CN104590557B - A kind of many rotors and the flight control method of fixed-wing composite aircraft and device - Google Patents

Abstract

This application discloses a kind of many rotors and the flight control method of fixed-wing composite aircraft and device, when composite aircraft is in blend modes of operation, current pose angle and attitude angle instruction to composite aircraft ask poor, obtain attitude angle deviation signal, after using control allocation technology to carry out calculation process attitude angle deviation signal, it is respectively configured lifting steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self control surface deflection, many rotors equipment controls rotating speed or pitch change, the corresponding control power that fixed-wing and many rotors each produce, make body to reducing the motion of attitude angle bias direction, thus eliminate attitude angle deviation.Can be seen that, the present invention is by using control allocation technology, realize controlling while fixed-wing rudder face and the rotating speed of many rotors or pitch, complete the gesture stability to composite aircraft, possess the flight under blend modes of operation of the composite aircraft of fixed-wing and many rotors composition and control function.

Description

A kind of many rotors and the flight control method of fixed-wing composite aircraft and device

Technical field

The present invention relates to composite aircraft technical field, in particular, relate to a kind of many rotors and fixed-wing is combined and flies The flight control method of row device and device.

Background technology

The composite aircraft being made up of fixed-wing and many rotors is a kind of course of new aircraft occurred in recent years, compound flight Device combines the advantage of fixed-wing and many rotors, its both can VTOL and flight as helicopter, again can be as fixing The same landing of wing aircraft and flight, it is possible to use two dynamical system blend modes of operation realize landing and flight.

Composite aircraft includes rotor power system more than, a fixed-wing dynamical system and a control system, Gu Determining wing dynamical system the most separate with many rotor power system, control system includes fixed-wing control system and many rotations Wing control system, control system can control fixed-wing control system and many rotor control systems work independently or work in coordination with work Make.

When composite aircraft is in blend modes of operation, control system is by controlling fixed-wing control system and many rotors Control system collaborative work realizes the collaborative work of fixed-wing dynamical system and many rotor power system, thus realizes compound flight Device completes the conversion between helicopter mode flight and fixed-wing mode flight.But, under blend modes of operation, when compound flight The air speed of device is less, and time even close to zero, the control power produced due to fixed-wing operation rudder face is less, has been not enough to multiple Close the control of aircraft, therefore, use the control attitude of the rotating speed or pitch that control many rotors to reduce attitude angle deviation at present, Not utilizing the operation rudder face of fixed-wing, thus cause the wasting of resources, the control efficiency causing control system is low.

Summary of the invention

In view of this, the present invention provides a kind of many rotors and the flight control method of fixed-wing composite aircraft and device, To realize controlling while fixed-wing rudder face and many rotors, improve the control efficiency of control system.

A kind of many rotors and the flight control method of fixed-wing composite aircraft, including:

When composite aircraft is in blend modes of operation, obtain described composite aircraft current of inertia combination output Attitude angle, current angular velocity, present speed and current location；

Utilize described present speed and current location, be calculated attitude angle instruction；

Instructing described current pose angle and described attitude angle and ask poor, obtain attitude angle deviation signal, described attitude angle is inclined Difference signal includes roll attitude angular displacement signal and pitch attitude angular displacement signal；

After using control allocation technology to carry out calculation process described attitude angle deviation signal, it is respectively configured elevator Machine, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self control surface deflection, described many rotors Equipment controls rotating speed or pitch change.

Preferably, described described attitude angle deviation signal is used after control allocation technology carries out calculation process, respectively The process being configured to lift steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment is specific as follows:

Bring described attitude angle deviation signal into first formula, obtain roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y With pitch channel controlled quentity controlled variable U_z, the expression formula of described first formula is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network, k_x2W_x2(s) be roll angle static gain and Corrective network, k_y1W_y1S () is yaw rate static gain and corrective network, k_z1W_z1(s) be rate of pitch static gain and Corrective network, k_z2W_z2S () is angle of pitch static gain and corrective network, ω_xFor rate of roll, ω_yFor yaw rate, ω_zFor rate of pitch, γ is roll angle,For the angle of pitch, γ_cInstruct for roll angle,The angle of pitch instructs, (γ-γ_c) it is Roll attitude angular displacement signal,For pitch attitude angular displacement signal；

Bring the current air speed of the described composite aircraft obtained into second formula, obtain control allocation coefficient η, described Current air speed is obtained by air data computer measurement, and the expression formula of described second formula is as follows:

$\mathrm{\&eta;}=\left\{\begin{array}{cc}{(V/V_{\min })}^2& V<V_{\min }\\ 1& V\&GreaterEqual;V_{\min }\end{array}\right.,$

In formula, V is the current air speed of composite aircraft, V_minFor fixed-wing stalling speed；

The 3rd formula is utilized to calculate aileron and rotor roll channel control ability equivalent coefficient a respectively_x, rudder and rotor Jaw channel control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_z, the described 3rd The expression formula of formula is as follows:

$\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]=\left[\begin{array}{c}{M}_x^{T_x}/M_x^{{\mathrm{\&delta;}}_x}\\ M_y^{T_y}/M_y^{{\mathrm{\&delta;}}_y}\\ M_z^{T_z}/M_z^{{\mathrm{\&delta;}}_z}\end{array}\right],$

In formula,For rotor roll channel control moment derivative,For rotor jaw channel control moment derivative, For rotor pitch channel control moment derivative,For aileron control moment derivative,For rudder control moment derivative,For elevator control moment derivative；

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_zBring the 4th formula into, obtain Aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, described 4th formula expression is as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right];$

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitch channel controlled quentity controlled variable U_z, control allocation coefficient η, Aileron and rotor roll channel control ability equivalent coefficient a_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, with And elevator and rotor pitch channel control ability equivalent coefficient a_zBring the 5th formula into, obtain the rotor passage control of rotor equipment Amount T processed_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, the expression formula of described 5th formula is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right].$

Preferably, when described many rotors equipment uses four rotors, controlled quentity controlled variable D of the first rotor₁, the control of the second rotor Amount D₂, controlled quentity controlled variable D of the 3rd rotor₃Controlled quentity controlled variable D with the 4th rotor₄Acquisition see the 6th formula, the table of described 6th formula Reaching formula is:

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right],$

In formula, T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.

A kind of many rotors and the flight control assemblies of fixed-wing composite aircraft, including:

Acquiring unit, for when composite aircraft is in blend modes of operation, obtains the described multiple of inertia combination output Close current pose angle, current angular velocity, present speed and the current location of aircraft；

Computing unit, is used for utilizing described present speed and current location, is calculated attitude angle instruction；

Seek poor unit, ask poor for described current pose angle and described attitude angle are instructed, obtain attitude angle deviation signal, Described attitude angle deviation signal includes roll attitude angular displacement signal and pitch attitude angular displacement signal；

Dispensing unit, after using control allocation technology to carry out calculation process described attitude angle deviation signal, point It is not configured to lift steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self rudder face inclined Turning, described many rotors equipment controls rotating speed or pitch change.

Preferably, described dispensing unit includes:

Passage controlled quentity controlled variable asks for subelement, for bringing described attitude angle deviation signal into first formula, obtains rolling and leads to Road controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_z, the expression formula of described first formula is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network, k_x2W_x2(s) be roll angle static gain and Corrective network, k_y1W_y1S () is yaw rate static gain and corrective network, k_z1W_z1(s) be rate of pitch static gain and Corrective network, k_z2W_z2S () is angle of pitch static gain and corrective network, ω_xFor rate of roll, ω_yFor yaw rate, ω_zFor rate of pitch, γ is roll angle,For the angle of pitch, γ_cInstruct for roll angle,The angle of pitch instructs, (γ-γ_c) it is Roll attitude angular displacement signal,For pitch attitude angular displacement signal；

Control allocation coefficient asks for unit, public for bringing the current air speed of the described composite aircraft obtained into second Formula, obtains control allocation coefficient η, and described current air speed is obtained by air data computer measurement, the table of described second formula Reach formula as follows:

$\mathrm{\&eta;}=\left\{\begin{array}{cc}{(V/V_{\min })}^2& V<V_{\min }\\ 1& V\&GreaterEqual;V_{\min }\end{array}\right.,$

In formula, V is the current air speed of composite aircraft, V_minFor fixed-wing stalling speed；

Control ability equivalent coefficient asks for unit, is used for utilizing the 3rd formula to calculate aileron and rotor roll channel control respectively Ability equivalent coefficient a processed_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, and elevator and rotor pitching lead to Road control ability equivalent coefficient a_z, the expression formula of described 3rd formula is as follows:

$\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]=\left[\begin{array}{c}{M}_x^{T_x}/M_x^{{\mathrm{\&delta;}}_x}\\ M_y^{T_y}/M_y^{{\mathrm{\&delta;}}_y}\\ M_z^{T_z}/M_z^{{\mathrm{\&delta;}}_z}\end{array}\right],$

In formula,For rotor roll channel control moment derivative,For rotor jaw channel control moment derivative, For rotor pitch channel control moment derivative,For aileron control moment derivative,For rudder control moment derivative, For elevator control moment derivative；

Fixed-wing control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yLead to pitching Road controlled quentity controlled variable U_zBring the 4th formula into, obtain aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, described Four formula expression are as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right];$

Many rotors control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitching lead to Road controlled quentity controlled variable U_z, control allocation coefficient η, aileron and rotor roll channel control ability equivalent coefficient a_x, rudder inclined with rotor Boat passage control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_zBring the 5th into public Formula, obtains rotor passage controlled quentity controlled variable T of rotor equipment_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, the described 5th The expression formula of formula is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right].$

Preferably, when described many rotors equipment uses four rotors, controlled quentity controlled variable D of the first rotor₁, the control of the second rotor Amount D₂, controlled quentity controlled variable D of the 3rd rotor₃Controlled quentity controlled variable D with the 4th rotor₄Acquisition see the 6th formula, the table of described 6th formula Reaching formula is:

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right],$

In formula, T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.

From above-mentioned technical scheme it can be seen that the invention provides flying of a kind of many rotors and fixed-wing composite aircraft Row control method and device, current pose angle and the appearance when composite aircraft is in blend modes of operation, to composite aircraft The instruction of state angle asks poor, obtains attitude angle deviation signal, uses control allocation technology to carry out at computing attitude angle deviation signal After reason, it is respectively configured lifting steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives Self control surface deflection, many rotors equipment controls rotating speed or pitch changes, the corresponding control power that fixed-wing and many rotors each produce, Make body move to reducing attitude angle bias direction, thus eliminate attitude angle deviation.It can be seen that the present invention is controlled by employing Amount distribution technique, it is achieved control while fixed-wing rudder face and the rotating speed of many rotors or pitch, complete composite aircraft Gesture stability, possess the flight under blend modes of operation of the composite aircraft of fixed-wing and many rotors composition and control function, For using the method for rotating speed and the pitch only controlling many rotors compared to existing technology, the present invention takes full advantage of resource, thus Improve the control efficiency of control system.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to The accompanying drawing provided obtains other accompanying drawing.

Fig. 1 is a kind of many rotors disclosed in the embodiment of the present invention and the flight control system figure of fixed-wing composite aircraft；

Fig. 2 is a kind of many rotors disclosed in the embodiment of the present invention and the flight control method flow process of fixed-wing composite aircraft Figure；

Fig. 3 is the knot of the flight control assemblies of a kind of many rotors and fixed-wing composite aircraft disclosed in the embodiment of the present invention Structure schematic diagram.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

The embodiment of the invention discloses a kind of many rotors and the flight control method of fixed-wing composite aircraft and device, with Realize controlling while fixed-wing rudder face and many rotors, improve the control efficiency of control system.

See Fig. 1, the embodiment of the invention discloses a kind of many rotors and the flight control system of fixed-wing composite aircraft Figure, including: inertia combination 1, air data computer 2, lifting steering wheel 3, direction steering wheel 4, aileron steering wheel 5, many rotors equipment 6 and Flight control computer 7；

Flight control computer 7 respectively with inertia combination 1, air data computer 2, lifting steering wheel 3, direction steering wheel 4, aileron rudder Machine 5 and many rotors equipment 6 connect.

It should be noted that the present embodiment can also be decreased or increased equipment, example accordingly according to the difference flying to control framework As, increase GNSS (Global Navigation Satellite System, GPS) and receive system, reduce Direction steering wheel 4.

Inertia combination 1 can use position gyro+rate gyroscope+GNSS to replace, and flight control computer 7 and inertia combination 1 can collect Become navigation controller.

See Fig. 2, a kind of many rotors and the flight control method of fixed-wing composite aircraft disclosed in the embodiment of the present invention Flow chart, including step:

Step S11, when composite aircraft is in blend modes of operation, obtain the described compound of inertia combination 1 output and fly Current pose angle, current angular velocity, present speed and the current location of row device；

Wherein, inertia combination 1 is that the inertia being integrated with three axis angular rate gyros, three axis accelerometer and navigation calculation plate is led Boat measurement apparatus, three axis angular rate gyros are for measuring unit around the angular velocity of pitch axis, the angular velocity of yaw axis and the axis of rolling Angular velocity；Three axis accelerometer is for measuring unit adding around the acceleration of pitch axis, the acceleration of yaw axis and the axis of rolling Speed；It is provided with navigation algorithm in navigation calculation plate.

Use navigation algorithm permissible around the angular velocity of the angular velocity of pitch axis, the angular velocity of yaw axis and the axis of rolling unit Obtain the current pose angle of composite aircraft.

By unit around the angular velocity of pitch axis, the angular velocity of yaw axis, the angular velocity of the axis of rolling, acceleration around pitch axis The acceleration calculation of degree, the acceleration of yaw axis and the axis of rolling obtains the present speed of composite aircraft.

Present speed according to composite aircraft can obtain the current location of composite aircraft.

Wherein, current angular velocity includes: rate of roll, yaw rate and rate of pitch.

Step S12, utilize described present speed and current location, be calculated attitude angle instruction；

The method calculating attitude angle instruction is a lot, and the method that one of which is commonly used is as follows:

The angle of pitch instructsFly according to climbing, putting down, lower degradation different phase uses different fixed values；

Roll angle instruction γ_cComputing formula is as follows:

$\left[\begin{array}{c}{a}_{\mathrm{fc}}\\ a_{\mathrm{hc}}\end{array}\right]=\left[\begin{array}{c}-2\frac{V_n}{L_1}(\stackrel{\&CenterDot;}{H}+\frac{V_n}{L_1}\mathrm{\&Delta;H})\\ -2\frac{V_n}{L_2}(\stackrel{\&CenterDot;}{z}+\frac{V_n}{L_2}z)\end{array}\right],$

In formula, a_fcInstructing for normal acceleration, unit is m/s²；

a_hcInstructing for transverse acceleration, unit is m/s²；

V_nFor aircraft ground velocity, unit is m/s；

L₁For normal steering coefficient；

L₂For lateral steering coefficient；

H is flying height, and unit is m；

Δ H is the distance of aircraft and prearranged altitude, and unit is m；

Z is the distance of aircraft and air route, and unit is m.

Roll angle instructsUnit is rad.

Step S13, described current pose angle and described attitude angle are instructed and asks poor, obtain attitude angle deviation signal；

Wherein, described attitude angle deviation signal includes roll attitude angular displacement signal, yaw-position angular displacement signal and bows Face upward attitude angle deviation signal.

Step S14, described attitude angle deviation signal is used after control allocation technology carries out calculation process, be respectively configured To lifting steering wheel 3, direction steering wheel 4, aileron steering wheel 5 and many rotors equipment 6, so that each steering wheel of fixed-wing drives self rudder face inclined Turning, described many rotors equipment 6 controls rotating speed or pitch change.

Preferably, many rotors equipment 6 uses four rotors.

In summary it can be seen, many rotors of present invention offer and the flight control method of fixed-wing composite aircraft, when multiple When conjunction aircraft is in blend modes of operation, current pose angle and attitude angle instruction to composite aircraft ask poor, obtain attitude Angular displacement signal, after using control allocation technology to carry out calculation process attitude angle deviation signal, is respectively configured elevator Machine 3, direction steering wheel 4, aileron steering wheel 5 and many rotors equipment 6, so that each steering wheel of fixed-wing drives self control surface deflection, revolves more Wing equipment 6 controls rotating speed or pitch change, the corresponding control power that fixed-wing and many rotors each produce, and makes body to reducing attitude Moving in angular displacement direction, thus eliminates attitude angle deviation.It can be seen that the present invention is by using control allocation technology, it is achieved Control while fixed-wing rudder face and the rotating speed of many rotors and pitch, complete the gesture stability to composite aircraft, possess The composite aircraft that fixed-wing and many rotors form flight under blend modes of operation controls function, uses compared to existing technology For only controlling the rotating speed of many rotors and the method for pitch, the present invention takes full advantage of resource, thus improves control system Control efficiency.

Secondly as fixed-wing rudder face control efficiency in the case of air speed is relatively low is low, rotating speed or the pitch of many rotors exist In the case of air speed is relatively big, energy consumption is relatively big, and therefore, the present invention is by controlling fixed-wing rudder face and the rotating speed of many rotors or oar simultaneously Away from, it is possible to achieve complementation between the two, thus improve control efficiency, reduce energy consumption.

Again, along with being stepped up of composite aircraft air speed, the control ability of fixed-wing rudder face can be made full use of, reduce The resistance that many rotors cause, improves the acceleration of composite aircraft, reduces the energy consumption of fixed-wing dynamical system.

Further, fixed-wing rudder face and many rotors can share a flight control computer and sensor, thus reduce control system System device, reduces cost.

Finally, the present invention can also realize the smooth transition that many rotors control to control to fixed-wing rudder face, it is to avoid during switching Disturbance.

For further the operation principle of the present invention being illustrated, when composite aircraft is in blend modes of operation, right After described attitude angle deviation signal uses control allocation technology to carry out calculation process, it is respectively configured lifting steering wheel 3, rudder Machine 4, aileron steering wheel 5 and the process of many rotors equipment 6, be specifically described as follows:

The first step: utilize attitude angle deviation signal to calculate passage controlled quentity controlled variable；

Attitude angle deviation signal is brought into the first formula (1), obtains roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y With pitch channel controlled quentity controlled variable U_z, the expression formula of the first formula (1) is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network；

k_x2W_x2S () is roll angle static gain and corrective network；

k_y1W_y1S () is yaw rate static gain and corrective network；

k_z1W_z1S () is rate of pitch static gain and corrective network；

k_z2W_z2S () is angle of pitch static gain and corrective network；

ω_xFor rate of roll, unit rad/s；

ω_yFor yaw rate, unit rad/s；

ω_zFor rate of pitch, unit rad/s；

γ is roll angle, unit rad；

For the angle of pitch, unit rad；

γ_cInstruct for roll angle, unit rad；

The angle of pitch instructs, unit rad.

Second step: calculate passage control allocation coefficient；

Bring the current air speed of the described composite aircraft obtained into second formula and obtain control allocation coefficient η, described Current air speed is measured by air data computer 2 and is obtained, and the expression formula of the second formula (2) is as follows:

$\mathrm{\&eta;}=\left\{\begin{array}{cc}{(V/V_{\min })}^2& V<V_{\min }\\ 1& V\&GreaterEqual;V_{\min }\end{array}\right.---\left(2\right),$

In formula, V is the current air speed of composite aircraft, unit m/s；

V_minFor fixed-wing stalling speed, unit m/s.

Wherein, V_minIt it is a fixed value.

It should be noted that the present invention uses passage control allocation coefficient to calculate in real time with composite aircraft state of flight Technology, it is possible to achieve rotor controls the smooth transition controlled to fixed-wing rudder face.

The calculating of passage control allocation coefficient is not limited to said method, it is also possible to uses other method, such as, adopts Use dynamic pressure calculation.

3rd step: calculate control ability equivalent coefficient；

The 3rd formula (3) is utilized to calculate aileron and rotor roll channel control ability equivalent coefficient a respectively_x, rudder with Rotor jaw channel control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_z, the 3rd The expression formula of formula (3) is as follows:

$\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]=\left[\begin{array}{c}{M}_x^{T_x}/M_x^{{\mathrm{\&delta;}}_x}\\ M_y^{T_y}/M_y^{{\mathrm{\&delta;}}_y}\\ M_z^{T_z}/M_z^{{\mathrm{\&delta;}}_z}\end{array}\right]---\left(3\right),$

In formula,For rotor roll channel control moment derivative；

For rotor jaw channel control moment derivative；

For rotor pitch channel control moment derivative；

For aileron control moment derivative；

For rudder control moment derivative；

For elevator control moment derivative.

It should be noted that the present invention by use control ability equivalent coefficient technology, it is possible to achieve fixed-wing rudder face and Rotor Control objects coordination distributes.

Wherein, in some cases, control ability equivalent coefficient can also use control power to take advantage of the arm of force to calculate.

4th step: to fixed-wing control allocation；

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_zBring the 4th formula (4) into, Obtain aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, the 4th formula (4) expression formula is as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right]---\left(4\right),$

Wherein, aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_zUnit be rad.

5th step, to many rotors control allocation；

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitch channel controlled quentity controlled variable U_z, control allocation coefficient η, Aileron and rotor roll channel control ability equivalent coefficient a_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, with And elevator and rotor pitch channel control ability equivalent coefficient a_zBringing the 5th formula (5) into, the rotor obtaining rotor equipment leads to Road controlled quentity controlled variable T_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, the expression formula of the 5th formula (5) is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right]---\left(5\right).$

Those skilled in the art it is well known that, many rotors equipment 6 at least four rotors, due to many rotors equipment more than 6 Using four rotors, therefore, the control allocation of each rotor, when many rotors equipment 6 is four rotors, is illustrated by the present invention, Referring specifically to the 6th formula (6),

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right]---\left(6\right),$

In formula, D₁It it is the controlled quentity controlled variable of the first rotor；

D₂It it is the controlled quentity controlled variable of the second rotor；

D₃It it is the controlled quentity controlled variable of the 3rd rotor；

D₄It it is the controlled quentity controlled variable of the 4th rotor；

T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.

Wherein, the execution sequence of the above-mentioned first step, second step and the 3rd step is not limited to order disclosed in the present application, Equally, the execution sequence of the 4th step and the 5th step is not limited to order disclosed in the present application.

It should be noted that according to foregoing, it is thus achieved that other rotors more than four rotors control allocation formula also Belong to protection scope of the present invention.

Corresponding with said method embodiment, present invention also offers flying of a kind of many rotors and fixed-wing composite aircraft Row control system.

See Fig. 3, a kind of many rotors and the flight control assemblies of fixed-wing composite aircraft disclosed in the embodiment of the present invention Structural representation, including

Acquiring unit 21, for when composite aircraft is in blend modes of operation, obtains the described of inertia combination output Current pose angle, current angular velocity, present speed and the current location of composite aircraft；

Wherein, current angular velocity includes: rate of roll, yaw rate and rate of pitch.

Computing unit 22, is used for utilizing described present speed and current location, is calculated attitude angle instruction；

Seek poor unit 23, ask poor for described current pose angle and described attitude angle are instructed, obtain attitude angle deviation letter Number, described attitude angle deviation signal includes roll attitude angular displacement signal and pitch attitude angular displacement signal；

Dispensing unit 24, after using control allocation technology to carry out calculation process described attitude angle deviation signal, It is respectively configured lifting steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self rudder face Deflection, described many rotors equipment controls rotating speed or pitch change.

Preferably, many rotors equipment 6 uses four rotors.

In summary it can be seen, many rotors of present invention offer and the flight control method of fixed-wing composite aircraft, when multiple When conjunction aircraft is in blend modes of operation, current pose angle and attitude angle instruction to composite aircraft ask poor, obtain attitude Angular displacement signal, after using control allocation technology to carry out calculation process attitude angle deviation signal, is respectively configured elevator Machine 3, direction steering wheel 4, aileron steering wheel 5 and many rotors equipment 6, so that each steering wheel of fixed-wing drives self control surface deflection, revolves more Wing equipment 6 controls rotating speed or pitch change, the corresponding control power that fixed-wing and many rotors each produce, and makes body to reducing attitude Moving in angular displacement direction, thus eliminates attitude angle deviation.It can be seen that the present invention is by using control allocation technology, it is achieved Control while fixed-wing rudder face and the rotating speed of many rotors and pitch, complete the gesture stability to composite aircraft, possess The composite aircraft that fixed-wing and many rotors form flight under blend modes of operation controls function, uses compared to existing technology For only controlling the rotating speed of many rotors and the method for pitch, the present invention takes full advantage of resource, thus improves control system Control efficiency.

Secondly as fixed-wing rudder face control efficiency in the case of air speed is relatively low is low, rotating speed or the pitch of many rotors exist In the case of air speed is relatively big, energy consumption is relatively big, and therefore, the present invention is by controlling fixed-wing rudder face and the rotating speed of many rotors or oar simultaneously Away from, it is possible to achieve complementation between the two, thus improve control efficiency, reduce energy consumption.

Again, along with being stepped up of composite aircraft air speed, the control ability of fixed-wing rudder face can be made full use of, reduce The resistance that many rotors cause, improves the acceleration of composite aircraft, reduces the energy consumption of fixed-wing dynamical system.

Further, fixed-wing rudder face and many rotors can share a flight control computer and sensor, thus reduce control system System device, reduces cost.

Finally, the present invention can also realize the smooth transition that many rotors control to control to fixed-wing rudder face, it is to avoid during switching Disturbance.

For further the operation principle of the present invention being illustrated, when composite aircraft is in blend modes of operation, join Put unit to include: passage controlled quentity controlled variable asks for subelement, control allocation coefficient asks for unit, control ability equivalent coefficient asks for list Unit, fixed-wing control allocation subelement and many rotors control allocation subelement；

Passage controlled quentity controlled variable asks for subelement, for bringing attitude angle deviation signal into the first formula (1), obtains roll channel Controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_z, the expression formula of the first formula (1) is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network；

k_x2W_x2S () is roll angle static gain and corrective network；

k_y1W_y1S () is yaw rate static gain and corrective network；

k_z1W_z1S () is rate of pitch static gain and corrective network；

k_z2W_z2S () is angle of pitch static gain and corrective network；

ω_xFor rate of roll, unit rad/s；

ω_yFor yaw rate, unit rad/s；

ω_zFor rate of pitch, unit rad/s；

γ is roll angle, unit rad；

For the angle of pitch, unit rad；

γ_cInstruct for roll angle, unit rad；

The angle of pitch instructs, unit rad；

Second step: calculate passage control allocation coefficient；

Control allocation coefficient asks for unit, public for bringing the current air speed of the described composite aircraft obtained into second Formula obtains control allocation coefficient η, and described current air speed is measured by air data computer 2 and obtained, the expression of the second formula (2) Formula is as follows:

$\mathrm{\&eta;}=\left\{\begin{array}{cc}{(V/V_{\min })}^2& V<V_{\min }\\ 1& V\&GreaterEqual;V_{\min }\end{array}\right.---(2),$

In formula, V is the current air speed of composite aircraft, unit m/s；

V_minFor fixed-wing stalling speed, unit m/s.

Wherein, V_minIt it is a fixed value.

It should be noted that the present invention uses passage control allocation coefficient to calculate in real time with composite aircraft state of flight Technology, it is possible to achieve rotor controls the smooth transition controlled to fixed-wing rudder face.

The calculating of passage control allocation coefficient is not limited to said method, it is also possible to uses other method, such as, adopts Use dynamic pressure calculation.

Control ability equivalent coefficient asks for unit, is used for utilizing the 3rd formula (3) to calculate aileron respectively and rolls logical with rotor Road control ability equivalent coefficient a_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, and elevator bow with rotor Face upward passage control ability equivalent coefficient a_z, the expression formula of the 3rd formula (3) is as follows:

$\left[\begin{array}{c}{a}_x\\ a_y\\ a_z\end{array}\right]=\left[\begin{array}{c}{M}_x^{T_x}/M_x^{{\mathrm{\&delta;}}_x}\\ M_y^{T_y}/M_y^{{\mathrm{\&delta;}}_y}\\ M_z^{T_z}/M_z^{{\mathrm{\&delta;}}_z}\end{array}\right]---\left(3\right),$

In formula,For rotor roll channel control moment derivative；

For rotor jaw channel control moment derivative；

For rotor pitch channel control moment derivative；

For aileron control moment derivative；

For rudder control moment derivative；

For elevator control moment derivative.

It should be noted that the present invention by use control ability equivalent coefficient technology, it is possible to achieve fixed-wing rudder face and Rotor Control objects coordination distributes.

Wherein, in some cases, control ability equivalent coefficient can also use control power to take advantage of the arm of force to calculate.

Fixed-wing control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yLead to pitching Road controlled quentity controlled variable U_zBring the 4th formula (4) into, obtain aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, the 4th Formula (4) expression formula is as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right]---\left(4\right),$

Wherein, aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_zUnit be rad.

Many rotors control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitching lead to Road controlled quentity controlled variable U_z, control allocation coefficient η, aileron and rotor roll channel control ability equivalent coefficient a_x, rudder inclined with rotor Boat passage control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_zBring the 5th into public Formula (5), obtains rotor passage controlled quentity controlled variable T of rotor equipment_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, the 5th is public The expression formula of formula (5) is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right]---\left(5\right).$

Those skilled in the art it is well known that, many rotors equipment 6 at least four rotors, due to many rotors equipment more than 6 Using four rotors, therefore, the control allocation of each rotor, when many rotors equipment 6 is four rotors, is illustrated by the present invention, Referring specifically to the 6th formula (6),

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right]---\left(6\right),$

In formula, D₁It it is the controlled quentity controlled variable of the first rotor；

D₂It it is the controlled quentity controlled variable of the second rotor；

D₃It it is the controlled quentity controlled variable of the 3rd rotor；

D₄It it is the controlled quentity controlled variable of the 4th rotor；

T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.

It should be noted that according to foregoing, it is thus achieved that other rotors more than four rotors control allocation formula also Belong to protection scope of the present invention.

Wherein, in device embodiment, the specific works principle of each ingredient sees embodiment of the method corresponding part, this Bright do not limit at this.

In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other The difference of embodiment, between each embodiment, identical similar portion sees mutually.

Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (6)

1. rotor more than a kind and the flight control method of fixed-wing composite aircraft, it is characterised in that including:

When composite aircraft is in blend modes of operation, obtain the current pose of the described composite aircraft of inertia combination output Angle, current angular velocity, present speed and current location；

Utilize described present speed and current location, be calculated attitude angle instruction；

Instructing described current pose angle and described attitude angle and ask poor, obtain attitude angle deviation signal, described attitude angle deviation is believed Number include roll attitude angular displacement signal and pitch attitude angular displacement signal；

Described attitude angle deviation signal is used after control allocation technology carries out calculation process, be respectively configured lifting steering wheel, Direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self control surface deflection, described many rotors equipment Control rotating speed or pitch change.

Flight control method the most according to claim 1, it is characterised in that described to the employing of described attitude angle deviation signal After control allocation technology carries out calculation process, it is respectively configured lifting steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment Process specific as follows:

Bring described attitude angle deviation signal into first formula, obtain roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith bow Face upward passage controlled quentity controlled variable U_z, the expression formula of described first formula is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network, k_x2W_x2S () is roll angle static gain and correction Network, k_y1W_y1S () is yaw rate static gain and corrective network, k_z1W_z1S () is rate of pitch static gain and correction Network, k_z2W_z2S () is angle of pitch static gain and corrective network, ω_xFor rate of roll, ω_yFor yaw rate, ω_zFor Rate of pitch, γ is roll angle,For the angle of pitch, γ_cInstruct for roll angle,The angle of pitch instructs, (γ-γ_c) for rolling appearance State angular displacement signal,For pitch attitude angular displacement signal；

Bring the current air speed of described composite aircraft obtained into second formula, obtain control allocation coefficient η, described currently Air speed is obtained by air data computer measurement, and the expression formula of described second formula is as follows:

In formula, V is the current air speed of composite aircraft, V_minFor fixed-wing stalling speed；

The 3rd formula is utilized to calculate aileron and rotor roll channel control ability equivalent coefficient a respectively_x, rudder and rotor go off course Passage control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_z, described 3rd formula Expression formula as follows:

In formula,For rotor roll channel control moment derivative,For rotor jaw channel control moment derivative,For rotor Pitch channel control moment derivative,For aileron control moment derivative,For rudder control moment derivative,For lifting Rudder control moment derivative；

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_zBring the 4th formula into, obtain aileron Rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, described 4th formula expression is as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right];$

By roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitch channel controlled quentity controlled variable U_z, control allocation coefficient η, aileron With rotor roll channel control ability equivalent coefficient a_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, Yi Jisheng Fall rudder and rotor pitch channel control ability equivalent coefficient a_zBring the 5th formula into, obtain the roll channel controlled quentity controlled variable of rotor equipment T_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, the expression formula of described 5th formula is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right].$

Flight control method the most according to claim 2, it is characterised in that when described many rotors equipment uses four rotors Time, controlled quentity controlled variable D of the first rotor₁, controlled quentity controlled variable D of the second rotor₂, controlled quentity controlled variable D of the 3rd rotor₃Controlled quentity controlled variable with the 4th rotor D₄Acquisition see the 6th formula, the expression formula of described 6th formula is:

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right],$

In formula, T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.

4. rotor more than a kind and the flight control assemblies of fixed-wing composite aircraft, it is characterised in that including:

Acquiring unit, for when composite aircraft is in blend modes of operation, obtains the described compound of inertia combination output and flies Current pose angle, current angular velocity, present speed and the current location of row device；

Computing unit, is used for utilizing described present speed and current location, is calculated attitude angle instruction；

Seek poor unit, ask poor for described current pose angle and described attitude angle are instructed, obtain attitude angle deviation signal, described Attitude angle deviation signal includes roll attitude angular displacement signal and pitch attitude angular displacement signal；

Dispensing unit, after using control allocation technology to carry out calculation process described attitude angle deviation signal, joins respectively Put lifting steering wheel, direction steering wheel, aileron steering wheel and many rotors equipment, so that each steering wheel of fixed-wing drives self control surface deflection, Described many rotors equipment controls rotating speed or pitch change.

Flight control assemblies the most according to claim 4, it is characterised in that described dispensing unit includes:

Passage controlled quentity controlled variable asks for subelement, for bringing described attitude angle deviation signal into first formula, obtains roll channel control Amount U processed_x, jaw channel controlled quentity controlled variable U_yWith pitch channel controlled quentity controlled variable U_z, the expression formula of described first formula is as follows:

In formula, k_x1W_x1S () is rate of roll static gain and corrective network, k_x2W_x2S () is roll angle static gain and correction Network, k_y1W_y1S () is yaw rate static gain and corrective network, k_z1W_z1S () is rate of pitch static gain and correction Network, k_z2W_z2S () is angle of pitch static gain and corrective network, ω_xFor rate of roll, ω_yFor yaw rate, ω_zFor Rate of pitch, γ is roll angle,For the angle of pitch, γ_cInstruct for roll angle,The angle of pitch instructs, (γ-γ_c) for rolling appearance State angular displacement signal,For pitch attitude angular displacement signal；

Control allocation coefficient asks for unit, for bringing the current air speed of the described composite aircraft obtained into second formula, Obtaining control allocation coefficient η, described current air speed is obtained by air data computer measurement, the expression formula of described second formula As follows:

$\mathrm{\&eta;}=\left\{\begin{array}{cc}{(V/V_{\min })}^2& V<V_{\min }\\ 1& V\&GreaterEqual;V_{\min }\end{array}\right.,$

In formula, V is the current air speed of composite aircraft, V_minFor fixed-wing stalling speed；

Control ability equivalent coefficient asks for unit, is used for utilizing the 3rd formula to calculate aileron respectively and controls energy with rotor roll channel Power equivalent coefficient a_x, rudder and rotor jaw channel control ability equivalent coefficient a_y, and elevator and rotor pitch channel control Ability equivalent coefficient a processed_z, the expression formula of described 3rd formula is as follows:

In formula,For rotor roll channel control moment derivative,For rotor jaw channel control moment derivative,For rotor Pitch channel control moment derivative,For aileron control moment derivative,For rudder control moment derivative,For lifting Rudder control moment derivative；

Fixed-wing control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_yWith pitch channel control Amount U processed_zBring the 4th formula into, obtain aileron rudder control amount δ_x, rudder rudder control amount δ_yWith elevator rudder control amount δ_z, the described 4th is public Formula expression formula is as follows:

$\left[\begin{array}{c}{\mathrm{\&delta;}}_x\\ {\mathrm{\&delta;}}_y\\ {\mathrm{\&delta;}}_z\end{array}\right]=\left[\begin{array}{c}{U}_x\\ U_y\\ U_z\end{array}\right];$

Many rotors control allocation subelement, for by roll channel controlled quentity controlled variable U_x, jaw channel controlled quentity controlled variable U_y, pitch channel control Amount U processed_z, control allocation coefficient η, aileron and rotor roll channel control ability equivalent coefficient a_x, the driftage of rudder and rotor logical Road control ability equivalent coefficient a_y, and elevator and rotor pitch channel control ability equivalent coefficient a_zBring the 5th formula into, Roll channel controlled quentity controlled variable T to rotor equipment_x, jaw channel controlled quentity controlled variable T_yWith pitch channel controlled quentity controlled variable T_z, described 5th formula Expression formula is as follows:

$\left[\begin{array}{c}{T}_x\\ T_y\\ T_z\end{array}\right]=(1-\mathrm{\&eta;})\left[\begin{array}{c}{a}_x{U}_x\\ a_y{U}_y\\ a_z{U}_z\end{array}\right].$

Flight control assemblies the most according to claim 5, it is characterised in that when described many rotors equipment uses four rotors Time, controlled quentity controlled variable D of the first rotor₁, controlled quentity controlled variable D of the second rotor₂, controlled quentity controlled variable D of the 3rd rotor₃Controlled quentity controlled variable with the 4th rotor D₄Acquisition see the 6th formula, the expression formula of described 6th formula is:

$\left[\begin{array}{c}{D}_1\\ D_2\\ D_3\\ D_4\end{array}\right]=\left[\begin{array}{c}{T}_0+T_x-T_y+T_z\\ T_0+T_x+T_y+T_z\\ T_0-T_x-T_y-T_z\\ T_0-T_x+T_y-T_z\end{array}\right],$

In formula, T₀For maintaining pitch or the rotating speed of composite aircraft horizontal flight.