CN105652879B - A kind of no aileron unmanned plane autonomous flight control method - Google Patents
A kind of no aileron unmanned plane autonomous flight control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The characteristics of present invention is for no aileron unmanned plane, propose a kind of no aileron unmanned plane autonomous flight control method, without aileron unmanned plane in flight course, sensor obtains the position and attitude information without aileron unmanned plane, the position and attitude information that the autopilot of no aileron unmanned plane is obtained according to sensor is handled, and corresponding control instruction is sent out to no aileron unmanned plane, real-time control is carried out to no aileron unmanned plane, the control instruction includes rudder instruction and elevator instruction.It calculates target roll angle by guidance algorithm and re-maps on rudder channel, and yaw control torque, the yaw angle of change of flight device, to realize the horizontal Heading control without aileron unmanned plane are generated by the deflection of rudder；Elevator compensates the loss of lift during unmanned vehicle roll angle attitudes vibration according to current rudder simultaneously, can effectively realize coordinate turn, the Track In Track control of no aileron unmanned plane.
Description
Technical field：
The invention belongs to air vehicle technique fields, refer in particular to a kind of no aileron unmanned plane autonomous flight control method.
Background technology：
As the level of informatization is continuously improved, the development of small drone is increasingly taken seriously, especially the U.S. and with
The small drone technology of color row is the most ripe perfect.For small drone, under the premise of ensureing performance requirement, dash forward
Go out its advantage, reduce the complexity of aircraft, reduce cost, improve reliability and maintainability, be the requirement used and its same
The deciding factor won victory in the competition of type unmanned plane.Therefore, no aileron, be electric-only propulsion it is widely used as small drone
Design scheme.This no aileron unmanned plane general structure and conventional unmanned plane are much like, and most important difference is no aileron, and
Research for the autonomous flight control method of such unmanned plane is design, produces the basis of such unmanned plane.
Unmanned vehicle executes aerial mission in the air, and flight track is by a series of way points with serial number
Composition, way point mainly contains the information such as longitude and latitude, height, flying speed, and main function is guiding unmanned vehicle edge
Fixation locus flies, and way point may be simply referred to as destination.Way point is typically to be designed before flying, and uploads to unmanned vehicle self-driving
In instrument, can also real-time online change, designed way point is known as default way point or default destination before flying, and two are adjacent
The track of line is known as default flight path between the default way point of number, and during real-time flight, unmanned plane is by control system
It guides and wishes that the way point for reaching and not reaching temporarily is known as current target waypoint or target destination.It hangs down unmanned plane current location
Directly it is known as lateral course-line deviation in the air line distance of default flight path.After unmanned plane reaches target waypoint nearby, control system
Target waypoint will be operated according to certain control logic, target waypoint is switched to Next Serial Number or specified number
Way point.
Invention content
A kind of the characteristics of present invention is for no aileron unmanned plane, it is proposed that no aileron unmanned plane autonomous flight control method.
It is a kind of method replacing aileron progress autonomous flight control using rudder.Target roll angle is calculated again by guidance algorithm
It is mapped on rudder channel, yaw control torque, the yaw angle of change of flight device, to real is generated by the deflection of rudder
The now horizontal Heading control without aileron unmanned plane；Elevator compensates unmanned vehicle roll angle appearance according to current rudder simultaneously
Loss of lift in state change procedure can effectively realize coordinate turn, the Track In Track control of no aileron unmanned plane.This method
It can effectively realize the horizontal course gesture stability and Track In Track of no aileron unmanned plane, there is practicability.
The technical scheme is that：
A kind of no aileron unmanned plane autonomous flight control method, in flight course, sensor obtains no aileron unmanned plane
Position and attitude information without aileron unmanned plane, the position and attitude information that the autopilot of no aileron unmanned plane is obtained according to sensor into
Row processing, and corresponding control instruction is sent out to no aileron unmanned plane, real-time control, the control are carried out to no aileron unmanned plane
Instruction includes rudder instruction and elevator instruction.
The computational methods of rudder instruction are,
S1：It reads without the current position coordinates of aileron unmanned plane and preset current mesh in the autopilot of no aileron unmanned plane
Air route point coordinates is marked, according to the coordinate of the two, calculates the target course under earth axes, target course subtracts current
Unmanned plane course angle obtains course angle deflection command.
S2：According to preset current mesh in the current position coordinates of no aileron unmanned plane and the autopilot without aileron unmanned plane
Air route point coordinates is marked, lateral course-line deviation of the unmanned plane relative to default flight path is calculated, course-line deviation is multiplied by certain gain system
Number, obtains course angle revision directive.
S3：Course angle deflection command obtains course angle control instruction plus course angle revision directive.
S4：Course angle control instruction is resolved by PID, obtains the instruction of target roll angle.
S5：The instruction of target roll angle makes the difference with current roll angle, obtains rolling angular displacement, and rolling angular displacement is accumulated by ratio
Divide and differentiate, obtains aileron control instruction.
S6：Aileron control instruction is multiplied by feed-forward coefficients kf1Obtain rudder instruction.
The computational methods of elevator instruction are：
(1) it is made the difference by present level and object height, by pid algorithm, generates pitch command.
(2) it is made the difference by pitch command and current pitch angle, by pid algorithm, generates elevator control instruction.
(3) feed-forward coefficients k is multiplied by rudder instructionf2Obtain elevator compensating instruction.
(4) elevator compensating instruction adds elevator control instruction, obtains elevator and finally instructs.
Compared with prior art, it is an advantage of the invention that：
The present invention generates target roll angle by pid algorithm, and the instruction of target roll angle resolves outgoing direction by pid algorithm again
Rudder instructs, and yawing, the yaw angle of change of flight device, to realize without aileron unmanned plane are generated by the deflection of rudder
Horizontal Heading control.
The present invention is resolved according to the current pitch angle of unmanned plane by pid algorithm, while rudder instruction being multiplied by centainly
Feed-forward coefficients be added, generate elevator instruction, compensation because rudder kick drive roll angle variation caused by loss of lift, can
To realize the coordinate turn without aileron unmanned plane.
Small-sized no aileron unmanned plane is simple in structure, and individual soldier's carrying performance is good, is suitble to closely investigation strike task, the present invention
The blank of this aspect has been filled up, there is practicability；Control method proposed by the present invention is using in classical control theory
Pid algorithm has and calculates simple, reliability height, the good feature of control effect；Control method proposed by the present invention is to unmanned plane machine
Set sensor quantitative requirement is low, it is only necessary to which some basic sensors can effectively mitigate unmanned vehicle body weight, reduce
Production cost.
Description of the drawings：
Fig. 1 is no aileron unmanned plane independent flight control system block diagram.
In figure, earth station is the military laptops of Getac, and the built-in flight of independent research, load control program, leads to
It crosses computer serial port and is sent out and receives data, data are handed over by the communication station for the 900M bandwidth carried on unmanned plane
Mutually；The ground station control instruction that radio station receives can be real-time transmitted in autopilot, while the sensing that autopilot can will be also collected into
Device information is sent back to earth station's computer by radio station.
Specific implementation mode：
The present invention is described further below in conjunction with the accompanying drawings.
Referring to Fig.1, it is no aileron unmanned plane independent flight control system block diagram.Without aileron unmanned plane in flight course,
Sensor obtains the position and attitude information without aileron unmanned plane, at the position and attitude information that autopilot is obtained according to sensor
Reason, and corresponding control instruction is sent out to no aileron unmanned plane, real-time control, the control instruction are carried out to no aileron unmanned plane
Including rudder instruction and elevator instruction.The invention mainly comprises two parts, first part is that rudder instruction calculates, second
Part is that elevator instruction calculates.
The computational methods of rudder instruction are：
(1) it reads without the current position coordinates of aileron unmanned plane and preset current mesh in the autopilot of no aileron unmanned plane
Air route point coordinates is marked, according to the coordinate of the two, calculates the target course under earth axes, target course subtracts current
Unmanned plane course angle obtains course angle deflection command Yaw1.
Heading=atan2 (Δ x, Δ y)
Yaw1=Heading-heading
Wherein, xeAnd yeIt is relative coordinate of the unmanned plane current location under earth axes, xaAnd yaIt is current goal boat
The relative coordinate of waypoint, Heading are target courses, and heading is the unmanned plane course angle that sensor is measured.
(2) according to preset current mesh in the current position coordinates of no aileron unmanned plane and the autopilot without aileron unmanned plane
Air route point coordinates is marked, the unmanned plane lateral course-line deviation d relative to default flight path, course-line deviation d is calculated and is multiplied by certain gain
Coefficient obtains course angle revision directive Yaw2.
Yaw2=Kd
Wherein, xbAnd ybIt is the relative coordinate of a upper target waypoint, K is gain coefficient, is rule of thumb chosen, different
Aircraft value is different, and range is between 0.012 to 0.048.
(3) course angle deflection command obtains course angle control instruction Yaw plus course angle revision directive.
Yaw=Yaw1+Yaw2
(4) course angle control instruction is resolved by PID, obtains the instruction of target roll angle；
Wherein, dRoll instructs for target roll angle, kp、ki、kdRespectively ratio, integral, differential coefficient, are rule of thumb selected
It takes, is generally taken as -2.5,0.01, -0.05 respectively.
(5) target roll angle instruction makes the difference with current roll angle, obtains rolling angular displacement, and rolling angular displacement is accumulated by ratio
Divide and differentiate, obtains aileron control instruction.
Wherein, Roll is the current roll angle of unmanned plane that sensor is measured, δaFor aileron control instruction, kp、ki、kdRespectively
It for ratio, integral, differential coefficient, rule of thumb chooses, is generally taken as -0.4,0.01, -0.05 respectively.
(6) aileron control instruction is multiplied by feed-forward coefficients kf1Obtain rudder instruction.
δr=kf1δa
Wherein, δrIt is instructed for rudder, kf1It for feed-forward coefficients, rule of thumb chooses, generally takes 0.7.
The computational methods of elevator instruction are：
(1) it is made the difference by present level and object height, by pid algorithm, generates the instruction of target pitch angle.
Wherein, HcFor object height, H is the unmanned plane present level that sensor is measured, and dPitch is that target pitch angle refers to
It enables, kp、ki、kdRespectively ratio, integral, differential coefficient, rule of thumb choose, and are generally taken as 0.5,0.01,0.05 respectively.
(2) it is instructed by target pitch angle and is made the difference with current pitch angle, by pid algorithm, generate elevator control instruction.
Wherein, Pitch is the current pitch angle of unmanned plane that sensor is measured, δe1For elevator control instruction, kp、ki、kdPoint
Not Wei ratio, integral, differential coefficient, rule of thumb choose, be generally taken as -0.7, -0.35,0.05 respectively.
(3) feed-forward coefficients k is multiplied by rudder instructionf2Obtain elevator compensating instruction.
δe2=kf2δr
Wherein, δe2For elevator compensating instruction, kf2It for feed-forward coefficients, rule of thumb chooses, generally takes -0.01.
(4) elevator compensating instruction adds elevator control instruction, obtains elevator and finally instructs.
δe=δe1+δe2。
The explanation of the preferred embodiment of the present invention contained above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to invention content being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (3)
1. a kind of no aileron unmanned plane autonomous flight control method, it is characterised in that：Without aileron unmanned plane in flight course, pass
Sensor obtains the position and attitude information without aileron unmanned plane, the position appearance that the autopilot of no aileron unmanned plane is obtained according to sensor
State information is handled, and sends out corresponding control instruction to no aileron unmanned plane, and real-time control is carried out to no aileron unmanned plane,
The control instruction includes rudder instruction and elevator instruction, wherein the computational methods of rudder instruction include following step
Suddenly：
S1：It reads and navigates without the current position coordinates of aileron unmanned plane and preset current goal in the autopilot of no aileron unmanned plane
Waypoint coordinate calculates the target course under earth axes according to the coordinate of the two, and target course subtracts current nobody
Machine course angle obtains course angle deflection command；
S2：According to preset current goal boat in the current position coordinates of no aileron unmanned plane and the autopilot without aileron unmanned plane
Waypoint coordinate, calculates lateral course-line deviation of the unmanned plane relative to default flight path, and course-line deviation is multiplied by certain gain coefficient, obtains
To course angle revision directive；
S3：Course angle deflection command obtains course angle control instruction plus course angle revision directive；
S4：Course angle control instruction is resolved by PID, obtains the instruction of target roll angle；
S5：The instruction of target roll angle makes the difference with current roll angle, obtains rolling angular displacement, and rolling angular displacement is micro- by proportional integration
Partite transport is calculated, and aileron control instruction is obtained；
S6：Aileron control instruction is multiplied by feed-forward coefficients kf1Obtain rudder instruction.
2. no aileron unmanned plane autonomous flight control method according to claim 1, it is characterised in that：The elevator refers to
The computational methods of order include the following steps：
S1：It is made the difference by present level and object height, by pid algorithm, generates the instruction of target pitch angle；
S2：It is instructed by target pitch angle and is made the difference with current pitch angle, by pid algorithm, generate elevator control instruction；
S3：Feed-forward coefficients k is multiplied by rudder instructionf2Obtain elevator compensating instruction；
S4：Elevator compensating instruction adds elevator control instruction, obtains elevator and finally instructs.
3. the computational methods that rudder instructs during a kind of no aileron unmanned plane autonomous flight, which is characterized in that including following
Step：
S1：It reads without the current position coordinates of aileron unmanned plane and preset destination coordinate in the autopilot of no aileron unmanned plane,
According to the coordinate of the two, the target course under earth axes is calculated, target course subtracts current unmanned plane course angle,
Obtain course angle deflection command；
S2：It is sat according to preset way point in the current position coordinates of no aileron unmanned plane and the autopilot without aileron unmanned plane
Mark, calculates lateral course-line deviation of the unmanned plane relative to default flight path, and course-line deviation is multiplied by certain gain coefficient, obtains course
Angle revision directive；
S3：Course angle deflection command obtains course angle control instruction plus course angle revision directive；
S4：Course angle control instruction is resolved by PID, obtains the instruction of target roll angle；
S5：The instruction of target roll angle makes the difference with current roll angle, obtains rolling angular displacement, and rolling angular displacement is micro- by proportional integration
Partite transport is calculated, and aileron control instruction is obtained；
S6：Aileron control instruction is multiplied by feed-forward coefficients kf1Obtain rudder instruction.
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| CN114047784A (en) * | 2021-11-16 | 2022-02-15 | 中国商用飞机有限责任公司 | Aircraft control method, aircraft control device, aircraft and computer-readable storage medium |
| CN116700358B (en) * | 2023-08-08 | 2023-12-08 | 成都飞机工业（集团）有限责任公司 | Nonlinear height-fixing compensation control method for unmanned aerial vehicle in turning stage |
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