CN104044734B - There is many rotor wing unmanned aerial vehicles control system and the method for tiltable wing and rotor - Google Patents

Abstract

The invention provides a kind of many rotor wing unmanned aerial vehicles with tiltable wing and rotor, this unmanned plane structurally comprise the multiple rotors be arranged on pipe link, can perpendicular to fuselage direction be parallel to the rotor that the wing tilted between fuselage direction and two of installing on wing synchronously can tilt with wing at a pair of fuselage left and right sides symmetrical placement.The present invention also provides a kind of many rotor wing unmanned aerial vehicles control system and the control method thereof with tiltable wing and rotor.UAV Attitude of the present invention is completed by the rotor system be arranged on pipe link of symmetric configuration completely, the rotor be arranged on wing only provides thrust, do not affect attitude, thus achieve the decoupling zero of gesture stability and speeds control, reduce the complexity of dynamicmodel and control difficulty, the lift utilizing the aerodynamic effects of wing to provide additional, improves the flying speed of many rotor wing unmanned aerial vehicles, weight capacity and continuation of the journey usefulness.

Description

There is many rotor wing unmanned aerial vehicles control system and the method for tiltable wing and rotor

Technical field

The present invention relates to aviation power field of mechanical technique, specifically a kind of there is tiltable wing and rotor many rotor wing unmanned aerial vehicles and control system and method.

Background technology

The aerodynamic effects of wing can be able to be utilized to produce lift to put forward dynamical advantage at little place vertical takeoff and landing, hovering and fixed wing aircraft in conjunction with helicopter, from last century the fifties people start to develop integrate these two kinds of advantages there is varistructured manned craft.This aircraft mostly adopts the fuselage design of traditional fixed wing aircraft, installs at the end of two main wings the rotor that two angles can turn forward.During landing, rotor faces up provides lift; And when making flat flying aloft into, rotor, towards top rake until perpendicular to fuselage, provides the thrust of horizontal direction, thus produce lift by the aerodynamic effects of wing, improve the usefulness of aircraft.This kind of aircraft mainly contains rotor tilts formula and wing dropping formula two kinds of structures.

In the unmanned vehicle development of business-like small-sized tiltable DCB Specimen, most representative is the BellEagleEye of American Bell Incorporated research and development in 1998.Its length 5.6 meters, high 1.88 meters, the span 6.37 meters, F-Zero 360 kms per hour, can carry 91 kilograms.Although its rotor diameter reaches 3.05 meters, manned owing to not needing, two driving engines are all arranged on the end of fuselage interior instead of wing, are driven the rotation of rotor by mechanical drive.This design alleviates the carrying of wing end, thus improves the problem of turning round and trembling.The Song Yanguo of Nanjing Aero-Space University etc. have developed a kind of tiltable DCB Specimen SUAV (small unmanned aerial vehicle) adopting traditional fixed-wing fuselage and wing configurations.

In the research based on four cyclogyros, the people such as the SatoshiSuzuki of Japanese JP Agencyof Shinshu University and Chiba University have developed a compact tilt wing unmanned plane QUW-UAV in 2010.This design is four rotor systems.When vertical flight, all upward, pitching and roll are regulated by the speed discrepancy of four rotors four rotors, and course is then controlled by aileron.When flat flying, pitching and roll control by regulating four ailerons, and course is then regulated by the speed discrepancy of four rotors.Document has highlighted the gesture stability flight test result of vertical flight, but does not relate to transition mode and the flat enforcement and the control that fly pattern.The tilting rotor unmanned plane that French Compiegne universities in 2011 and the people such as France of Mexico-Mexico's computational science and Control release room GerardoRamon develop.What this aircraft adopted is fixed wing, is carried out the pattern of change of flight by tiltable four rotors.It by-the Ping that takes off-hover fly-hover-transition of landing is all that inclination angle and rotating speed by changing four rotors has been come.Related documents is introduced the kinematics of system and Dynamic Modeling, control and system development, and gives the gesture stability test results taken off vertically and hover.But it is same not about transition mode and the flat introduction flying mode flight and test.The KaanT.Oner etc. of Sabanic university of Turkey in 2011 have developed compact tilt wing four rotor wing unmanned aerial vehicle of a SUVAI by name.This class is based on the design of four rotors by the front and back symmetric configuration of four rotors in fuselage both sides, and the speeds control of its attitude and flight is coordinated to have come by the rotating speed of four rotors and inclination angle.There is following weak point in above-mentioned three kinds of variable structure systems:

In the stage of vertical takeoff and landing and the mutual transition of horizontal flight, the attitude of aircraft and speed have been come by multiple inclination angle of rotor (and wing) before and after coordinating and gyroplane rotate speed, very easily causes power/torque and being coupled between multiple inclination angle and gyroplane rotate speed.Meanwhile, due to rotor (and wing) in fuselage both sides in tandem, the inclination of wing can cause the displacement significantly changing even barycenter of airplane inertial parameter, further increases control difficulty.

Another potential problem is the problem of implementation controlled, because flight controls to resolve by the mapping of required power/torque to last controlling quantity and multiple inclination angle and gyroplane rotate speed, the effective realization controlled requires after providing required power/dtc signal, and must there be solution at the rotating speed of rotor and inclination angle.Based on the coupling effect of existing layout, this relation is described by one group of nonlinear equation, the difficulty solved may be caused.

Summary of the invention

The object of the present invention is to provide a kind of there is tiltable wing and rotor many rotor wing unmanned aerial vehicles and control system and method, to realize the decoupling zero of many rotor wing unmanned aerial vehicles gesture stability and speeds control, reduce and control difficulty, simplify control algorithm, and reduce energy consumption.

Technical scheme of the present invention is:

A kind of many rotor wing unmanned aerial vehicles with tiltable wing and rotor, comprise fuselage and be uniformly distributed in the even number rotor of fuselage circumference, wherein two rotors are connected with fuselage respectively by a pair wing being symmetricly set in fuselage both sides, all the other rotors are connected with fuselage respectively by the pipe link of the distribution that is centrosymmetric, and described wing overlaps with fuselage barycenter with the intersection point of pipe link;

Described wing and fuselage are rotationally connected, and described pipe link is fixedly connected with fuselage, and under vertical takeoff and landing pattern, wingpiston tilts to and pipe link place plane orthogonal, and under horizontal flight pattern, wingpiston tilts to pipe link place plane parallel or overlaps;

Be installed in two rotors on wing and wing and synchronously tilt, its machine shaft to be positioned on wingpiston and vertical with wing rotating shaft all the time, and its machine shaft is apart from the distance of fuselage barycenter is equal and hand of rotation is contrary; Be installed in the rotor on each pipe link, its machine shaft is interspersed apart from the equal and hand of rotation of the distance of fuselage barycenter according to adjacent contrary order.

Described many rotor wing unmanned aerial vehicles with tiltable wing and rotor, described fuselage adopts stream line pattern hollow cylindrical structure.

Described many rotor wing unmanned aerial vehicles with tiltable wing and rotor, the shape of described wingpiston is rectangle or trapezoidal.

Described a kind of many rotor wing unmanned aerial vehicles control system with tiltable wing and rotor, comprises master controller, ground monitoring system, ground remote control unit, measuring unit, electric-motor drive unit, rotor motor and servomotor;

Described master controller, for the flight parameter that the telecommand that sends according to ground RCU and measuring unit send, generates the control signal driving rotor motor and servomotor;

Described ground monitoring system, for the state of flight of real-time monitored unmanned plane, carries out data exchange by wireless transport module and master controller;

Described ground remote control unit, for sending telecommand to master controller and receiving the acknowledge signal of master controller;

Described measuring unit, for measuring the various flight parameters of unmanned plane in real time, comprising GPS unit, height measurement unit, Inertial Measurement Unit and wing inclination measuring unit, carrying out data exchange by bus interface circuit and master controller;

Described electric-motor drive unit, for the control signal exported according to master controller, drives servomotor and rotor motor to rotate;

Described rotor motor, rotates for driving rotor;

Described servomotor, for controlling wing and the angle of inclination being installed in two rotors on wing, makes unmanned plane convert another offline mode to from a kind of offline mode.

Described many rotor wing unmanned aerial vehicles control system with tiltable wing and rotor, described master controller comprises ideal trajectory generation module, ideal pose generation module, trajectory error computing module, attitude error computing module, wing inclination error calculating module, translation control module, gesture stability module, wing inclination control module and mixed mechanism module;

Described ideal trajectory generation module, for the ideal flight track according to the road sign point column-generation unmanned plane preset;

Described ideal pose generation module, for the ideal flight attitude of the ideal flight Track Pick-up unmanned plane according to unmanned plane;

Described translational error computing module, for calculating the translational error between current trace points measured by unmanned plane ideal flight tracing point and ideal flight speed and GPS unit and height measurement unit and present speed, and delivers to translation control module;

Described attitude error computing module, for calculating the pitch angle of current pose, the attitude error between roll angle and yaw angle measured by the pitch angle of unmanned plane ideal flight attitude, roll angle and yaw angle and Inertial Measurement Unit, and deliver to gesture stability module;

Wing inclination error calculating module, for calculate the wing dropping measured by the desired angle of wing dropping and wing inclination measuring unit current angular between wing inclination error, and deliver to wing inclination control module;

Translation control module, translational error for exporting translational error computing module adjusts, calculate the linear thrust acting on unmanned plane barycenter, and this force signal is delivered to mixed mechanism module after the attitude conversion being tied to body axis system by geodetic coordinate, described linear thrust comprises thrust, the thrust of the rotor generation be arranged on wing and the lift of wing generation that the rotor be arranged on pipe link produces;

Gesture stability module, attitude error for exporting attitude error computing module adjusts, calculate the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link, and this dtc signal is delivered to mixed mechanism module after transformation of coefficient;

Wing inclination control module, for the wing inclination error exported according to wing inclination error calculating module, calculates the adjustment amount of wing dropping and is delivered to mixed mechanism module;

Mixed mechanism module, for generating the control signal driving rotor motor and servomotor, to control the rotating speed of rotor motor and the wing inclination angle relative to fuselage.

Described a kind of control method with many rotor wing unmanned aerial vehicles control system of tiltable wing and rotor, comprises the following steps:

(1) according to ideal flight track and the ideal flight attitude of the road sign point column-generation unmanned plane preset;

(2) current trace points measured by GPS unit and height measurement unit and present speed and ideal trajectory point and ideal velocity are compared, calculate the translational error of unmanned plane;

(3) translation control module adjusts translational error, calculate the linear thrust acting on unmanned plane barycenter according to following translation control law, and this force signal delivered to mixed mechanism module after the attitude conversion being tied to body axis system by geodetic coordinate:

$\begin{array}{c}\left(\begin{array}{ccc}\left[\begin{array}{c}0\\ 0\\ f_X\end{array}\right]& +& \left[\begin{array}{c}\cos \mathrm{\α}{f}_{\mathrm{LR}}\\ 0\\ \sin \mathrm{\α}{f}_{\mathrm{LR}}\end{array}\right]\end{array}\right)+\left[\begin{array}{c}{f}_{\mathrm{AIRx}}(\mathrm{\α},{\stackrel{\·}{p}}_x)\\ 0\\ f_{\mathrm{AIRz}}(\mathrm{\α},{\stackrel{\·}{p}}_x)\end{array}\right]\\ =R^T\left(\mathrm{\Ω}\right)[g={\stackrel{\·\·}{p}}_d+K_d(\stackrel{\·}{p}-{\stackrel{\·}{p}}_d)+K_p(p-p_d)]\end{array},$

Wherein, f _xrepresent the thrust that the rotor be arranged on pipe link produces, f _lRrepresent the thrust that two the tiltable rotors be arranged on wing produce, f _aIRrepresent the lift that produces under aerodynamic effect of wing, α represents controllable and measurable wing inclination, p and corresponding linear track and the speed representing unmanned plane respectively, p _d, with corresponding expression is desirable respectively linear track, speed and acceleration/accel, g represents acceleration due to gravity vector constant, and R (Ω) represents attitude matrix, K _dand K _pall represent positive definite diagonal angle constant matrix;

(4) pitch angle of the pitch angle of the current pose measured by Inertial Measurement Unit, roll angle and yaw angle and ideal pose, roll angle and yaw angle are compared, calculate the attitude error of unmanned plane;

(5) gesture stability module adjusts attitude error, calculate the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link according to following attitude control law, and this dtc signal delivered to mixed mechanism module after transformation of coefficient:

$\mathrm{\τ}=I\left(\mathrm{\α}\right)\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d)+{K_p}^{\mathrm{\Ω}}(\mathrm{\Ω}-{\mathrm{\Ω}}_d)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{zz}}\left(\mathrm{\α}\right)-I_{\mathrm{yy}}\left(\mathrm{\α}\right))\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{xx}}\left(\mathrm{\α}\right)-I_{\mathrm{zz}}\left(\mathrm{\α}\right))\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y(I_{\mathrm{yy}}\left(\mathrm{\α}\right)-I_{\mathrm{xx}}\left(\mathrm{\α}\right))\end{array}\right]\},$

When the inertia matrix impact of wing inclination on unmanned plane is less, inertia matrix is considered as constant matrix, then attitude control law is:

$\mathrm{\τ}=I\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d)+{K_p}^{\mathrm{\Ω}}(\mathrm{\Ω}-{\mathrm{\Ω}}_d)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{zz}}-I_{\mathrm{yy}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{xx}}-I_{\mathrm{zz}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y(I_{\mathrm{yy}}-I_{\mathrm{xx}})\end{array}\right]\},$

Wherein, τ represents the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link, and α represents wing inclination, and I (α) represents the inertia matrix of unmanned plane, and I represents constant matrix, and Ω represents Eulerian angles vector, Ω _d, with represent desirable attitude angle, cireular frequency and angular acceleration respectively, K _dΩ and K _pΩ all represents positive definite diagonal angle constant matrix;

(6) current angular of the wing dropping measured by wing inclination measuring unit and desired angle are compared, calculate wing inclination error;

(7) wing inclination control module is according to wing inclination error, calculates the adjustment amount of wing dropping and is delivered to mixed mechanism module;

(8) dtc signal that translation control module exports by mixed mechanism module force signal, gesture stability module export and the adjustment amount of wing dropping that wing inclination control module exports, convert the order of rotor motor speed and the order of servomotor rotational angle to, generate the control signal driving rotor motor and servomotor.

Beneficial effect of the present invention is:

1, the lift produced due to wing and all directly act on fuselage barycenter with the thrust that the rotor that wing synchronously tilts produces, no matter what angle they tilt to, described lift and thrust all can not produce torque to fuselage barycenter and affect the attitude of unmanned plane;

2, the attitude of unmanned plane is completed by the rotor system be arranged on pipe link of symmetric configuration completely, the rotor be arranged on wing only provides thrust, do not affect attitude, thus achieve the decoupling zero of gesture stability and speeds control, reduce the complexity of dynamicmodel and control difficulty;

3, compare with existing many rotor wing unmanned aerial vehicles with the helicopter of classics, a pair wing and two rotors on it can be adjusted to vertical direction to provide necessary vertical lift when vertical takeoff and landing by unmanned plane of the present invention, maintenance conventional helicopters can in the feature of original place vertical takeoff and landing, and a pair wing and two rotors on it can be adjusted to horizontal direction when horizontal flight, as the wing of fixed wing aircraft, utilize the lift that the aerodynamic effects of wing provides additional, to improve the flying speed of many rotor wing unmanned aerial vehicles, weight capacity and continuation of the journey usefulness.

Accompanying drawing explanation

Fig. 1 is many rotor wing unmanned aerial vehicles integral structure schematic diagram of the present invention;

Fig. 2 is many rotor wing unmanned aerial vehicles vertical takeoff and landing pattern birds-eye view of the present invention;

Fig. 3 is many rotor wing unmanned aerial vehicles horizontal flight pattern birds-eye view of the present invention;

Fig. 4 is many rotor wing unmanned aerial vehicles horizontal flight pattern front view of the present invention;

Fig. 5 is many rotor wing unmanned aerial vehicles transition flight pattern front view of the present invention;

Fig. 6 is many rotor wing unmanned aerial vehicles control system block diagram of the present invention;

Fig. 7 is many rotor wing unmanned aerial vehicles control principle schematic diagram of the present invention.

Detailed description of the invention

The present invention is further illustrated below for six rotor wing unmanned aerial vehicles.

As shown in Figure 1, a kind of microminiature six rotor wing unmanned aerial vehicle with tiltable wing and rotor, comprise fuselage 1, be symmetricly set on two wings 2 of fuselage 1 left and right sides, be centrosymmetric four pipe links 3 and six rotors 4 that are arranged on fuselage 1 periphery, rotor 4 is made up of rotor 41 and rotor motor 42, and rotor motor 42 adopts DC brushless motor.Wherein two rotors 4 are symmetrical is respectively installed in two wings 2 one end away from fuselage 1, and all the other four rotors 4 are symmetrical is respectively installed in four pipe links 3 one end away from fuselage 1.

Fuselage 1 adopts stream line pattern hollow cylindrical structure to reduce air resistance during flight.Wing 2 is rotationally connected with fuselage 1, and its aspect is rectangle.Two wings 2 are perpendicular to fuselage direction (namely extending to the left and right), and composition " one " font structure, can synchronously tilt in the vertical direction and between horizontal direction.Be arranged on rotor 4 on wing 2 synchronously to tilt with wing 2, vertical with the rotating shaft of wing 2 in the plane that the rotating shaft of its rotor motor 42 is positioned at wing 2 all the time, the rotating speed of two rotor motors 42 is identical but turn to contrary.The lift that two wings 2 produce under aerodynamic effects and synchronous with it tilt the thrust that produces of two rotors 4 all directly act on the particle of unmanned plane and the vertical extension line of the left and right sides thereof.

Pipe link 3 is fixedly connected on fuselage 1, and four pipe links 3 form " X " type structure, the intersection point of rotating shaft " X " the type structure of two wings 2 and parallel with the line of " X " type structure front portion (or rear portion) two rotor motors 42.Mass distribution due to whole unmanned plane is symmetrical, thus makes the barycenter of unmanned plane be positioned at the geometric centre of fuselage 1, i.e. the intersection point of " one " font and " X " type structure.The parameter of above-mentioned parts of the same race is identical, and structural four rotors 4 of " X " type are equal apart from the distance of fuselage barycenter, and about " one " font structure, two rotors 4 are symmetrical.

With large ground level as a reference plane, if unmanned plane gravity is G, air resistance and friction force sum are f _b.During unmanned plane landing, fuselage 1, four pipe links 3 all with the earth plane parallel, four rotors 4 be fixed on pipe link 3 face up, and the rotating shaft of its rotor motor 42 is perpendicular to reference plane; Rectangle plane and the earth plane orthogonal of two wings 2, two rotors 4 on it also all face up, the rotating shaft of its rotor motor 42 is also perpendicular to reference plane, therefore two the rotor motors 42 on wing 2 and four rotor motors 42 on pipe link 3 are on the same plane being parallel to reference plane, six rotor motors 42 drive rotor 41 to rotate, rotating speed is Ω, and as shown in Figure 2, the lift that each rotor motor 42 produces upwards is respectively F to hand of rotation _a=k Ω ², wherein k is constant.Because six rotor motor 42 rotating speeds are equal, two rotor motor 42 hand of rotation on the same diagonal line of " X " type structure are identical, and rotor motor 42 hand of rotation on two pairs of diagonal lines is contrary, symmetrical rotor motor 42 hand of rotation in " one " font structure two ends is contrary, therefore, unmanned plane resultant couple balances, the resultant lift F=6F suffered by it _a.When resultant lift is greater than gravity and air resistance and friction force sum, i.e. F>f _bduring+G, unmanned plane takes off vertically, and the rotating speed of increase simultaneously or reduction six rotor motors 42 can make unmanned plane rise or drop to the height of specifying.Compare four common rotor wing unmanned aerial vehicles, many rotor wing unmanned aerial vehicles structure of the present invention has larger lift when landing.

When unmanned plane by vertical takeoff and landing pattern to horizontal flight mode transition time, the rectangle plane of two wings 2 tilts until parallel with reference plane to heading gradually, unmanned plane enters horizontal flight pattern, as shown in Figure 3, Figure 4, now, forward-facing, the rotating shaft of two rotor motors 42 is parallel with reference plane, produces horizontal forward thrust for two rotors 4 on wing 2.Four rotors 4 on pipe link 3 produce lift upwards, wing 2 plane produces vertical stabilizer 2 plane and power upwards due to the air-flow missionary society of flight, thus increase lift, purely produce lift by rotor motor 4 relative to four common rotor wing unmanned aerial vehicles, greatly can reduce energy ezpenditure.If the quality of tiltable wing 2 is done try one's best light, and make the barycenter of two the rotor motors 42 in left and right on it as far as possible close to fuselage 1 barycenter extending transversely line, to such an extent as to the change of wing 2 leaning angle does not have an impact to the inertia matrix of fuselage 1, the inertia matrix causing unmanned plane overall can be approximately not by the constant that wing 2 tilts to affect.Under these conditions, the lift that wing 2 produces and synchronous with wing 2 tilt the thrust that produces of rotor 4 all directly act on unmanned plane barycenter, they impact the attitude of unmanned plane hardly, only change the translation state of unmanned plane.Such as, when unmanned plane forward flat fly time, only need strengthen the rotating speed of two rotor motors 42 (L, R) on wing 2, and the rotating speed of four rotor motors 42 (FL, FR, BL, BR) on pipe link 3 is constant just can realize simultaneously; The pitching of unmanned plane, is realized by the speed discrepancy of two pairs of rotor motors 42 (" FL, FR " and " BL, BR ") before and after " X " type of adjustment structure; Its roll, realized by the speed discrepancy of two pairs of rotor motors 42 (" FL, BL " and " FR, BR ") about " X " type of adjustment structure, and its course angle controls by regulating the speed discrepancy of " X " type structure two pairs of diagonal line rotor motors 42 (" FL, BR " and " FR, BL ") to realize.Namely attitude is controlled by " X " type structure completely, thus displacement and gesture stability are separated, and greatly reduces unmanned aerial vehicle (UAV) control difficulty, simplifies control algorithm.

Transfer the process of horizontal flight pattern after unmanned plane takes off vertically to, be called transition flight pattern.As shown in Figure 5, in transition flight pattern, two rotor motor 42 (L on wing 2, R) along with wing 2 tilts, depart from all the other four rotor motor 42 (FL gradually, FR, BL, BR) place plane, and wing 2 plane gradually with these four rotor motors 42 (FL, FR, BL, BR) place planes overlapping or parallel, this is a relatively unstable offline mode, whole traverse time can be made to become very short by suitable algorithm, rotor motor 42 is made to be in state of equilibrium, avoid producing concussion, unmanned plane is made not produce the change of attitude and displacement in whole transient process, and transfer rapidly stable horizontal flight pattern to.When unmanned plane by horizontal flight to vertical landing transition time, the rectangle plane of wing 2 tilts to vertical with reference plane by being parallel to reference plane gradually, the horizontal velocity of unmanned plane reduces gradually, until hover directly over level point, now, six rotors 4 are in the same plane parallel with reference plane, provide lift upwards, then synchronously reduce rotating speed, make unmanned plane vertical landing reposefully.

As shown in Figure 6, there is many rotor wing unmanned aerial vehicles control system of tiltable wing and rotor, comprise the master controller 5 be arranged on body, measuring unit 8, electric-motor drive unit 9, servomotor 10 and six rotor motors 42 and be arranged on ground ground monitoring system 6 and ground remote control unit 7.Wherein, master controller 5 is primarily of performance-oriented embedded chip and peripheral bus circuit composition thereof, the flight parameter that master controller 5 sends according to the telecommand of ground remote control unit 7 transmission received and measuring unit 8, generate the control signal driving servomotor 10 and six rotor motors 42, reach specific state of flight to make unmanned plane; Ground monitoring system 6 carries out data exchange, for the state of flight of real-time monitored unmanned plane by wireless transport module and master controller 5; Ground remote control unit 7 is for sending telecommand to master controller 5 and receiving the acknowledge signal of master controller 5; Measuring unit 8 comprises GPS unit 81, height measurement unit 82, Inertial Measurement Unit 83 and wing inclination measuring unit 84, carries out data exchange by bus interface circuit and master controller 5, measures the various flight parameters of unmanned plane in real time; The control signal of electric-motor drive unit 9 for exporting according to master controller 5, drives servomotor 10 and six rotor motors 42 to rotate; Servomotor 10, for controlling wing 2 and the angle of inclination being arranged on two rotors 4 on wing 2, makes unmanned plane convert another offline mode to from a kind of offline mode; Rotor motor 42 rotates for driving rotor 41.

As shown in Figure 7, master controller 5 comprises ideal trajectory generation module, ideal pose generation module, translational error computing module, attitude error computing module, wing inclination error calculating module, translation control module, gesture stability module, wing inclination control module and mixed mechanism module.Wherein, ideal trajectory generation module, for the ideal flight track according to the road sign point column-generation unmanned plane preset; Ideal pose generation module, for the ideal flight attitude of the ideal flight Track Pick-up unmanned plane according to unmanned plane; Translational error computing module, for calculating unmanned plane ideal trajectory point p _dwith ideal velocity v _dwith the current trace points p measured by GPS unit 81 and height measurement unit 82 _cwith present speed v _cbetween translational error, and deliver to translation control module; Attitude error computing module, for calculating the pitching angle theta of unmanned plane ideal pose _d, roll angle φ _dwith yaw angle ψ _dwith the pitching angle theta of the current pose measured by Inertial Measurement Unit 83 _c, roll angle φ _cwith yaw angle ψ _cbetween attitude error, and deliver to gesture stability module; Wing inclination error calculating module, for calculating the desired angle α of wing dropping _dwith the current angle alpha of the wing dropping measured by wing inclination measuring unit 84 _cbetween wing inclination error, and deliver to wing inclination control module; Translation control module, translational error for exporting translational error computing module adjusts, calculate the linear thrust acting on unmanned plane barycenter, and this force signal is delivered to mixed mechanism module after the attitude conversion being tied to body axis system by geodetic coordinate; Gesture stability module, attitude error for exporting attitude error computing module adjusts, calculate the three-dimensional torque acting on unmanned plane barycenter produced by four rotors be arranged on pipe link, and this dtc signal is delivered to mixed mechanism module after transformation of coefficient; Wing inclination control module, for the wing inclination error exported according to wing inclination error calculating module, calculates the adjustment amount of wing dropping and is delivered to mixed mechanism module; Mixed mechanism module, for generating the control signal of driving six rotor motors 42 and a servomotor 10, to control the rotating speed of six rotor motors 42 and wing 2 inclination angle relative to fuselage 1.

In autonomous flight, the ideal trajectory of unmanned plane and ideal pose are formed by multiple spot path coordinate, provide location/velocity and gesture commands function, translation control algorithm and gesture stability algorithm adjust respectively to translational error and attitude error, the power exported and dtc signal are converted to the order of rotor motor speed by mixed mechanism, drive unmanned plane during flying.When unmanned plane independently complete take off vertically enter horizontal flight pattern time, wing by Vertical dimension horizontal tilt mechanism start, unmanned plane enters translative mode to horizontal flight mode transition.Vice versa, and when the given object point of unmanned plane above level point is certain distance, wing is started to vertical direction inclined mechanism by level, to ensure that unmanned plane hovers on predetermined object point, then lands gradually.

Power-kinematic model of the present invention has following general type:

$\begin{array}{c}I\left(\mathrm{\α}\right)\stackrel{\·}{\mathrm{\ω}}+\mathrm{\ω}\×\left(I\left(\mathrm{\α}\right)\mathrm{\ω}\right)=\mathrm{\τ}\\ m\stackrel{\·}{v}=R\left(\mathrm{\Ω}\right)f\left(\mathrm{\α}\right)+\mathrm{mg}\end{array}---\left(1\right)$

Wherein, ω represents the angular velocity vector of complete machine, and has wherein Ω is Eulerian angles vector; G represents acceleration due to gravity vector constant; M represents the oeverall quality of fuselage and wing; R (Ω) represents attitude matrix; α is controllable and measurable wing inclination; represent the linear thrust acting on unmanned plane barycenter, comprise the thrust f of four rotors be arranged on " X " pipe link _x, two rotors be arranged on wing thrust f _lR(α)=[cos α 0sin α] ^tf _lRwith as wing inclination α and linear velocity the airfoil lift of function this functional relation is by theoretical analysis, and dynamic test obtains; τ represents the Three dimensional rotation moment acting on unmanned plane barycenter produced by four rotors be arranged on " X " pipe link; I (α) is the inertia matrix of the unmanned plane as wing inclination αfunction, its functional relation can be obtained by test and be known, when inertia matrix I (α) impact of wing inclination α on unmanned plane can be ignored, I (α) can be considered as constant I.

If unmanned plane body axis system follows right-hand rule, its origin of coordinates o is positioned at unmanned plane barycenter, the planes overlapping at its coordinate plane xoy and each pipe link place, and z-axis is perpendicular to the plane at each pipe link place; Ox axle is along fuselage longitudinal axis and point to head front, and oy axle points to fuselage right.The subscript x, y, z occurred in following formula all represents the x, y, z component of relevant variable under unmanned plane body axis system.

Because Unmanned Aircraft Systems (UAS) symmetrical configuration is in x and y-axis, the off diagonal element of its inertia matrix I (α) is all zero, and attitude equation is:

$I\stackrel{\·}{\mathrm{\ω}}+\left[\begin{array}{c}{\mathrm{\ω}}_y{\mathrm{\ω}}_z(I_{\mathrm{zz}}-I_{\mathrm{yy}})\\ {\mathrm{\ω}}_x{\mathrm{\ω}}_z(I_{\mathrm{xx}}-I_{\mathrm{zz}})\\ {\mathrm{\ω}}_x{\mathrm{\ω}}_y(I_{\mathrm{yy}}-I_{\mathrm{xx}})\end{array}\right]=\mathrm{\τ}$

Near Unmanned Aircraft Systems (UAS) zero attitude (three attitude angle are all approximately 0), can be approximately:

$I\stackrel{\·\·}{\mathrm{\Ω}}+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{zz}}-I_{\mathrm{yy}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{xx}}-I_{\mathrm{zz}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y(I_{\mathrm{yy}}-I_{\mathrm{xx}})\end{array}\right]=\mathrm{\τ}---\left(2\right)$

Wherein, Ω represents Eulerian angles vector, introduces desirable attitude angle Ω _d, cireular frequency and angular acceleration attitude control law:

$\mathrm{\τ}=I\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d)+{K_p}^{\mathrm{\Ω}}(\mathrm{\Ω}-{\mathrm{\Ω}}_d)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{zz}}-I_{\mathrm{yy}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{xx}}-I_{\mathrm{zz}})\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y(I_{\mathrm{yy}}-I_{\mathrm{xx}})\end{array}\right]\}---\left(3\right)$

Wherein, K _d ^Ωand K _p ^Ωall represent positive definite diagonal angle constant matrix, the stability of attitude can be ensured.

For translation equation, introduce provide desirable linear track p _d, speed and acceleration/accel translation equation can be rewritten as:

$\stackrel{\·\·}{p}-{\stackrel{\·\·}{p}}_d+K_d(\stackrel{\·}{p}-{\stackrel{\·}{p}}_d)+K_p(p-p_d)=\mathrm{R\Ωf}/m+g-{\stackrel{\·\·}{p}}_d+K_d(\stackrel{\·}{p}-{\stackrel{\·}{p}}_d)+K_p(p-p_d)$

Making on the right of above formula is zero, then have following translation control law, in order to ensure the stable of translation:

$\begin{array}{c}\left(\begin{array}{ccc}\left[\begin{array}{c}0\\ 0\\ f_X\end{array}\right]& +& \left[\begin{array}{c}\cos \mathrm{\α}{f}_{\mathrm{LR}}\\ 0\\ \sin \mathrm{\α}{f}_{\mathrm{LR}}\end{array}\right]\end{array}\right)+\left[\begin{array}{c}{f}_{\mathrm{AIRx}}(\mathrm{\α},{\stackrel{\·}{p}}_x)\\ 0\\ f_{\mathrm{AIRz}}(\mathrm{\α},{\stackrel{\·}{p}}_x)\end{array}\right]\\ =R^T\left(\mathrm{\Ω}\right)[g={\stackrel{\·\·}{p}}_d+K_d(\stackrel{\·}{p}-{\stackrel{\·}{p}}_d)+K_p(p-p_d)]\end{array}---\left(4\right)$

Wherein, f _xrepresent the thrust of four rotors be arranged on " X " pipe link, f _lRrepresent the thrust of two the tiltable rotors be arranged on wing, f _aIRxand f _aIRzrepresent x component and the z component of the lift that wing produces under aerodynamic effect respectively, R (Ω) represents attitude matrix, K _dand K _pall represent positive definite diagonal angle constant matrix.

Use S _fL, S _fR, S _bL, S _bR, S _land S _rrepresent the rotating speed of six rotors respectively, the z component of f represent that unmanned plane z is to thrust, power/torque is provided to the mapping of gyroplane rotate speed by following formula:

$\begin{array}{c}\left[\begin{array}{c}{S^2}_{\mathrm{FL}}\\ {S^2}_{\mathrm{FR}}\\ {S^2}_{\mathrm{BR}}\\ {S^2}_{\mathrm{BL}}\end{array}\right]=\left[\begin{array}{cccc}1/b& \sqrt{2}/b& \sqrt{2}/b& 1/d\\ 1/b& -\sqrt{2}/b& \sqrt{2}/b& -1/d\\ 1/b& -\sqrt{2}/b& -\sqrt{2}/b& 1/d\\ 1/b& \sqrt{2}/b& -\sqrt{2}/b& 1/d\end{array}\right]\left[\begin{array}{c}{f}_z\\ {\mathrm{\τ}}_x\\ {\mathrm{\τ}}_y\\ {\mathrm{\τ}}_z\end{array}\right]\\ \left[\begin{array}{c}{S^2}_L\\ {S^2}_R\end{array}\right]=\left[\begin{array}{c}{F}_{\mathrm{LR}}/\left(2b\right)\\ F_{\mathrm{LR}}/\left(2b\right)\end{array}\right]\end{array}---\left(5\right)$

Wherein, b, d are according to testing the rotor aerodynamics coefficient recorded.

When inertia matrix I (α) impact of wing inclination α on unmanned plane is larger, then uses the method for theoretical analysis and parameter estimation to obtain the relation of inclination alpha and I (α), then attitude control law (3) changed into:

$\mathrm{\τ}=I\left(\mathrm{\α}\right)\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d)+{K_p}^{\mathrm{\Ω}}(\mathrm{\Ω}-{\mathrm{\Ω}}_d)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{zz}}\left(\mathrm{\α}\right)-I_{\mathrm{yy}}\left(\mathrm{\α}\right))\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z(I_{\mathrm{xx}}\left(\mathrm{\α}\right)-I_{\mathrm{zz}}\left(\mathrm{\α}\right))\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y(I_{\mathrm{yy}}\left(\mathrm{\α}\right)-I_{\mathrm{xx}}\left(\mathrm{\α}\right))\end{array}\right]\}---\left(6\right)$

Consider at multiple discrete point α _i, i=1,2,3 ..., n is to I (α _i) carry out list, at different α _irelative I (α is called under value _i).Because I (α) does not have any impact to translation equation, control law (4) and (5) constant.

The above real-time mode is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.

Claims (3)

1. one kind has many rotor wing unmanned aerial vehicles control system of tiltable wing and rotor, this unmanned plane comprises fuselage and is uniformly distributed in the even number rotor of fuselage circumference, wherein two rotors are connected with fuselage respectively by a pair wing being symmetricly set in fuselage both sides, all the other rotors are connected with fuselage respectively by the pipe link of the distribution that is centrosymmetric, and described wing overlaps with fuselage barycenter with the intersection point of pipe link; Described wing and fuselage are rotationally connected, and described pipe link is fixedly connected with fuselage, and under vertical takeoff and landing pattern, wingpiston tilts to and pipe link place plane orthogonal, and under horizontal flight pattern, wingpiston tilts to pipe link place plane parallel or overlaps; Be installed in two rotors on wing and wing and synchronously tilt, its machine shaft to be positioned on wingpiston and vertical with wing rotating shaft all the time, and its machine shaft is apart from the distance of fuselage barycenter is equal and hand of rotation is contrary; Be installed in the rotor on each pipe link, its machine shaft is interspersed apart from the equal and hand of rotation of the distance of fuselage barycenter according to adjacent contrary order; It is characterized in that:

This system comprises master controller, ground monitoring system, ground remote control unit, measuring unit, electric-motor drive unit, rotor motor and servomotor;

Described master controller, for the flight parameter that the telecommand that sends according to ground RCU and measuring unit send, generates the control signal driving rotor motor and servomotor;

Described ground monitoring system, for the state of flight of real-time monitored unmanned plane, carries out data exchange by wireless transport module and master controller;

Described ground remote control unit, for sending telecommand to master controller and receiving the acknowledge signal of master controller;

Described measuring unit, for measuring the various flight parameters of unmanned plane in real time, comprising GPS unit, height measurement unit, Inertial Measurement Unit and wing inclination measuring unit, carrying out data exchange by bus interface circuit and master controller;

Described electric-motor drive unit, for the control signal exported according to master controller, drives servomotor and rotor motor to rotate;

Described rotor motor, rotates for driving rotor;

Described servomotor, for controlling wing and the angle of inclination being installed in two rotors on wing, makes unmanned plane convert another offline mode to from a kind of offline mode.

2. many rotor wing unmanned aerial vehicles control system with tiltable wing and rotor according to claim 1, is characterized in that:

Described master controller comprises ideal trajectory generation module, ideal pose generation module, trajectory error computing module, attitude error computing module, wing inclination error calculating module, translation control module, gesture stability module, wing inclination control module and mixed mechanism module;

Described ideal trajectory generation module, for the ideal flight track according to the road sign point column-generation unmanned plane preset;

Described ideal pose generation module, for the ideal flight attitude of the ideal flight Track Pick-up unmanned plane according to unmanned plane;

Described translational error computing module, for calculating the translational error between current trace points measured by unmanned plane ideal flight tracing point and ideal flight speed and GPS unit and height measurement unit and present speed, and delivers to translation control module;

Described attitude error computing module, for calculating the pitch angle of current pose, the attitude error between roll angle and yaw angle measured by the pitch angle of unmanned plane ideal flight attitude, roll angle and yaw angle and Inertial Measurement Unit, and deliver to gesture stability module;

Wing inclination error calculating module, for calculate the wing dropping measured by the desired angle of wing dropping and wing inclination measuring unit current angular between wing inclination error, and deliver to wing inclination control module;

Translation control module, translational error for exporting translational error computing module adjusts, calculate the linear thrust acting on unmanned plane barycenter, and this force signal is delivered to mixed mechanism module after the attitude conversion being tied to body axis system by geodetic coordinate, described linear thrust comprises thrust, the thrust of the rotor generation be arranged on wing and the lift of wing generation that the rotor be arranged on pipe link produces;

Gesture stability module, attitude error for exporting attitude error computing module adjusts, calculate the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link, and this dtc signal is delivered to mixed mechanism module after transformation of coefficient;

Wing inclination control module, for the wing inclination error exported according to wing inclination error calculating module, calculates the adjustment amount of wing dropping and is delivered to mixed mechanism module;

Mixed mechanism module, for generating the control signal driving rotor motor and servomotor, to control the rotating speed of rotor motor and the wing inclination angle relative to fuselage.

3. a kind of control method with many rotor wing unmanned aerial vehicles control system of tiltable wing and rotor according to claim 2, is characterized in that, comprise the following steps:

(1) according to ideal flight track and the ideal flight attitude of the road sign point column-generation unmanned plane preset;

(2) current trace points measured by GPS unit and height measurement unit and present speed and ideal trajectory point and ideal velocity are compared, calculate the translational error of unmanned plane;

(3) translation control module adjusts translational error, calculate the linear thrust acting on unmanned plane barycenter according to following translation control law, and this force signal delivered to mixed mechanism module after the attitude conversion being tied to body axis system by geodetic coordinate:

$\begin{array}{c}\left(\left[\begin{array}{c}0\\ 0\\ f_X\end{array}\right]+\left[\begin{array}{c}{\mathrm{cos\αf}}_{LR}\\ 0\\ {\mathrm{sin\αf}}_{LR}\end{array}\right]\right)+\left[\begin{array}{c}{f}_{AIRx}(\mathrm{\α},{\stackrel{\·}{p}}_x)\\ 0\\ f_{AIRz}(\mathrm{\α},{\stackrel{\·}{p}}_x)\end{array}\right]\\ =R^T\left(\mathrm{\Ω}\right)\[g-{\stackrel{\·\·}{p}}_d+K_d\left(\stackrel{\·}{p}-{\stackrel{\·}{p}}_d\right)+K_p\left(p-p_d\right)\]\end{array},$

Wherein, f _xrepresent the thrust that the rotor be arranged on pipe link produces, f _lRrepresent the thrust that two the tiltable rotors be arranged on wing produce, f _aIRrepresent the lift that produces under aerodynamic effect of wing, α represents controllable and measurable wing inclination, p and corresponding linear track and the speed representing unmanned plane respectively, p _d, with corresponding expression is desirable respectively linear track, speed and acceleration/accel, g represents acceleration due to gravity vector constant, and R (Ω) represents attitude matrix, K _dand K _pall represent positive definite diagonal angle constant matrix;

(4) pitch angle of the pitch angle of the current pose measured by Inertial Measurement Unit, roll angle and yaw angle and ideal pose, roll angle and yaw angle are compared, calculate the attitude error of unmanned plane;

(5) gesture stability module adjusts attitude error, calculate the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link according to following attitude control law, and this dtc signal delivered to mixed mechanism module after transformation of coefficient:

$\mathrm{\τ}=I\left(\mathrm{\α}\right)\left\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}\left(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d\right)+{K_p}^{\mathrm{\Ω}}\left(\mathrm{\Ω}-{\mathrm{\Ω}}_d\right)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z\left(I_{zz}\left(\mathrm{\α}\right)-I_{yy}\left(\mathrm{\α}\right)\right)\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z\left(I_{xx}\left(\mathrm{\α}\right)-I_{zz}\left(\mathrm{\α}\right)\right)\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y\left(I_{yy}\left(\mathrm{\α}\right)-I_{xx}\left(\mathrm{\α}\right)\right)\end{array}\right]\right\},$

When the inertia matrix impact of wing inclination on unmanned plane is less, inertia matrix is considered as constant matrix, then attitude control law is:

$\mathrm{\τ}=I\left\{{\stackrel{\·\·}{\mathrm{\Ω}}}_d+{K_d}^{\mathrm{\Ω}}\left(\stackrel{\·}{\mathrm{\Ω}}-{\stackrel{\·}{\mathrm{\Ω}}}_d\right)+{K_p}^{\mathrm{\Ω}}\left(\mathrm{\Ω}-{\mathrm{\Ω}}_d\right)+\left[\begin{array}{c}{\stackrel{\·}{\mathrm{\Ω}}}_y{\stackrel{\·}{\mathrm{\Ω}}}_z\left(I_{zz}-I_{yy}\right)\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_z\left(I_{xx}-I_{zz}\right)\\ {\stackrel{\·}{\mathrm{\Ω}}}_x{\stackrel{\·}{\mathrm{\Ω}}}_y\left(I_{yy}-I_{xx}\right)\end{array}\right]\right\},$

Wherein, τ represents the three-dimensional torque acting on unmanned plane barycenter produced by the rotor be arranged on pipe link, and α represents wing inclination, and I (α) represents the inertia matrix of unmanned plane, and I represents constant matrix, and Ω represents Eulerian angles vector, Ω _d, with represent desirable attitude angle, cireular frequency and angular acceleration respectively, K _d ^Ωand K _p ^Ωall represent positive definite diagonal angle constant matrix;

(6) current angular of the wing dropping measured by wing inclination measuring unit and desired angle are compared, calculate wing inclination error;

(7) wing inclination control module is according to wing inclination error, calculates the adjustment amount of wing dropping and is delivered to mixed mechanism module;

(8) dtc signal that translation control module exports by mixed mechanism module force signal, gesture stability module export and the adjustment amount of wing dropping that wing inclination control module exports, convert the order of rotor motor speed and the order of servomotor rotational angle to, generate the control signal driving rotor motor and servomotor.