CN105836151A - Shipboard aircraft stable taking-off and landing device and control method - Google Patents
Shipboard aircraft stable taking-off and landing device and control method Download PDFInfo
- Publication number
- CN105836151A CN105836151A CN201510688098.9A CN201510688098A CN105836151A CN 105836151 A CN105836151 A CN 105836151A CN 201510688098 A CN201510688098 A CN 201510688098A CN 105836151 A CN105836151 A CN 105836151A
- Authority
- CN
- China
- Prior art keywords
- error
- angle
- landing
- control unit
- microprocessor control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a shipboard aircraft stable taking-off and landing device and a control method thereof. The shipboard aircraft stable taking-off and landing device comprises a moving posture detecting unit, a microprocessor control unit and a taking-off and landing platform, wherein the moving posture detecting unit and the taking-off and landing platform are electrically connected with the microprocessor control unit, and the taking-off and landing platform comprises a mounting support, a taking-off and landing deck, a direct current gear motor, a mounting plate and a motor support. The shipboard aircraft stable taking-off and landing device is specially designed for stable taking-off and landing of a shipboard aircraft and has the advantages of being simple in structure, small in size, convenient to implement and the like; taking-off and landing reliability of the aircraft can be greatly improved, and compared with existing stable platforms, much cost can be reduced, and good practical application value is achieved.
Description
Technical field
The present invention relates to the automatic control technology field to aircraft lowering or hoisting gear, can automatically protect particularly to one
The ship load aircraft holding horizontal stable stablizes lifting gear and control method.
Background technology
It is that a kind of ship that is supplied to being provided on small-size water surface ships and light boats carries miniature self-service that ship carries aircraft landing platform
Vertically taking off and landing flyer takes off, fall and stop the platform-type device used.Traditional landing platform is directly fixed
On ship, can tilt wave along with the motion of ship, owing to the little speed of the displacement of ship is fast, motion be by stormy waves shadow
Ring big, its under sail pitching amplitude cause greatly landing platform to wave acutely, be unfavorable for that miniature self-service flies
Device stop on ship, take off and fall.
In view of the foregoing, carry aircraft in the urgent need to a kind of ship that can automatically keep horizontal stable and stablize landing
Device.
Summary of the invention
The technical problem to be solved is: how to provide a kind of ship that can automatically keep horizontal stable to carry
Aircraft stablizes lifting gear and control method.To this end, the present invention proposes a kind of ship load aircraft stablizes landing dress
Put and control method, can eliminate fully owing to what the restriction of prior art and defect caused one or more asks
Topic.
Additional advantages of the present invention, purpose and characteristic, a part will be elucidated in the following description, and
Another part for those of ordinary skill in the art by the investigation of description below be will be apparent from or from
The enforcement of the present invention is acquired.By particularly point out in the specification and claims of word and accompanying drawing
Structure can realize and obtain the object of the invention and advantage.
The invention provides a kind of ship load aircraft and stablize lifting gear, it is characterised in that described ship carries aircraft
Stablize lifting gear and include athletic posture detector unit, microprocessor control unit and landing platform, described motion
Posture detecting unit and described landing platform electrically connect with described microprocessor control unit, described landing platform bag
Mounting bracket, landing deck, DC speed-reducing, installing plate and electric machine support, wherein, described installation are included
Plate is placed in described mounting bracket, and described installing plate is provided with two bearing blocks and described electric machine support, described
Described DC speed-reducing is installed on electric machine support, said two bearing block is connected to rotary shaft, described rotation
The motor shaft of rotating shaft and described DC speed-reducing is connected by two ring flange docking, and described landing deck is passed through
Two connectors are fixed in described rotary shaft；It addition,
Described athletic posture detector unit is designed to conformability 6 axle motion process assembly MPU6050 and 3 axles electricity
Sub-compass HMC5883L, wherein 6 axle motion process assembly MPU6050 be integrated with 3 axle MEMS gyroscope, 3
Axle mems accelerometer and an extendible digital moving processor DMP (Digital Motion
Processor), and can by I2C interface connect a third-party digital sensor；
Described landing deck is made up of metal framework and punching aluminium sheet, and the pass on described punching aluminium sheet is permissible
For arc angle rectangle.
Preferably, described mounting bracket is made up of support arm, crossbeam and cantilever, and described support arm lower end has use
In mounting bracket is connected to the installing hole of ships and light boats afterbody, described support arm is connected to ships and light boats by described cantilever.
Preferably, the upper end of described mounting bracket is installed to the bottom of described installing plate by ring flange.
Preferably, said two bearing block and described electric machine support horizontal distribution are on the same axis.
Preferably, described third-party digital sensor is such as magnetometer.
Present invention also offers a kind of for controlling the method that lifting gear stablized by ship as above load aircraft,
Said method comprising the steps of:
(1) system initializes, and calibrates athletic posture detector unit.
(2) in predetermined time interval, microprocessor control unit reads athletic posture detector unit and detects
The landing deck acceleration in tri-directions of X, Y, Z and angular velocity in pitch data.
Wherein, landing deck is designated as g at the acceleration in tri-directions of X, Y, Zn0(n0=x, y, z), pitching
Angular velocity is designated as: angular velocity in roll φ ', angular velocity in pitch θ ', yaw angle speed ψ '.
(3) the landing deck that microprocessor control unit detects according to described athletic posture detector unit X,
The acceleration in tri-directions of Y, Z and angular velocity in pitch data, calculate the pitching attitude angle that landing deck is current.
(4) microprocessor control unit is according to the current pitching attitude in step (3) calculated landing deck
Angle and the horizontal angle being previously set obtain exporting controlled quentity controlled variable as pid control computation.
(5) calculated PID controlled quentity controlled variable is modulated into pwm signal and has exported by microprocessor control unit
Fall platform.
(6) landing platform makes DC speed-reducing adjustment turn to and turn according to the pwm signal received accordingly
Speed belt moves landing deck and rotates, and finally makes landing deck be up to the standard angle.
Preferably, the concrete calculating process of step (3) is as follows:
A () microprocessor control unit is according to formula And formula
It is calculated the roll angle φ of estimation1With pitch angular θ1, wherein, Gx, Gy, GzIt is respectively described motion
The landing deck that posture detecting unit the detects acceleration in tri-directions of X, Y, Z.
The b measurement i.e. angular velocity in roll φ ' of gyroscope that () microprocessor control unit will receive, pitch angle
Speed θ ', yaw angle speed ψ ' are integrated obtaining angle step V θ, V φ, V ψ.
C () microprocessor control unit will be by the roll angle φ of the estimation obtained by the calculating of step (a)1With
Pitch angular θ1Merge with by the angle step V θ obtained by the calculating of step (b), V φ, V ψ,
Obtaining the pitching attitude angle of landing platform, its computing formula is: gn=gn1*p+gn2* (1-p) { p ∈ (0,1) }.
Wherein, gn(n=x, y, z)=[θ φ ψ] is final calculated landing platform stance angle,
gn1(n=x, y, z)=[θ1 φ10] it is that the attitude angle that obtains estimated by accelerometer,
gn2(n=x, y, z)=[V θ V φ V ψ] is the attitude angle step that gyroscope integration obtains, and wherein, p is complementary
The filtering weighting factor.
Preferably, p typically takes 0.95.
Preferably, according to below equation calculating output controlled quentity controlled variable:
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Pre
v_error)。
Wherein, PWM_OUT is output controlled quentity controlled variable, and Kp, Ki and Kd are respectively ratio, integration and differential three
Coefficient, error is control deviation, by current sensor angle and expected angle do difference obtain, Last_error
It is respectively error last time and error last time, error, Last_error and Prev_error with Prev_error
Alternate at end of each control cycle and obtain, i.e. Last_error is assigned to Prev_error, error and composes
Value is to Last_error.
Lifting gear stablized by ship load aircraft proposed by the invention and control device carries aircraft exclusively for ship
Stable landing and design, there is simple in construction, compact, the plurality of advantages such as facilitate implementation, it is possible to greatly
Ground improves aircraft takeoff, the reliability of landing, and compared with existing stabilized platform, it is possible to save a lot
Cost, has good actual application value.
Accompanying drawing explanation
Fig. 1 be according to the embodiment of the present invention, ship carries aircraft and stablizes the system construction drawing of lifting gear.
Fig. 2 is according to the embodiment of the present invention, the front view of landing platform.
Fig. 3 is according to the embodiment of the present invention, the side view of landing platform.
Fig. 4 is according to the embodiment of the present invention, the top view on landing deck.
Fig. 5 be according to the embodiment of the present invention, control ship and carry aircraft to stablize the flow process of method of lifting gear
Figure.
Fig. 6 is according to the embodiment of the present invention, the schematic diagram of calculating output controlled quentity controlled variable.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, the exemplary enforcement of the present invention is wherein described
Example.
As described in Figure 1, the ship load aircraft that the present invention proposes is stablized lifting gear and is included athletic posture detector unit
11, microprocessor control unit 12 and landing platform 13, described athletic posture detector unit 11 and described
Fall platform 13 electrically connects with described microprocessor control unit 12.
As shown in Figures 2 and 3, described landing platform 13 includes that mounting bracket, landing deck 1, direct current subtract
Speed motor 2, installing plate 3 and electric machine support 5, wherein, described installing plate 3 is placed in described mounting bracket,
Two bearing blocks and described electric machine support 5 are installed on described installing plate 3, described electric machine support 5 is provided with
Described DC speed-reducing 2, said two bearing block is connected to rotary shaft, described rotary shaft and described direct current
The motor shaft of reducing motor 2 is connected by two ring flange 4,6 docking, and described landing deck 1 is by two
Connector 7,8 is fixing on the rotary shaft, and it can rotate with the rotation of rotary shaft.
As in figure 2 it is shown, described mounting bracket is made up of support arm 10, crossbeam 9 and cantilever 14, support arm 10
Lower end has the installing hole for mounting bracket is connected to ships and light boats afterbody, and support arm 10 is connected by cantilever 14
To ships and light boats to reinforce mounting bracket, the upper end of mounting bracket is installed to the bottom support of installing plate 3 by ring flange
Whole installing plate 3.
As in figure 2 it is shown, said two bearing block and electric machine support 5 horizontal distribution are on the same axis.
It addition, according to embodiments of the invention, described landing deck 1 is made up of metal framework and punching aluminium sheet.
As shown in Figure 4, the pass on the punching aluminium sheet on landing deck 1 can be arc angle rectangle, to reduce windage.
By above description, landing platform 13 proposed by the invention carries aircraft exclusively for ship
Stablize landing and the design of creativeness, the landing platform of the main flow instantly of this landing platform ratio, have following excellent
Point:
1, rational in infrastructure simply, it is possible to achieve ships and light boats globality install with dismounting, can according to ships and light boats from
Body is rapidly completed the design of ships and light boats system the need of carrying unmanned plane stop；
2, balance ships and light boats pitching, makes platform remain level, it is simple to unmanned plane lands；
3, compact, uses the landing platform of hydraulic pressure, complicated machinery composition relative to other, lightweight,
It is applicable to small boat；
4, all kinds of aircraft of VTOL, the most rotors, helicopter it are applicable to；
5, landing deck uses punching aluminium sheet, and the pass on punching aluminium sheet is creatively designed as arc
Angular length is square, reduces windage effect to greatest extent.
It addition, according to embodiments of the invention, described athletic posture detector unit 11 is arranged on described landing and puts down
The center of platform 13, for measuring the described landing deck acceleration in tri-directions of X, Y, Z and pitch angle speed
Degree, described athletic posture collecting unit 13 electrically connects microprocessor control unit 12, will collect described in rise
Drop the deck acceleration in tri-directions of X, Y, Z and angular velocity in pitch is sent to described microprocessor control unit
12。
In ships and light boats traveling process, when self attitude is being continually changing when, rising of stabilized platform also can be driven
Fall deck produce corresponding attitudes vibration, athletic posture detector unit 11 gather described landing deck X, Y,
The acceleration in tri-directions of Z and angular velocity in pitch, and it is single that the data of acquisition send to the control of described microprocessor
Unit, through calculating the angle that can obtain landing deck.It follows that athletic posture detector unit 11 is this
The vitals of invention, to this end, athletic posture detector unit 11 is creatively designed as conformability by the present invention
6 axle motion process assemblies, it is integrated with 3 axle MEMS gyroscope, 3 axle mems accelerometers and one and can expand
The digital moving processor DMP (Digital Motion Processor) of exhibition, and I2C interface can be passed through
Connect third-party digital sensor, such as a magnetometer.Itself I2C or SPI just can be passed through after expansion
The signal of interface one 9 axle of output.Compared to existing multicompartment scheme, the athletic posture inspection that the present invention proposes
Survey unit 11 and eliminate the problem of combination gyroscope and between centers difference during accelerator, decrease substantial amounts of encapsulation sky
Between.This is also one of the main improvement of the present invention.
As a physical sensors, the operation principle of described athletic posture detector unit 11 is to utilize physics to imitate
Should, such as piezoelectric effect, magneto-striction phenomenon, the effect such as ionization, polarization, thermoelectricity, photoelectricity, magnetoelectricity, will
The minor variations of measured signal amount is converted into the signal of telecommunication.Digital moving processor DMP engine can reduce melting of complexity
Costar the evidence that counts, export the spin matrix of 6 axles, quaternary number (quaternion), Eulerian angles form with numeral
The fusion calculation data of (Euler Angle forma), remove sensitivity between accelerator and axis of gyroscope, fall
The impact that low setting gives and the drift of sensor.User can utilize microprocessor control unit 12 to obtain institute
State the quaternary number of athletic posture detector unit 11 output, after carrying out fusion calculation, just can get sensor
Angle.
According to embodiments of the invention, described microprocessor control unit 12 is according to the described landing deck obtained
Acceleration and angular velocity in pitch in tri-directions of X, Y, Z send control signal to described landing deck.Described
Hoistable platform 13 controls turning to and rotating speed of described DC speed-reducing 2 according to described control signal, makes landing
Deck reaches the attitude angle (being normally set to horizontal attitude) set, it is ensured that safety during aircraft landing
With stability.
In above-described embodiment, microprocessor control unit 2 can use micro-process with Cotex M3 kernel
Device STM32.Microprocessor control unit STM32 family chip be for high-performance, low cost, low-power consumption embedding
Entering formula and apply custom-designed chip, enhancement mode series clock frequency reaches 72MHz, is performance in like product
The highest product.
Present invention also offers a kind of side stablizing lifting gear for the ship load aircraft controlled as described above
Method, as it is shown in figure 5, said method comprising the steps of:
(1) system initializes, and calibrates athletic posture detector unit.
Microprocesser initialization I2C COM1 and intervalometer PWM output function, microprocessor passes through I2C end
Mouth Initialize installation athletic posture detector unit, calibrates athletic posture detector unit.
(2) in predetermined time interval, microprocessor control unit reads athletic posture detector unit and detects
The landing deck acceleration in tri-directions of X, Y, Z and angular velocity in pitch data.
According to one embodiment of present invention, described predetermined time interval is that 5ms, 5ms time interval arrives,
Microprocessor control unit just read that integrated accelerometer in athletic posture detector unit detected X, Y,
The acceleration information in tri-directions of Z and the angular velocity in pitch data of gyroscope detection.
Wherein, landing deck is designated as g at the acceleration in tri-directions of X, Y, Zn0(n0=x, y, z), pitching
Angular velocity is designated as: angular velocity in roll φ ', angular velocity in pitch θ ', yaw angle speed ψ '.
(3) the landing deck that microprocessor control unit detects according to described athletic posture detector unit X,
The acceleration in tri-directions of Y, Z and angular velocity in pitch data, calculate the pitching attitude angle that landing deck is current.
Wherein the concrete calculating process of step (3) is as follows:
A () microprocessor control unit is according to formula And formula
It is calculated the roll angle φ of estimation1With pitch angular θ1, wherein, Gx, Gy, GzIt is respectively described motion
The landing deck that posture detecting unit the detects acceleration in tri-directions of X, Y, Z, it should be noted that
Because yawing angle does not affect the control of platform, so yawing angle ψ not being estimated.
The b measurement i.e. angular velocity in roll φ ' of gyroscope that () microprocessor control unit will receive, pitch angle
Speed θ ', yaw angle speed ψ ' are integrated obtaining angle step V θ, V φ, V ψ.
(c) microprocessor control unit will by the roll angle φ of the estimation obtained by the calculating of step (a) and
Pitch angular θ merges with by the angle step V θ obtained by the calculating of step (b), V φ, V ψ,
Obtain the pitching attitude angle of landing platform.
Owing to the value that accelerometer records having the produced disturbing acceleration of a large amount of platform concussion, so obtain
Estimated value includes noise, is inaccurate, needs gyroscope to be corrected.Because gyroscope itself exists
The problem of temperature drift, therefore its value recorded can not directly reflect the truth of landing deck attitude, needs
Mutually to merge with the value of accelerometer, just can obtain real attitude angle.Conventional amalgamation mode Kalman filter
Ripple, but Kalman filtering is computationally intensive, sets up reliable and stable renewal equation for it relatively difficult, to process
Arithmetic speed and the required precision of device are arrived very much, are not suitable for being applied to experimental provision of the present invention.Present invention employs another
Outer a kind of attitude fusion method complementary filter algorithm, complementary filter algorithm is simple and reliable, to attitude transducer
Required precision relatively low, its application is more and more extensive.Its computing formula is
gn=gn1*p+gn2* (1-p) { p ∈ (0,1) }.
Wherein, gn(n=x, y, z)=[θ φ ψ] is final calculated landing platform stance angle,
gn1(n=x, y, z)=[θ1 φ10] it is that the attitude angle that obtains estimated by accelerometer,
gn2(n=x, y, z)=[V θ V φ V ψ] is the attitude angle step that gyroscope integration obtains, and wherein, p is complementary
The filtering weighting factor, typically takes 0.95.
(4) microprocessor control unit is according to the current pitching attitude in step (3) calculated landing deck
Angle and the horizontal angle being previously set obtain exporting controlled quentity controlled variable as pid control computation.
In the middle of PID control strategy, proportion adjustment is to carry out action according to " inclined extent ", its output with
Being in proportion of input deviation, proportion adjustment is strong in time but difference of having a surplus.Integral adjustment is according to " deviation is
No existence " carry out action, its output and deviation are integrated into ratio to the time, and its effect is that elimination is remaining poor.Micro-
Dividing regulation is to carry out action according to " pace of change of deviation ", and its output is proportional to the pace of change of deviation,
Its effect is to stop all changes of controlled variable, has load regulation effect.
As shown in Figure 6, wherein, r (t) is expected angle to PID control principle drawing of the present invention, y (t)
For actual angle, e (t) is the angular error of r (t) and y (t), u (t) for calculate to reducing motor rotating speed:
Wherein, according to below equation calculating output controlled quentity controlled variable:
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Pre
v_error)。
Wherein, PWM_OUT is output controlled quentity controlled variable, and Kp, Ki and Kd are respectively ratio, integration and differential three
Coefficient, these three coefficient relies primarily on the actual parameter of apparatus and adjusts.First a Kp is set
The initial value of coefficient (then ten can be multiplied by according to the ratio of output controlled quentity controlled variable scope with input excursion/
One, as initial reference), by changing set-point, system is added a disturbance, observe response curve, constantly
Change coefficient value, until control system meets dynamic process quality requirements, coefficient value at this moment is and compares
Appropriate parameter；Then proceed to according to process above, other two coefficient be adjusted.Error in formula
For control deviation, current sensor angle and expected angle do difference and obtain, Last_error and Prev_error
Being respectively error last time and error last time, error, Last_error and Prev_error are in each control
Cycle processed end change obtains, i.e. Last_error is assigned to Prev_error, error and is assigned to
Last_error。
(5) calculated PID controlled quentity controlled variable is modulated into pwm signal and has exported by microprocessor control unit
Fall platform.
(6) landing platform makes DC speed-reducing adjustment turn to and turn according to the pwm signal received accordingly
Speed belt moves landing deck and rotates, and finally makes landing deck be up to the standard angle.
Above content is only presently preferred embodiments of the present invention, for those of ordinary skill in the art, according to this
Bright thought, the most all will change, and this specification content should not be managed
Solve as limitation of the present invention.
Claims (9)
1. lifting gear stablized by a ship load aircraft, it is characterised in that described ship carries aircraft and stablizes landing
Device includes athletic posture detector unit, microprocessor control unit and landing platform, and described athletic posture detects
Unit and described landing platform electrically connect with described microprocessor control unit, and described landing platform has included installing
Support, landing deck, DC speed-reducing, installing plate and electric machine support, wherein, described installing plate is placed in institute
State in mounting bracket, described installing plate is provided with two bearing blocks and described electric machine support, described electric machine support
On described DC speed-reducing is installed, said two bearing block is connected to rotary shaft, described rotary shaft and institute
The motor shaft stating DC speed-reducing is connected by two ring flange docking, and two connections are passed through on described landing deck
Part is fixed in described rotary shaft；It addition,
Described athletic posture detector unit is designed to conformability 6 axle motion process assembly MPU6050 and 3 axles electricity
Sub-compass HMC5883L, wherein 6 axle motion process assembly MPU6050 be integrated with 3 axle MEMS gyroscope, 3
Axle mems accelerometer and an extendible digital moving processor DMP (Digital Motion
Processor), and can by I2C interface connect a third-party digital sensor；
Described landing deck is made up of metal framework and punching aluminium sheet, and the pass on described punching aluminium sheet is permissible
For arc angle rectangle.
Ship the most according to claim 1 carries aircraft and stablizes lifting gear, it is characterised in that described peace
Dress support is made up of support arm, crossbeam and cantilever, and described support arm lower end has for mounting bracket being connected to
The installing hole of ships and light boats afterbody, described support arm is connected to ships and light boats by described cantilever.
Ship the most according to claim 2 carries aircraft and stablizes lifting gear, it is characterised in that described peace
The upper end of dress support is installed to the bottom of described installing plate by ring flange.
Ship the most according to claim 1 carries aircraft and stablizes lifting gear, it is characterised in that described two
Individual bearing block and described electric machine support horizontal distribution are on the same axis.
Ship the most according to claim 1 carries aircraft and stablizes lifting gear, and described third-party numeral passes
Sensor is such as magnetometer.
6. stablize for the ship load aircraft controlled as described in any one in the claims 1-5 for one kind
The method of lifting gear, said method comprising the steps of:
(1) system initializes, and calibrates athletic posture detector unit.
(2) in predetermined time interval, microprocessor control unit reads athletic posture detector unit and detects
The landing deck acceleration in tri-directions of X, Y, Z and angular velocity in pitch data.
Wherein, landing deck is designated as g at the acceleration in tri-directions of X, Y, Zn0(n0=x, y, z), pitching
Angular velocity is designated as: cradle angle speed φ ', angular velocity in pitch θ ', yaw angle speed ψ '.
(3) the landing deck that microprocessor control unit detects according to described athletic posture detector unit X,
The acceleration in tri-directions of Y, Z and angular velocity in pitch data, calculate the pitching attitude angle that landing deck is current.
(4) microprocessor control unit is according to the current pitching attitude in step (3) calculated landing deck
Angle and the horizontal angle being previously set obtain exporting controlled quentity controlled variable as pid control computation.
(5) calculated PID controlled quentity controlled variable is modulated into pwm signal and has exported by microprocessor control unit
Fall platform.
(6) landing platform makes DC speed-reducing adjustment turn to and turn according to the pwm signal received accordingly
Speed belt moves landing deck and rotates, and finally makes landing deck be up to the standard angle.
Method the most according to claim 6, wherein, the concrete calculating process of step (3) is as follows:
A () microprocessor control unit is according to formulaAnd formula
Be calculated estimation shakes angle φ1With pitch angular θ1, wherein, Gx, Gy, GzIt is respectively described motion
The landing deck that posture detecting unit the detects acceleration in tri-directions of X, Y, Z.
The b measurement i.e. cradle angle speed φ ' of gyroscope that () microprocessor control unit will receive, pitch angle
Speed θ ', yaw angle speed ψ ' are integrated obtaining angle step V θ, V φ, V ψ.
C () microprocessor control unit will shake angle φ by the estimation obtained by the calculating of step (a)1With
Pitch angular θ1Merge with by the angle step V θ obtained by the calculating of step (b), V φ, V ψ,
Obtaining the pitching attitude angle of landing platform, its computing formula is: gn=gn1*p+gn2* (1-p) { p ∈ (0,1) }.
Wherein, gn(n=x, y, z)=[θ φ ψ] is final calculated landing platform stance angle,
gn1(n=x, y, z)=[θ1 φ10] it is that the attitude angle that obtains estimated by accelerometer,
gn2(n=x, y, z)=[V θ V φ V ψ] is the attitude angle step that gyroscope integration obtains, and wherein, p is complementary
The filtering weighting factor.
Method the most according to claim 6, wherein, p typically takes 0.95.
Method the most according to claim 6, wherein, calculates according to below equation and exports controlled quentity controlled variable:
PWM_OUT=Kp*error+Ki* (error-Last_error)+Kd* (error-2*Last_error+Pre
v_error)。
Wherein, PWM_OUT is output controlled quentity controlled variable, and Kp, Ki and Kd are respectively ratio, integration and differential three
Coefficient, error is control deviation, by current sensor angle and expected angle do difference obtain, Last_error
It is respectively error last time and error last time, error, Last_error and Prev_error with Prev_error
Alternate at end of each control cycle and obtain, i.e. Last_error is assigned to Prev_error, error and composes
Value is to Last_error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510688098.9A CN105836151B (en) | 2015-10-23 | 2015-10-23 | A kind of ship carries the stable lifting gear of aircraft and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510688098.9A CN105836151B (en) | 2015-10-23 | 2015-10-23 | A kind of ship carries the stable lifting gear of aircraft and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105836151A true CN105836151A (en) | 2016-08-10 |
| CN105836151B CN105836151B (en) | 2018-01-16 |
Family
ID=56580281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510688098.9A Active CN105836151B (en) | 2015-10-23 | 2015-10-23 | A kind of ship carries the stable lifting gear of aircraft and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105836151B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106507050A (en) * | 2016-11-15 | 2017-03-15 | 哈尔滨工业大学 | Unmanned plane boat-carrying landing system |
| CN106970649A (en) * | 2017-04-25 | 2017-07-21 | 华南农业大学 | A kind of unmanned plane wireless charging automatic control platform and control method |
| CN107010241A (en) * | 2017-05-27 | 2017-08-04 | 辛亚行 | A kind of vehicle-mounted unmanned aerial vehicle landing platform |
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN107943063A (en) * | 2017-11-15 | 2018-04-20 | 广东容祺智能科技有限公司 | A kind of unmanned plane landing is from steady platform and its method of work |
| CN108275282A (en) * | 2018-03-29 | 2018-07-13 | 江苏建筑职业技术学院 | A kind of air-ground complementary remote sensing survey device |
| CN108466702A (en) * | 2018-05-30 | 2018-08-31 | 深圳市易佰度科技有限公司 | A kind of airplane parking area waterborne |
| CN108829139A (en) * | 2018-07-25 | 2018-11-16 | 哈尔滨工业大学 | A kind of boat-carrying control method that unmanned plane sea is landed |
| CN110254736A (en) * | 2019-06-18 | 2019-09-20 | 哈尔滨工程大学 | A kind of sea is tethered at unmanned plane automatic accomodation device and its control system |
| CN111007866A (en) * | 2019-12-26 | 2020-04-14 | 桂林航天工业学院 | Marine unmanned aerial vehicle take-off and landing platform and working method thereof |
| CN112461200A (en) * | 2020-11-17 | 2021-03-09 | 卜永琴 | Electronic level meter |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3931747A (en) * | 1974-02-06 | 1976-01-13 | Sperry Rand Corporation | Gyroscopic stable reference device |
| CN202267481U (en) * | 2011-07-13 | 2012-06-06 | 浙江海洋学院 | Miniature horizontal stabilized platform |
| CN202420505U (en) * | 2011-12-02 | 2012-09-05 | 九江精密测试技术研究所 | Combined gesture measuring device of stable platform for self-correction ship |
| CN203616935U (en) * | 2013-12-09 | 2014-05-28 | 河南师范大学 | Shipboard aircraft taking-off and landing simulation training platform |
| CN104811588A (en) * | 2015-04-10 | 2015-07-29 | 浙江工业大学 | Shipborne image stabilization control method based on gyroscope |
-
2015
- 2015-10-23 CN CN201510688098.9A patent/CN105836151B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3931747A (en) * | 1974-02-06 | 1976-01-13 | Sperry Rand Corporation | Gyroscopic stable reference device |
| CN202267481U (en) * | 2011-07-13 | 2012-06-06 | 浙江海洋学院 | Miniature horizontal stabilized platform |
| CN202420505U (en) * | 2011-12-02 | 2012-09-05 | 九江精密测试技术研究所 | Combined gesture measuring device of stable platform for self-correction ship |
| CN203616935U (en) * | 2013-12-09 | 2014-05-28 | 河南师范大学 | Shipboard aircraft taking-off and landing simulation training platform |
| CN104811588A (en) * | 2015-04-10 | 2015-07-29 | 浙江工业大学 | Shipborne image stabilization control method based on gyroscope |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106507050B (en) * | 2016-11-15 | 2019-03-15 | 哈尔滨工业大学 | Unmanned plane boat-carrying landing system |
| CN106507050A (en) * | 2016-11-15 | 2017-03-15 | 哈尔滨工业大学 | Unmanned plane boat-carrying landing system |
| CN106970649A (en) * | 2017-04-25 | 2017-07-21 | 华南农业大学 | A kind of unmanned plane wireless charging automatic control platform and control method |
| CN107010241A (en) * | 2017-05-27 | 2017-08-04 | 辛亚行 | A kind of vehicle-mounted unmanned aerial vehicle landing platform |
| CN107422750A (en) * | 2017-07-13 | 2017-12-01 | 武汉理工大学 | Unmanned boat calibrates erecting bed with automatic horizontal |
| CN107943063A (en) * | 2017-11-15 | 2018-04-20 | 广东容祺智能科技有限公司 | A kind of unmanned plane landing is from steady platform and its method of work |
| CN108275282A (en) * | 2018-03-29 | 2018-07-13 | 江苏建筑职业技术学院 | A kind of air-ground complementary remote sensing survey device |
| CN108275282B (en) * | 2018-03-29 | 2024-03-08 | 江苏建筑职业技术学院 | Ground-air complementary remote sensing measurement device |
| CN108466702A (en) * | 2018-05-30 | 2018-08-31 | 深圳市易佰度科技有限公司 | A kind of airplane parking area waterborne |
| CN108829139B (en) * | 2018-07-25 | 2021-02-05 | 哈尔滨工业大学 | Shipborne control method for unmanned aerial vehicle landing at sea |
| CN108829139A (en) * | 2018-07-25 | 2018-11-16 | 哈尔滨工业大学 | A kind of boat-carrying control method that unmanned plane sea is landed |
| CN110254736A (en) * | 2019-06-18 | 2019-09-20 | 哈尔滨工程大学 | A kind of sea is tethered at unmanned plane automatic accomodation device and its control system |
| CN111007866A (en) * | 2019-12-26 | 2020-04-14 | 桂林航天工业学院 | Marine unmanned aerial vehicle take-off and landing platform and working method thereof |
| CN112461200A (en) * | 2020-11-17 | 2021-03-09 | 卜永琴 | Electronic level meter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105836151B (en) | 2018-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105836151A (en) | Shipboard aircraft stable taking-off and landing device and control method | |
| CN102955477B (en) | Attitude control system and control method of four-rotor aircraft | |
| KR101252080B1 (en) | The apparatus and method of inspecting with flying robot of quad roter | |
| CN103744429B (en) | A kind of small-sized depopulated helicopter flight control system | |
| US9057627B2 (en) | Low cost flight instrumentation system | |
| CN103425146B (en) | A kind of inertially stabilized platform interference observer method for designing based on angular acceleration | |
| CN104848859A (en) | Three-axis inertial stabilization platform and self-positioning and orientation control method thereof | |
| CA2651379A1 (en) | System and process for automatically controlling the flight of power wing airfoils | |
| CN107562063A (en) | A kind of self-balance robot attitude control method and system | |
| CN103743921A (en) | Self-adaptive rotating speed measurement system and method on basis of inertial sensor | |
| CN111650955B (en) | Control method of climbing robot and climbing robot | |
| Davis et al. | Direct sensing of thrust and velocity for a quadrotor rotor array | |
| CN102519425A (en) | Laser range finder stabilized platform used for vessel with single degree of freedom and its control method | |
| CN110887463A (en) | Method and system for detecting fluctuation amplitude of sea waves based on inertial sensor | |
| CN109634302A (en) | A kind of quadrotor system based on optical alignment | |
| CN105843235A (en) | Experiment system and experiment method for verifying control theory by taking attitude angle as control object | |
| CN203629581U (en) | Self-adaptive rotation speed measuring system based on inertial sensor | |
| CA3129922A1 (en) | System and method for determining wind direction and velocity measurement from altitude for an unmanned aerial vehicle | |
| CN113310471B (en) | High-stability high-precision geographic information mapping device | |
| Williams et al. | Motion tracking in an acoustic point-measurement current meter | |
| CN109612665A (en) | Recognize the method and system of whole star flexible vibration modal parameter | |
| FR2840073A1 (en) | Method for estimating the vertical speed of an aircraft, e.g. helicopter, comprises use of measured vertical acceleration, and a limited difference between a barometric measure and a previous estimate | |
| CN102692226A (en) | Stable platform stabilizing method based on fiber-optic gyroscope | |
| TWI805141B (en) | Positioning method and device for unmanned aerial vehicles | |
| CN113252071B (en) | Critical angular acceleration test system and test method based on double fiber-optic gyroscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |