude tracking state module, a speed tracking state module, a hovering state module, a straight airline state module, a circle airline state module, a centripetal gyration state module, a hovering navigation module, a straight airline navigation module and a circle airline navigation module. A control law module comprises a longitudinal position stabilization module, a longitudinal velocity stabilization module, a horizontal position stabilization module, a horizontal velocity stabilization module, a pitch angle stabilization module, a roll angle stabilization module, a yaw angle stabilization module, and a height stabilization module. The flight control software comprises a longitudinal control module, a transverse control module, a tail rotor control module and a total distance control module. Through the combination of different modules, various flight tasks can be achieved; and the flight control software is high in modularization, easy to extend, simple, small in complexity and high in reliability.
Description
Technical field
The present invention relates to unmanned aerial vehicle control system technical field, especially the airborne Flight Control Software of the modularization of small-sized depopulated helicopter.
Background technology
The airborne flight control system of small-sized depopulated helicopter is part the most key in small-sized depopulated helicopter system, it obtains the instruction to its motion by TT&C system from land station, such as hovering position, course line, and gather various movable informations in unmanned helicopter flight process, such as position, speed, acceleration, attitude angle, angular speed, thus obtain making the required manipulated variable of depopulated helicopter motion tracking command signal, thus this manipulated variable acts on the motion of doing device control helicopter acquisition expectation the most at last.
Due to the progress of current depopulated helicopter development, for the mission requirements of depopulated helicopter, be also tending towards variation, therefore wish depopulated helicopter can carry out such as, hovering, direct route, circle course line, the multiple flight such as centripetal revolution section object aerial mission.And single navigation and control algolithm have been difficult to meet the demand under different aerial missions, therefore need to design for different aerial missions.But this certainly will increase difficulty and the complicacy of Flight Control Software design, thereby reduces its reliability.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of airborne Flight Control Software of modularization of small-sized depopulated helicopter is provided, makes depopulated helicopter can carry out the object aerial mission such as the multiple flight such as hovering, direct route, circle course line, centripetal revolution section.
The technical solution adopted for the present invention to solve the technical problems is: a kind of airborne Flight Control Software of modularization of small-sized depopulated helicopter, comprises as lower module:
(1), auto state is selected module: automatically select state of a control;
(2), block of state: comprise rudder amount tracking mode module, Attitude Tracking block of state, speed tracking mode module, floating state module, direct route block of state, circle course line block of state, centripetal turn state module;
Also comprise as lower module:
(3), navigation calculation module: comprise hovering navigation module, direct route navigation module, circle routine navigation module;
Hovering navigation module: be input as expectation hover point position height, be output as forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, the rising or falling speed deviation of helicopter and hover point;
Direct route navigation module: be input as expectation direct route information, be output as lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in helicopter and course line;
Circle routine navigation module: be input as expectation circle route information, be output as radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in helicopter and course line;
Floating state module is called forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, the rising or falling speed deviation of hovering navigation module output helicopter and hover point according to the hover point coordinate of its input, hovering crab angle.
Direct route block of state is according to the positional information of the last destination of its input, a rear destination, and the course line speed of expectation is called lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in direct route navigation module output helicopter and course line.
Circle course line block of state calls radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input.
Centripetal turn state module is called radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input.
The airborne Flight Control Software of modularization of small-sized depopulated helicopter also comprises control law module.
Described control law module comprises that outer shroud module has: lengthwise position stable module, longitudinal velocity stable module, lateral attitude stable module, transverse velocity stable module;
Lengthwise position stable module: be input as forward direction offset distance, the forward speed error of helicopter, be output as the expectation angle of pitch;
Longitudinal velocity stable module: be input as course line velocity error and the forward acceleration of helicopter, be output as the expectation angle of pitch;
Lateral attitude stable module: be input as lateral deviation distance, the side-slip speed of helicopter, be output as expectation roll angle;
Transverse velocity stable module: be input as side velocity error and the side acceleration of helicopter, be output as expectation roll angle;
Described control law module comprises that interior ring module has: angle of pitch stable module, roll angle stable module, crab angle stable module, highly stable module;
Angle of pitch stable module: be input as the expectation angle of pitch of helicopter, the current angle of pitch and pitch rate, be output as fore-and-aft control amount;
Roll angle stable module: be input as the roll angle instruction of helicopter, current roll angle and roll angle speed, be output as lateral control amount;
Crab angle stable module: be input as expectation crab angle and yawrate, current crab angle and the yawrate of helicopter, be output as directional control amount;
Highly stable module: be input as height tolerance, the rising or falling speed deviation of helicopter, be output as always apart from manipulated variable.
The airborne Flight Control Software of modularization of small-sized depopulated helicopter comprises:
Fore-and-aft control module: for helicopter is carried out to fore-and-aft control;
Lateral control module: for helicopter is carried out to lateral control;
Tail-rotor manipulation module: for helicopter is carried out to tail-rotor manipulation;
Always apart from manipulation module: total apart from handling for helicopter is carried out.
The rudder amount tracking mode information of rudder amount tracking mode module output helicopter;
The Attitude Tracking status information of Attitude Tracking block of state output helicopter;
The speed tracking mode information of speed tracking mode module output helicopter;
The floating state information of floating state module output helicopter;
The direct route status information of direct route block of state output helicopter;
The round course line status information of circle course line block of state output helicopter;
The centripetal turn state information of centripetal turn state module output helicopter.
The output information of rudder amount tracking mode module transfers to fore-and-aft control module, lateral control module, tail-rotor manipulation module, always apart from manipulation module;
The output information of Attitude Tracking block of state transfers to angle of pitch stable module, roll angle stable module, crab angle stable module, always apart from manipulation module;
The output information of speed tracking mode module transfers to longitudinal velocity stable module, transverse velocity stable module, crab angle stable module, highly stable module;
The output information of floating state module exports lengthwise position stable module, lateral attitude stable module, crab angle stable module, highly stable module to by hovering navigation module;
The output information of direct route block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by direct route navigation module;
The output information of circle course line block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by circle routine navigation module;
The output information of centripetal turn state module exports lengthwise position stable module, transverse velocity stable module, crab angle stable module, highly stable module to by circle course line module;
The output information of lengthwise position stable module, longitudinal velocity stable module transfers to angle of pitch stable module;
The output information of lateral attitude stable module, transverse velocity stable module transfers to roll angle stable module;
The output information of angle of pitch stable module transfers to fore-and-aft control module;
The output information of roll angle stable module transfers to lateral control module;
The output information of crab angle stable module transfers to tail-rotor manipulation module;
The output information of highly stable module transfers to always apart from manipulation module.
The invention has the beneficial effects as follows: the present invention has designed a kind of modular Flight Control Software, for the tracking of rudder amount, Attitude Tracking, speed tracking, hovering, direct route, circle course line, seven kinds of aerial missions of centripetal revolution, seven kinds of control law modules such as hovering, direct route, circle three kinds, course line navigation module and lengthwise position stable module, longitudinal velocity stable module, lateral attitude stable module, transverse velocity stable module, angle of pitch stable module, roll angle stable module, crab angle stable module, highly stable module have been designed.By the combination of disparate modules, thereby realize various aerial missions.Modularization of the present invention is high, is easy to expansion, and simple, complexity is little, and reliability is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is principle schematic of the present invention.
Embodiment
The present invention is further illustrated by reference to the accompanying drawings now.The schematic diagram that these accompanying drawings are simplification only illustrates basic structure of the present invention in a schematic way, so it only shows the formation relevant with the present invention.
As shown in Figure 1, the airborne Flight Control Software of a kind of modularization of small-sized depopulated helicopter, comprises as lower module:
(1), auto state is selected module: automatically select state of a control;
(2), block of state: comprise rudder amount tracking mode module, Attitude Tracking block of state, speed tracking mode module, floating state module, direct route block of state, circle course line block of state, centripetal turn state module.
The rudder amount tracking mode information of rudder amount tracking mode module output helicopter; The Attitude Tracking status information of Attitude Tracking block of state output helicopter; The speed tracking mode information of speed tracking mode module output helicopter; The floating state information of floating state module output helicopter; The direct route status information of direct route block of state output helicopter; The round course line status information of circle course line block of state output helicopter; The centripetal turn state information of centripetal turn state module output helicopter.
Also comprise as lower module:
(3), navigation calculation module: comprise hovering navigation module, direct route navigation module, circle routine navigation module.Fig. 1 at the middle and upper levels dotted line frame is depicted as navigation calculation module.
Hovering navigation module: be input as expectation hover point position height, be output as forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, the rising or falling speed deviation of helicopter and hover point;
Direct route navigation module: be input as expectation direct route information, be output as lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in helicopter and course line;
Circle routine navigation module: be input as expectation circle route information, be output as radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in helicopter and course line;
Floating state module calls according to the hover point coordinate of its input, hovering crab angle forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, the rising or falling speed deviation that hovering navigation module is output as helicopter and hover point;
Direct route block of state is according to the positional information of the last destination of its input, a rear destination, and the course line speed of expectation is called lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in direct route navigation module output helicopter and course line;
Circle course line block of state calls radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input;
Centripetal turn state module is called radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input;
A kind of airborne Flight Control Software of modularization of small-sized depopulated helicopter also comprises control law module.Tu1Zhong lower floor dotted line frame is depicted as control law module.
Described control law module comprises that outer shroud module has: lengthwise position stable module, longitudinal velocity stable module, lateral attitude stable module, transverse velocity stable module.
Lengthwise position stable module: be input as forward direction offset distance, the forward speed error of helicopter, be output as the expectation angle of pitch;
Longitudinal velocity stable module: be input as course line velocity error and the forward acceleration of helicopter, be output as the expectation angle of pitch;
Lateral attitude stable module: be input as lateral deviation distance, the side-slip speed of helicopter, be output as expectation roll angle;
Transverse velocity stable module: be input as side velocity error and the side acceleration of helicopter, be output as expectation roll angle;
Described control law module comprises that interior ring module has: angle of pitch stable module, roll angle stable module, crab angle stable module, highly stable module.
Angle of pitch stable module: be input as the expectation angle of pitch of helicopter, the current angle of pitch and pitch rate, be output as fore-and-aft control amount;
Roll angle stable module: be input as the roll angle instruction of helicopter, current roll angle and roll angle speed, be output as lateral control amount;
Crab angle stable module: be input as expectation crab angle and yawrate, current crab angle and the yawrate of helicopter, be output as directional control amount;
Highly stable module: be input as height tolerance, the rising or falling speed deviation of helicopter, be output as always apart from manipulated variable.
The airborne Flight Control Software of modularization of small-sized depopulated helicopter, comprising:
Fore-and-aft control module: for helicopter is carried out to fore-and-aft control;
Lateral control module: for helicopter is carried out to lateral control;
Tail-rotor manipulation module: for helicopter is carried out to tail-rotor manipulation;
Always apart from manipulation module: total apart from handling for helicopter is carried out.
The output information of rudder amount tracking mode module transfers to fore-and-aft control module, lateral control module, tail-rotor manipulation module, always apart from manipulation module.
The output information of Attitude Tracking block of state transfers to angle of pitch stable module, roll angle stable module, crab angle stable module, always apart from manipulation module.
The output information of speed tracking mode module transfers to longitudinal velocity stable module, transverse velocity stable module, crab angle stable module, highly stable module.
The output information of floating state module exports lengthwise position stable module, lateral attitude stable module, crab angle stable module, highly stable module to by hovering navigation module.
The output information of direct route block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by direct route navigation module.
The output information of circle course line block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by circle routine navigation module.
The output information of centripetal turn state module exports lengthwise position stable module, transverse velocity stable module, crab angle stable module, highly stable module to by circle course line module.
The output information of lengthwise position stable module, longitudinal velocity stable module transfers to angle of pitch stable module, and the output information of lateral attitude stable module, transverse velocity stable module transfers to roll angle stable module.
The output information of angle of pitch stable module transfers to fore-and-aft control module, the output information of roll angle stable module transfers to lateral control module, the output information of crab angle stable module transfers to tail-rotor manipulation module, and the output information of highly stable module transfers to always apart from manipulation module.
The present invention has designed a kind of airborne Flight Control Software of modularization of modular small-sized depopulated helicopter, for the tracking of rudder amount, Attitude Tracking, speed tracking, hovering, direct route, circle course line, seven kinds of aerial missions of centripetal revolution, seven kinds of control law modules such as hovering, direct route, circle three kinds, course line navigation module and lengthwise position stable module, longitudinal velocity stable module, lateral attitude stable module, transverse velocity stable module, angle of pitch stable module, roll angle stable module, crab angle stable module, highly stable module have been designed.By the combination of disparate modules, thereby realize various aerial missions.Modularization of the present invention is high, is easy to expansion, and simple, complexity is little, and reliability is high.
The above-mentioned foundation desirable embodiment of the present invention of take is enlightenment, and by above-mentioned description, relevant staff can, within not departing from the scope of this invention technological thought, carry out various change and modification completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to claim scope.
Claims (5)
1. the airborne Flight Control Software of the modularization of small-sized depopulated helicopter, comprises as lower module:
(1), auto state is selected module: automatically select state of a control;
(2), block of state: comprise rudder amount tracking mode module, Attitude Tracking block of state, speed tracking mode module, floating state module, direct route block of state, circle course line block of state, centripetal turn state module;
It is characterized in that: also comprise as lower module:
(3), navigation calculation module: comprise hovering navigation module, direct route navigation module, circle routine navigation module;
Hovering navigation module: be input as expectation hover point position height, be output as forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, the rising or falling speed deviation of helicopter and hover point;
Direct route navigation module: be input as expectation direct route information, be output as lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in helicopter and course line;
Circle routine navigation module: be input as expectation circle route information, be output as radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in helicopter and course line;
Floating state module is called hovering navigation module output forward direction offset distance, side direction offset distance, forward speed deviation, side velocity deviation, difference in height, rising or falling speed deviation according to the hover point coordinate of its input, hovering crab angle;
Direct route block of state is according to the positional information of the last destination of its input, a rear destination, and the course line speed of expectation is called lateral deviation distance, side-slip speed, longitudinal velocity error, height tolerance, rising or falling speed deviation, the desired course angle in direct route navigation module helicopter and course line;
Circle course line block of state calls radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input;
Centripetal turn state module is called radially offset distance, radial velocity, tangential velocity error, height error, rising or falling speed error, the desired course angle in round routine navigation module output helicopter and course line according to round course line central coordinate of circle, radius, rotation direction and the desired course velocity information of its input.
2. the airborne Flight Control Software of the modularization of a kind of small-sized depopulated helicopter according to claim 1, is characterized in that: also comprise control law module.
Described control law module comprises that outer shroud module has: lengthwise position stable module, longitudinal velocity stable module, lateral attitude stable module, transverse velocity stable module;
Lengthwise position stable module: be input as forward direction offset distance, the forward speed error of helicopter, be output as the expectation angle of pitch;
Longitudinal velocity stable module: be input as course line velocity error and the forward acceleration of helicopter, be output as the expectation angle of pitch;
Lateral attitude stable module: be input as lateral deviation distance, the side-slip speed of helicopter, be output as expectation roll angle;
Transverse velocity stable module: be input as side velocity error and the side acceleration of helicopter, be output as expectation roll angle;
Described control law module comprises that interior ring module has: angle of pitch stable module, roll angle stable module, crab angle stable module, highly stable module;
Angle of pitch stable module: be input as the expectation angle of pitch of helicopter, the current angle of pitch and pitch rate, be output as fore-and-aft control amount;
Roll angle stable module: be input as the roll angle instruction of helicopter, current roll angle and roll angle speed, be output as lateral control amount;
Crab angle stable module: be input as expectation crab angle and yawrate, current crab angle and the yawrate of helicopter, be output as directional control amount;
Highly stable module: be input as height tolerance, the rising or falling speed deviation of helicopter, be output as always apart from manipulated variable.
3. the airborne Flight Control Software of the modularization of a kind of small-sized depopulated helicopter according to claim 2, is characterized in that: comprising:
Fore-and-aft control module: for helicopter is carried out to fore-and-aft control;
Lateral control module: for helicopter is carried out to lateral control;
Tail-rotor manipulation module: for helicopter is carried out to tail-rotor manipulation;
Always apart from manipulation module: total apart from handling for helicopter is carried out.
4. the airborne Flight Control Software of the modularization of a kind of small-sized depopulated helicopter according to claim 3, is characterized in that:
The rudder amount tracking mode information of rudder amount tracking mode module output helicopter;
The Attitude Tracking status information of Attitude Tracking block of state output helicopter;
The speed tracking mode information of speed tracking mode module output helicopter;
The floating state information of floating state module output helicopter;
The direct route status information of direct route block of state output helicopter;
The round course line status information of circle course line block of state output helicopter;
The centripetal turn state information of centripetal turn state module output helicopter.
5. the airborne Flight Control Software of the modularization of a kind of small-sized depopulated helicopter according to claim 4, is characterized in that:
The output information of rudder amount tracking mode module transfers to fore-and-aft control module, lateral control module, tail-rotor manipulation module, always apart from manipulation module;
The output information of Attitude Tracking block of state transfers to angle of pitch stable module, roll angle stable module, crab angle stable module, always apart from manipulation module;
The output information of speed tracking mode module transfers to longitudinal velocity stable module, transverse velocity stable module, crab angle stable module, highly stable module;
The output information of floating state module exports lengthwise position stable module, lateral attitude stable module, crab angle stable module, highly stable module to by hovering navigation module;
The output information of direct route block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by direct route navigation module;
The output information of circle course line block of state exports longitudinal velocity stable module, lateral attitude stable module, crab angle stable module, highly stable module to by circle routine navigation module;
The output information of centripetal turn state module exports lengthwise position stable module, transverse velocity stable module, crab angle stable module, highly stable module to by circle course line module;
The output information of lengthwise position stable module, longitudinal velocity stable module transfers to angle of pitch stable module;
The output information of lateral attitude stable module, transverse velocity stable module transfers to roll angle stable module;
The output information of angle of pitch stable module transfers to fore-and-aft control module;
The output information of roll angle stable module transfers to lateral control module;
The output information of crab angle stable module transfers to tail-rotor manipulation module;
The output information of highly stable module transfers to always apart from manipulation module.
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| Publication number | Publication date |
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| CN103645739B (en) | 2016-08-17 |
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