CN103661934B - Based on the unmanned aerial vehicle antiskid brake control method of bi-mode control - Google Patents
Based on the unmanned aerial vehicle antiskid brake control method of bi-mode control Download PDFInfo
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- CN103661934B CN103661934B CN201310577960.XA CN201310577960A CN103661934B CN 103661934 B CN103661934 B CN 103661934B CN 201310577960 A CN201310577960 A CN 201310577960A CN 103661934 B CN103661934 B CN 103661934B
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Abstract
The invention discloses a kind of unmanned aerial vehicle antiskid brake control method based on bi-mode control, for solving the technical matters of existing unmanned aerial vehicle antiskid brake control method poor stability.Technical scheme is certainty annuity state, response object, outgoing current and hydraulic lock state, sends status information to flight-control computer.The method is used for attack unmanned aerial vehicle sample development phase and carries out testing or data acquisition, reduces risk, improves the safety of unmanned aerial vehicle.When attack unmanned aerial vehicle is fought, electromagnetic environment is subject to enemy's interference, and unmanned combat system is no longer controlled, at this moment automatically starts aviator and controls anti-skid brake system (ABS).Other type airplane that unmanned aerial vehicle anti-skid brake system (ABS) based on bi-mode control is also applicable to passenger cabin carries out automatic lifting stick braking.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle antiskid brake control method, particularly a kind of unmanned aerial vehicle antiskid brake control method based on bi-mode control.
Background technology
Reconnaissance version unmanned aerial vehicle, as U.S.'s " global hawk " only has single landing braking master mode, this aircraft, due to reasons such as volume are little, cannot realize antiskid brake bi-mode control.Attack unmanned aerial vehicle has people's aircraft similar to common in shape, can realize bi-mode control, but current attack unmanned aerial vehicle does not propose the antiskid brake method based on bi-mode control.Attack unmanned aerial vehicle has the advantages that weight is large, cost is high.Anti-skid brake system (ABS) is most important taking off, in landing mission for antiskid brake control system, and therefore, whether anti-skid brake system (ABS) is reliable, directly affects the safety of aircraft.
Conventional unmanned aerial vehicle or do not have anti-skid brake system (ABS) (mainly some small-sized reconnaissance version unmanned aerial vehicles), only have single reception flight-control computer to carry out the antiskid brake control system controlled, do not possess bi-mode control and carry out antiskid brake function and feature.
Document " Design on Electrical Brake System of UAV " science and technology and engineering " 20 phases in 2007 " discloses a kind of Design on Electrical Brake System of UAV method, proposes and controls the control method of carrying out antiskid brake based on flying, do not carry out bi-mode control design.
The anti-skid brake system (ABS) execution unit of conventional attack type unmanned aerial vehicle is made up of antiskid braking control box, wheel spin-up transducer, Electric hydraulic pressure servo valve and solenoid hydraulic lock (or motor drive controller and motor).Basic principle of work is: antiskid braking control box receives the brake control signal from flight-control computer, carries out shutdown brake, gear up brake and normal landing instruction brake respectively.When brake control signal be shutdown brake or gear up brake control signal time, antiskid braking control box export corresponding definite value brake control electric current to Electric hydraulic pressure servo valve, Electric hydraulic pressure servo valve export corresponding hydraulic pressure control brake.When exporting control electric current, solenoid hydraulic lock is simultaneously open.When brake control signal is normal landing instruction brake control signal, antiskid braking control box exports the brake being proportional to normal landing instruction brake control signal and controls electric current to Electric hydraulic pressure servo valve, and Electric hydraulic pressure servo valve exports corresponding hydraulic pressure and controls brake.When exporting control electric current, solenoid hydraulic lock is simultaneously open.Described " normal landing instruction brake control signal " refers in aircraft landing brake process, the control signal of the control brake weight size sent by flight-control computer.
The anti-skid brake system (ABS) of conventional attack type unmanned aerial vehicle achieves the antiskid brake function of unmanned aerial vehicle, but the method is too single, there is following shortcoming:
1. control method is single, poor anti jamming capability;
2. some field data cannot obtain;
3. sample stage Risk coefficient is high, and cost is high;
Have in the article such as " a kind of Aircraft Anti-skid Break Control ", " Design on Electrical Brake System of UAV " through retrieval " CJFD " paper database and occur the concepts such as single brake system.
Summary of the invention
In order to overcome the deficiency of existing unmanned aerial vehicle antiskid brake control method poor stability, the invention provides a kind of unmanned aerial vehicle antiskid brake control method based on bi-mode control.The method, by certainty annuity state, response object, outgoing current and hydraulic lock state, sends status information to flight-control computer.The method is used for attack unmanned aerial vehicle sample development phase and carries out testing or data acquisition, reduces risk, can improve the safety of unmanned aerial vehicle.When attack unmanned aerial vehicle is fought, electromagnetic environment is subject to enemy's interference, and unmanned combat system is no longer controlled, at this moment automatically starts aviator and controls anti-skid brake system (ABS).Other type airplane that unmanned aerial vehicle anti-skid brake system (ABS) based on bi-mode control is also applicable to passenger cabin carries out automatic lifting stick braking.
The technical solution adopted for the present invention to solve the technical problems is: a kind of unmanned aerial vehicle antiskid brake control method based on bi-mode control, is characterized in comprising the following steps:
Step one, certainty annuity state.
Carrying out fault detection by detecting BIT in machine, guaranteeing brake system trouble free;
Step 2, determines response object.
Arrange communication mark according to the communication information from flight-control computer, at least one mistake in communication link failure or synchronization character, frame length, School Affairs, arranging communication link mark D0 is 0, otherwise to arrange communication link mark D0 be 1.Arrange communication control mark according to priority, communication control mark controls by flight-control computer or by pilot operator.Aviator controls preferentially, and arranging communication control mark D1 is 0, otherwise to arrange communication control mark D1 be 1.Logical response is as follows:
If D0 is 0 and D1 is 0, response object is aviator, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR, described brake amount refers to the brake controlling quantity determining brake weight size;
If D0 is 1 and D1 is 0, response object is aviator, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR;
If D0 is 0 and D1 is 1, response object is aviator, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR;
If D0 is 1 and D1 is 1, response object is flight-control computer, left brake amount V
lleft brake instruction data word UART in the Frame that size sends from flight-control computer
l, right brake amount V
rright brake instruction data word UART in the Frame that size sends from flight-control computer
r.
Response object logic switch is as follows:
1) be 1 by D0 and D1 1 switches to
D0 be 1 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 is 0 time delay 200ms response aviator.The last control command state of flight-control computer is kept in the 200ms of time delay;
2) be 1 by D0 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 0 switches to
D0 is 1 and D1 is 1 time delay 20ms response flight-control computer.The last control command state of aviator is kept in the 20ms of time delay;
3) D0 be 1 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 switches between 0, and response object does not switch.
When response is for aviator, if control without aviator, then time delay 5s enters autonomous braking state.After entering autonomous braking state, if aviator recovers to control, autonomous braking state time delay 20ms is removed by aviator.
Described " autonomous braking state " refers to the state by the controller of brake system automatic given brake amount, aircraft being implemented to brake, and automatic given brake amount is 70% of aviator or flight-control computer given brake amount maxim.
Step 3, determines outgoing current.
By the left brake amount V that response exports
lbe converted to left brake electric current I
lC;
By the right brake amount V that response exports
rbe converted to right brake electric current I
rC;
Anti-skidding electric current I is calculated according to left and right wheel speed gauge
lF, I
rF, final left and right outgoing current I
l, I
rbe calculated as follows:
I
L＝I
LC＋I
LF（1）
I
LMIN=amA,I
LMAX=bmA
I
R＝I
RC＋I
RF（2）
I
RMIN=amA,I
RMAX=bmA
In formula, a, b are constant,
Step 4, determines hydraulic lock state.
Open hydraulic lock logical response as follows:
If V
l>=c, V
r< c, opens hydraulic lock, delivery pressure;
If V
r>=c, V
l< c, opens hydraulic lock, delivery pressure;
If V
l>=c, V
r>=c, opens hydraulic lock, delivery pressure;
If V
l< c, V
r< c, closes hydraulic lock, not delivery pressure.
In formula, c is constant, is specially brake instruction data word in the Frame that brake instruction transducer output or flight-control computer send and opens hydraulic lock internal memory constant after conversion calculates.
Step 5, sends status information to flight-control computer.
Data word 1: left channel B IT testing result;
Data word 2: right channel B IT testing result;
Data word 3: left wheel speed;
Data word 4: right wheel speed;
Data word 5: left outgoing current I
l;
Data word 6: right outgoing current I
r;
Data word 7: the response object of outgoing current.
The response object of described outgoing current refers to and controls when the source of Front brake outgoing current is aviator or flight-control computer.
When communication link breaks down, flight computer judges that communication link breaks down, and time delay 200ms stops sending controling instruction.The last control command state of flight-control computer is kept in the 200ms of time delay.When communication link recovers normal, in 20ms, recover sending controling instruction.
The invention has the beneficial effects as follows: the method, by certainty annuity state, response object, outgoing current and hydraulic lock state, sends status information to flight-control computer.The method is used for attack unmanned aerial vehicle sample development phase and carries out testing or data acquisition, reduces risk, improves the safety of unmanned aerial vehicle.When attack unmanned aerial vehicle is fought, electromagnetic environment is subject to enemy's interference, and unmanned combat system is no longer controlled, at this moment automatically starts aviator and controls anti-skid brake system (ABS).Other type airplane that unmanned aerial vehicle anti-skid brake system (ABS) based on bi-mode control is also applicable to passenger cabin carries out automatic lifting stick braking.
The unmanned aerial vehicle antiskid brake control method of bi-mode control of the present invention and background technology method Contrast on effect are in table 1.
Table 1 control method of the present invention and background technology method Contrast on effect table
In a word, the unmanned aerial vehicle antiskid brake control method of bi-mode control of the present invention, can use two kinds of non-similar master modes, and can freely switch, and efficient, safe completes unmanned aerial vehicle landing task.
The present invention is described in detail below in conjunction with detailed description of the invention.
Detailed description of the invention
The present embodiment is a kind of unmanned aerial vehicle antiskid brake control method of bi-mode control, uses the anti-skid brake system (ABS) changing method to adopt conventional fax anti-skid brake system (ABS) or the complete electric anti-skid brake system (ABS) of routine.Following examples are based on fax anti-skid brake system (ABS).
The present embodiment comprises the following steps:
Step one, certainty annuity state.
BIT fault detection signal is sent by antiskid braking control box, system brake part response BIT fault detection signal also produces feedback signal, antiskid braking control box receiving feedback signals, measuring the left passage of BIT testing result is: #00H(trouble free), right passage is: #00H(trouble free).
Step 2, determines response object.
Normally " synchronization character: #0EBH ", " frame length: #06H ", " School Affairs: #80H " [put " data word " UART
l: #40H(correspondence exports left brake amount V
l: #40H), " data word " UART
r: #40H(correspondence exports right brake amount V
l: #40H) time correct " School Affairs "];
Input left brake instruction transducer output V
sL=3.8VAC(correspondence exports left brake amount V
l: #9BH), input right brake instruction transducer output V
sR=3.8VAC(correspondence exports right brake amount V
l: #9BH).
1) disconnect communication cable (communication link failure is set) respectively in advance, pre-set " synchronization character: #0E0H ", pre-set " frame length: #05H ", pre-set " School Affairs: #81H ", carry out following work:
Arrange communication control mark D1 for " 0 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH;
Arrange communication control mark D1 for " 1 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.
2) connecting communication cable in advance, is arranged " synchronization character: #0EBH ", arranges " frame length: #06H ", arranges " School Affairs: #80H ", carries out following work:
Arrange communication control mark D1 for " 0 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH;
Arrange communication control mark D1 for " 1 ", response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.
3) connecting communication cable in advance, is arranged " synchronization character: #0EBH ", arranges " frame length: #06H ", arranges " School Affairs: #80H ", and arrange communication control mark D1 for " 1 ", carry out following work, in working process, system does not restart.Following process arranges " frame length " or arranges " School Affairs " has identical result with setting " synchronization character ":
1. response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.
2., in working process, arrange communication control mark D1 for " 0 ", time delay 200ms, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.In the 200ms of time delay, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.
3., in working process, recover to arrange communication control mark D1 for " 1 ", time delay 20ms, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.In the 20ms of time delay, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.
4. in working process, arrange " synchronization character: #0E0H ", time delay 200ms, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.In the 200ms of time delay, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.
5., in working process, recover to arrange " synchronization character: #0EBH ", time delay 20ms, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.In the 20ms of time delay, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.
6., in working process, arrange " synchronization character: #0E0H " and arrange communication control mark D1 for " 0 ", time delay 200ms, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.In the 200ms of time delay, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.
7., in working process, recover to arrange communication control mark D1 and be " 1 " and " synchronization character: #0EBH ", time delay 20ms, response exports left brake amount V
l: #40H, response exports right brake amount V
r: #40H.In the 20ms of time delay, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.
8., in working process, after repeating above-mentioned the 2. item being arranged, response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH; Arrange " synchronization character: #0E0H ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH; Arrange communication control mark D1 for " 1 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH; Arrange " synchronization character: #0EBH " and arrange communication control mark D1 for " 0 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH; Arrange " synchronization character: #0E0H " and arrange communication control mark D1 for " 1 ", response exports left brake amount V
l: #9BH, response exports right brake amount V
r: #9BH.
Step 3, determines outgoing current.
By left brake amount V
l: #00H ~ #9BH, response exports left brake electric current I
lCfor (0 ~ 7.5) mA; By right brake amount V
r: #00H ~ #9BH, response exports right brake electric current I
rCfor (0 ~ 7.5) mA.
Anti-skidding electric current I is gone out according to left and right wheel state computation
lF, I
rFfor-(0 ~ 7.5) mA.
Measure I
lMIN=0mA, I
lMAX=7.5mA.
Measure I
rMIN=0mA, I
rMAX=7.5mA.
Step 4, determines hydraulic lock state.
It is #09H that hydraulic lock constant d is opened in setting.
It is as follows that mensuration opens hydraulic lock logical response:
If V
l>=#09H, V
r< #09H, opens hydraulic lock, delivery pressure.
If V
r>=#09H, V
l< #09H, opens hydraulic lock, delivery pressure.
If V
l>=#09H, V
r>=#09H, opens hydraulic lock, delivery pressure.
If V
l< #09H, V
r< #09H, closes hydraulic lock, not delivery pressure.
Step 5, sends status information to flight-control computer.
Normally " synchronization character: #0EBH ", " frame length: #06H ", " School Affairs: #80H " are set and [put " data word " UART
l: #40H(correspondence exports left brake amount V
l: #40H), " data word " UART
r: #9BH(correspondence exports right brake amount V
l: #9BH) time correct " School Affairs "], communication control mark D1 is set for " 1 ".
Input left brake instruction transducer output V
sL=3.8VAC(correspondence exports left brake amount V
l: #9BH), input right brake instruction transducer output V
sR=3.8VAC(correspondence exports right brake amount V
l: #9BH).
It is as follows that brake system sends status information to flight-control computer:
The left passage of data word 1:#00H(BIT testing result);
The right passage of data word 2:#00H(BIT testing result);
The corresponding left wheel speed 230km/h of data word 3:#4DH();
The corresponding right wheel speed 230km/h of data word 4:#4DH();
The corresponding left brake I of data word 5:#87H(
l=7.5mA);
The corresponding right brake I of data word 6:#87H(
r=7.5mA);
Data word 7:#01H(" response object of outgoing current " is " flight-control computer ")
In the present embodiment, by each Parameters variation, measure effect of the present invention, result is consistent with expection, reaches the target of unmanned aerial vehicle anti-skid brake system (ABS) being carried out to bi-mode control.
Claims (1)
1., based on a unmanned aerial vehicle antiskid brake control method for bi-mode control, it is characterized in that comprising the following steps:
Step one, certainty annuity state;
Carrying out fault detection by detecting BIT in machine, guaranteeing brake system trouble free;
Step 2, determines response object;
Arrange communication mark according to the communication information from flight-control computer, at least one mistake in communication link failure or synchronization character, frame length, School Affairs, arranging communication link mark D0 is 0, otherwise to arrange communication link mark D0 be 1; Arrange communication control mark according to priority, communication control mark controls by flight-control computer or by pilot operator; Aviator controls preferentially, and arranging communication control mark D1 is 0, otherwise to arrange communication control mark D1 be 1; Logical response is as follows:
If D0 is 0 and D1 is 0, response object is flight-control computer, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR, described brake amount refers to the brake controlling quantity determining brake weight size;
If D0 is 1 and D1 is 0, response object is aviator, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR;
If D0 is 0 and D1 is 1, response object is aviator, left brake amount V
lsize is from left brake instruction transducer output V
sL, right brake amount V
rsize is from right brake instruction transducer output V
sR;
If D0 is 1 and D1 is 1, response object is flight-control computer, left brake amount V
lleft brake instruction data word UART in the Frame that size sends from flight-control computer
l, right brake amount V
rright brake instruction data word UART in the Frame that size sends from flight-control computer
r;
Response object logic switch is as follows:
1) be 1 by D0 and D1 1 switches to
D0 be 1 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 is 0 time delay 200ms response aviator; The last control command state of flight-control computer is kept in the 200ms of time delay;
2) be 1 by D0 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 0 switches to
D0 is 1 and D1 is 1 time delay 20ms response flight-control computer; The last control command state of aviator is kept in the 20ms of time delay;
3) D0 be 1 and D1 be 0 or
D0 be 0 and D1 be 1 or
D0 is 0 and D1 switches between 0, and response object does not switch;
When response is for aviator, if control without aviator, then time delay 5s enters autonomous braking state; After entering autonomous braking state, if aviator recovers to control, autonomous braking state time delay 20ms is removed by aviator;
Described " autonomous braking state " refers to the state by the controller of brake system automatic given brake amount, aircraft being implemented to brake, and automatic given brake amount is 70% of aviator or flight-control computer given brake amount maxim;
Step 3, determines outgoing current;
By the left brake amount V that response exports
lbe converted to left brake electric current I
lC;
By the right brake amount V that response exports
rbe converted to right brake electric current I
rC;
Anti-skidding electric current I is calculated according to left and right wheel speed gauge
lF, I
rF, final left and right outgoing current I
l, I
rbe calculated as follows:
I
L＝I
LC+I
LF(1)
I
LMIN＝amA,I
LMAX＝bmA
I
R＝I
RC+I
RF(2)
I
RMIN＝amA,I
RMAX＝bmA
In formula, a, b are constant, | I
lF|≤I
lC, | I
lF|≤I
lC;
Step 4, determines hydraulic lock state;
Open hydraulic lock logical response as follows:
If V
l>=c, V
r< c, opens hydraulic lock, delivery pressure;
If V
r>=c, V
l< c, opens hydraulic lock, delivery pressure;
If V
l>=c, V
r>=c, opens hydraulic lock, delivery pressure;
If V
l< c, V
r< c, closes hydraulic lock, not delivery pressure;
In formula, c is constant, is specially brake instruction data word in the Frame that brake instruction transducer output or flight-control computer send and opens hydraulic lock internal memory constant after conversion calculates;
Step 5, sends status information to flight-control computer;
Data word 1: left channel B IT testing result;
Data word 2: right channel B IT testing result;
Data word 3: left wheel speed;
Data word 4: right wheel speed;
Data word 5: left outgoing current I
l;
Data word 6: right outgoing current I
r;
Data word 7: the response object of outgoing current;
The response object of described outgoing current refers to and controls when the source of Front brake outgoing current is aviator or flight-control computer;
When communication link breaks down, flight computer judges that communication link breaks down, and time delay 200ms stops sending controling instruction; The last control command state of flight-control computer is kept in the 200ms of time delay; When communication link recovers normal, in 20ms, recover sending controling instruction.
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| CN104494815B (en) * | 2014-11-18 | 2016-06-01 | 西安航空制动科技有限公司 | A kind of Aircraft Anti-skid Break Control lands protection method |
| CN105620455B (en) * | 2016-02-04 | 2018-08-31 | 西安航空制动科技有限公司 | A kind of control method of airplane brake system and its ground protection |
| CN106672219B (en) * | 2016-12-22 | 2019-02-15 | 西安航空制动科技有限公司 | A kind of method of the anti-skidding failure speed state locking of aircraft |
| JP6786407B2 (en) * | 2017-01-23 | 2020-11-18 | 株式会社クボタ | Work vehicle wireless management system |
| CN110543189B (en) * | 2019-09-25 | 2022-01-25 | 成都飞机工业（集团）有限责任公司 | Ground guide control method for fixed-wing unmanned aerial vehicle |
| CN113895415B (en) * | 2021-09-13 | 2023-08-18 | 西安航空制动科技有限公司 | Working mode conversion method of airplane wheel braking system |
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