CN106155083A - A kind of composite wing unmanned plane emergency operating device - Google Patents
A kind of composite wing unmanned plane emergency operating device Download PDFInfo
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- CN106155083A CN106155083A CN201610563232.7A CN201610563232A CN106155083A CN 106155083 A CN106155083 A CN 106155083A CN 201610563232 A CN201610563232 A CN 201610563232A CN 106155083 A CN106155083 A CN 106155083A
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- 239000002131 composite material Substances 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 claims abstract description 42
- 230000009187 flying Effects 0.000 claims description 45
- 230000005611 electricity Effects 0.000 claims description 10
- 150000001875 compounds Chemical class 0.000 description 4
- 238000009394 selective breeding Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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 invention discloses a kind of composite wing unmanned plane emergency control method, landing for composite wing unmanned plane controls, described emergency operating device is for when composite wing unmanned plane needs landing, judge the distance of composite wing unmanned plane and ground controller, when above distance exceedes remote control distance, composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；When above distance is within remote control distance, ground controller sending control mode instruction to composite wing unmanned plane, the instruction of described control mode controls any one in controlling with manual-operated emergent for automatic emergency；Described automatic emergency controls: composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；Described manual-operated emergent controls: the landing control instruction that composite wing unmanned plane utilizes ground controller to send, and completes manually to land.By this can be effectively improved composite wing unmanned plane meet an urgent need forced landing success rate.
Description
Technical field
The present invention relates to flying vehicles control technical field, particularly relate to a kind of composite wing unmanned plane emergency control method.
Background technology
Composite wing VUAV takes into account high-speed flight ability and for a long time boat ability and many rotors of fixed-wing unmanned plane
The VTOL ability of unmanned plane, is affected less by landing site and spatial domain, has widened the range of application of industrial unmanned plane.
Compared with existing fixed-wing or rotor wing unmanned aerial vehicle, composite wing unmanned plane covers from hovering to fixed-wing power performance limit
The flight speed scope on boundary.Whole flight course medium power is not unique with control moment source, vertical many rotations of lower-speed state
The wing provides the horizontal engine under power and control moment, fast state to provide power, and pneumatic rudder face provides control moment.Above-mentioned
Mechanical characteristics causes composite wing unmanned plane emergency operation increasingly complex: many rotor power energy resource system is driven brushless electric machine by battery
Composition, its MTPF was up to more than 500 hours, but along with horizontal velocity improves, the stability of many propeller aircrafts reduces, and is not suitable for
Fast state emergency operation.Additionally, the energy density of current common lithium polymer battery is less than 250Wh/kg, limit many rotations
The emergent flight time of the wing.After reaching certain flight speed, pneumatic rudder face stably provides stability contorting moment, is conducive to emergent
Operation, but horizontal engine is easily stopped working when debugging improper or environment and changing, and flame-out after be difficult to quickly restart, even if using
Electricity sparking technology also is difficult to ensure once to restart successfully.Therefore, in the case of emergency operation is manually taken over, operator is visual
Composite wing unmanned plane, it is difficult to quantify the important states such as flight speed, height and many rotors voltage, more cannot rationally select fixed-wing
Pattern or many rotor mode carry out emergent remote control, cause composite wing unmanned plane artificial emergency operation success rate low, forced landing loss
Greatly.
Summary of the invention
For in above-mentioned prior art in the case of emergency operation is manually taken over, the visual composite wing of operator is unmanned
Machine, it is difficult to quantify the important states such as flight speed, height and many rotors voltage, more cannot rationally select fixed-wing pattern the most
Rotor mode carries out emergent remote control, causes composite wing unmanned plane artificial emergency operation success rate low, and big problem is lost in forced landing, it is achieved
The total state of composite wing unmanned plane autonomous airline operation entirely.
For solving the problems referred to above, a kind of composite wing unmanned plane emergency control method that the present invention provides is wanted by techniques below
Point solves problem: a kind of composite wing unmanned plane emergency control method, the landing for composite wing unmanned plane controls, described emergent
Operational approach is for when composite wing unmanned plane needs landing, it is determined that the distance of composite wing unmanned plane and ground controller, more than
When distance exceedes remote control distance, composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
When above distance is within remote control distance, ground controller send control mode instruction, institute to composite wing unmanned plane
State control mode instruction for any one in automatic emergency control and manual-operated emergent control；
Described automatic emergency controls: composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
Described manual-operated emergent controls: the landing control instruction that composite wing unmanned plane utilizes ground controller to send, and completes manually
Landing.
Described manual-operated emergent controls to include two ways: fixed-wing flying method and many rotor flyings mode；
Described fixed-wing flying method and many rotor flyings mode can be switched over by ground controller.
Concrete, the acquisition of the spacing of above composite wing unmanned plane and ground controller can be by wireless means
Deng.So, the emergency operating device provided by this case, the fall to composite wing unmanned plane can not be completed by ground controller
When falling to controlling, automatic pilot on unmanned plane complete automatic Pilot；When composite wing unmanned plane is in the remote control of ground controller
Time within Ju Li, the problem many for composite wing unmanned plane state parameter, manipulation is complicated, this emergency operating device is operator
Providing two kinds of flying methods to select, make the operator can according to specific needs, select the most reasonably to meet an urgent need flying method；Adopt
Using this emergency operating device, be also convenient for realizing in whole contingency procedure, operator has the complete of composite wing unmanned aerial vehicle (UAV) control
Authority, this just enhances operator's interference ability to composite wing unmanned plane during flying mode under emergency conditions, it is possible to effectively carry
High composite wing unmanned plane meet an urgent need forced landing success rate.
For ease of realizing when composite wing unmanned plane emergency landing, automatic pilot and ground controller can be worked in coordination with as compound
Wing unmanned plane sends optimal forced landing scheme, improves forced landing success rate with further, is set to: in above distance at remote control distance
Within time, ground controller send control mode instruction to composite wing unmanned plane, and before composite wing unmanned plane does not lands,
Two kinds of control mode instructions can any switching laws.
Further technical scheme is:
When composite wing unmanned plane receives the control mode instruction into manual-operated emergent control, carry out following operation: obtain composite wing
The flight speed of unmanned plane, acquisition are used for the electricity of the battery as vertical spin oar power；
Flight speed at composite wing unmanned plane is less than according to presetting more than the electricity of the controlled maximal rate of many rotors or battery
Needed for big fall rate landing ground during merit, use ground controller that composite wing unmanned plane is switched to fixed-wing flying method；
Otherwise, use ground controller that composite wing unmanned plane is switched to many rotor flyings mode.
The described controlled maximal rate of many rotors is that fixed-wing stalling speed is low with many propeller aircrafts stalling speed
0.85 to 0.95 times of value.
Flight speed at composite wing unmanned plane is less than according in advance more than the electricity of the controlled maximal rate of many rotors or battery
If needed for maximum fall rate landing ground during 1.1 to 1.2 times of merit, composite wing unmanned plane uses fixed-wing flying method；No
Then, composite wing unmanned plane uses many rotor flyings mode.
Such manual-operated emergent control mode main purpose is to use minimum extraneous information just can provide manual-operated emergent
Way choice is advised, after many rotors exceed many propeller aircrafts stalling speed, it is possible to can be due to propeller advanced stall
Causing air-flow unstable, UAV Attitude vibration is until oscillation and divergence crashes, similar, when fixed-wing is less than stalling speed also without
Method stabilized flight, above-mentioned 0.85 to 0.95 is safety coefficient.
Described ground controller at least five passages, one of them passage is switch, is used for selecting automatic emergency control
System or manual-operated emergent control；During remaining passage fixed-wing flying method under manual-operated emergent control controls, send pneumatic rudder
Face and horizontal engine control instruction, during the many rotor flyings mode under manual-operated emergent control controls, remaining passage sends
Vertical spin oar control instruction.
When composite wing unmanned plane needs landing, composite wing unmanned plane controller earthward sends the one in following information
Or several: flight speed, place height, cell voltage, flat fly revolution speed of propeller, vertical spin oar rotating speed；
And after ground controller receives information, export to operator by the way of image and/or voice.
The present invention is had the advantages that
The emergency operating device provided by this case, can not complete the landing control to composite wing unmanned plane by ground controller
Time processed, automatic pilot on unmanned plane complete automatic Pilot；When composite wing unmanned plane is in the remote control distance of ground controller
Within time, the problem many for composite wing unmanned plane state parameter, manipulation is complicated, this emergency operating device is that operator provides
Two kinds of flying methods select, and make the operator can according to specific needs, and select the most reasonably to meet an urgent need flying method；Use this
Emergency operating device, is also convenient for realizing in whole contingency procedure, and operator has the full powers limit of composite wing unmanned aerial vehicle (UAV) control,
This just enhances operator's interference ability to composite wing unmanned plane during flying mode under emergency conditions, it is possible to be effectively improved compound
Wing unmanned plane meet an urgent need forced landing success rate.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of composite wing one specific embodiment of unmanned plane emergency control method of the present invention.
Figure acceptance of the bid note is respectively as follows: 1, emergency rating, 10, judge remote control distance, 11, remote control distance transfinite, 12, remote control distance
Normally, 13, automatic emergency control, 14, manual-operated emergent control, 15, fixed-wing flying method, 16, many rotor flyings mode, 100,
Manual switching control mode, 101, automatic emergency control, 102, judge available state of flight, 103, manual switching flying method,
104, manual fixed-wing mode, 105, manual many rotors mode, 106, automated manner 201, remote control distance transfinite message, 202, distant
Control distance normal messages, 203, automatic emergency message, 204, manually meet an urgent need message, 205/206, manual mode judge message.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but the present invention is not limited only to following enforcement
Example:
Embodiment 1:
Landing for composite wing unmanned plane controls, and the landing for composite wing unmanned plane controls, and described emergency operating device is
When composite wing unmanned plane needs landing, it is determined that composite wing unmanned plane and the distance of ground controller, exceed distant in above distance
During control distance, composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
When above distance is within remote control distance, ground controller send control mode instruction, institute to composite wing unmanned plane
State control mode instruction for any one in automatic emergency control and manual-operated emergent control；
Described automatic emergency controls: composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
Described manual-operated emergent controls: the landing control instruction that composite wing unmanned plane utilizes ground controller to send, and completes manually
Landing.
Concrete, the acquisition of the spacing of above composite wing unmanned plane and ground controller can be by wireless means
Deng.So, the emergency operating device provided by this case, the fall to composite wing unmanned plane can not be completed by ground controller
When falling to controlling, automatic pilot on unmanned plane complete automatic Pilot；When composite wing unmanned plane is in the remote control of ground controller
Time within Ju Li, the problem many for composite wing unmanned plane state parameter, manipulation is complicated, this emergency operating device is operator
Providing two kinds of flying methods to select, make the operator can according to specific needs, select the most reasonably to meet an urgent need flying method；Adopt
Using this emergency operating device, be also convenient for realizing in whole contingency procedure, operator has the complete of composite wing unmanned aerial vehicle (UAV) control
Authority, this just enhances operator's interference ability to composite wing unmanned plane during flying mode under emergency conditions, it is possible to effectively carry
High composite wing unmanned plane meet an urgent need forced landing success rate.
For ease of realizing when composite wing unmanned plane emergency landing, automatic pilot and ground controller can be worked in coordination with as compound
Wing unmanned plane sends optimal forced landing scheme, improves forced landing success rate with further, is set to: in above distance at remote control distance
Within time, ground controller send control mode instruction to composite wing unmanned plane, and before composite wing unmanned plane does not lands,
Two kinds of control mode instructions can any switching laws.
Embodiment 2:
The present embodiment is further qualified on the basis of embodiment 1, receives as manual-operated emergent control at composite wing unmanned plane
During control mode instruction, carry out following operation: obtain the flight speed of composite wing unmanned plane, obtain for as vertical spin oar
The electricity of the battery of power；
Flight speed at composite wing unmanned plane is less than according to presetting more than the electricity of the controlled maximal rate of many rotors or battery
Needed for big fall rate landing ground during merit, use ground controller that composite wing unmanned plane is switched to fixed-wing flying method；
Otherwise, use ground controller that composite wing unmanned plane is switched to many rotor flyings mode.
The described controlled maximal rate of many rotors is that fixed-wing stalling speed is low with many propeller aircrafts stalling speed
0.85 to 0.95 times of value.
Flight speed at composite wing unmanned plane is less than according in advance more than the electricity of the controlled maximal rate of many rotors or battery
If needed for maximum fall rate landing ground during 1.1 to 1.2 times of merit, composite wing unmanned plane uses fixed-wing flying method；No
Then, composite wing unmanned plane uses many rotor flyings mode.
Described ground controller at least five passages, one of them passage is switch, is used for selecting automatic emergency control
System or manual-operated emergent control；During remaining passage fixed-wing flying method under manual-operated emergent control controls, send pneumatic rudder
Face and horizontal engine control instruction, during the many rotor flyings mode under manual-operated emergent control controls, remaining passage sends
Vertical spin oar control instruction.
Embodiment 3:
This case is made further on the basis of any one technical scheme that one embodiment of any of the above provides by the present embodiment
Restriction: for ease of controlling to provide foundation for manual-operated emergent, carry out man-machine interaction by vision and/or audition, it is to avoid singly simultaneously
Operator's distraction that one visual interactive causes, when composite wing unmanned plane needs landing, composite wing unmanned plane is earthward
Controller sends one or more in following information: flight speed, place height, cell voltage, flat flies revolution speed of propeller, hang down
Straight revolution speed of propeller；And after ground controller receives information, export to operator by the way of image and/or voice.
Embodiment 4:
Such as Fig. 1, this enforcement provides a kind of concrete implementation mode: this implementation is applicable to one and is provided with electromotor, water
Flat spin oar, three groups of pneumatic rudder faces and the composite wing unmanned plane organizing vertical spin oar, wherein electromotor drives horizontal propeller more
Producing controlled forward direction pulling force, three groups of pneumatic rudder faces change composite wing unmanned machine rolling, pitching and yawing, vertical spiral shell respectively
Rotation oar is driven by motor, and motor is by battery-powered, and many group vertical spin oars produce upwards pulling force and three direction control moments, compound
Wing unmanned plane measures data below: speed, highly, cell voltage and engine speed, in addition it is also necessary to the ground of 5 passages controls
Device, data above is sent to ground controller by data link.
Using described composite wing unmanned plane emergency operating device to carry out after composite wing unmanned plane enters emergency rating 1 should
Urgent fall, including following state and operation:
State: L, M, N are three groups of states:
L: remote control distance；
L1: remote control distance transfinites 11；
L2: remote control distance normal 12.
M: control mode；
M1: automatic emergency controls 13；
M2: manual-operated emergent controls 14；
N: flying method:
N1: automated manner 106；
N2: manual fixed-wing mode 104；
N3: manual many rotors mode 105；
Operation:
S1: judge telemeter distance 10；
S2: if L1, automatically switch to M1, send remote control distance transfinites message 201 simultaneously；
S3: if L2, automatically switch to manual switching control mode 100, send remote control distance normal messages 202 simultaneously, lead to afterwards
Cross remote controller Five-channel artificial selection and switch to M1 or M2, select M1 then to send automatic emergency message 203, select M2 then to send
Manual-operated emergent message 204；
S4: if S3 is artificial selection M1, then perform N1；
S5: if S3 is artificial selection M2, then judge available state of flight 102, if flight speed is higher than the controlled maximal rate of many rotors
Or cell voltage is not enough, then sends manual mode and judge message 205, select manual fixed-wing mode 104, otherwise, manually simultaneously
Mode judges that the content of message 206 is manual many rotors mode 105；
S6: if selecting fixed-wing flying method 15, then perform N2, front four passages of remote controller control pneumatic rudder face and electromotor,
If selecting many rotor flyings mode 16, then performing N3, front four passages of remote controller control vertical spin oar and pneumatic rudder face simultaneously.
Above 201 to 206 message referred to all are exported by speaker output and icon, and the medium of output can pass through ground
Controller or set up the computer of wireless data link with composite wing unmanned plane and carry out.
Described manual switching flying method 103 is operated and is carried out by four-way before ground controller: interior " eight " word is fixing
Wing flying method, outer " eight " word is many rotor flyings mode.
In S5, the described controlled maximal rate of many rotors is fixed-wing stalling speed and many propeller aircrafts stalling speed two
The value that in person, numerical value junior obtains after being multiplied by safety coefficient, described safety coefficient is between 0.85 to 0.95.
In S5, the criterion that described cell voltage is not enough is that battery electric quantity is less than according to default maximum fall rate fall
Landing the product of merit and allowance coefficient needed for face, described allowance coefficient is between 1.1 to 1.2.
Above content is to combine the further description that the present invention is made by concrete preferred implementation, it is impossible to assert this
The detailed description of the invention of invention is confined to these explanations.For general technical staff of the technical field of the invention,
Other embodiments drawn under without departing from technical scheme, should be included in protection scope of the present invention.
Claims (7)
1. a composite wing unmanned plane emergency control method, the landing for composite wing unmanned plane controls, it is characterised in that described
Emergency operating device is for when composite wing unmanned plane needs landing, it is determined that composite wing unmanned plane and the distance of ground controller,
When above distance exceedes remote control distance, composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
When above distance is within remote control distance, ground controller send control mode instruction, institute to composite wing unmanned plane
State control mode instruction for any one in automatic emergency control and manual-operated emergent control；
Described automatic emergency controls: composite wing unmanned plane utilizes automatic pilot on it to complete automatically to land；
Described manual-operated emergent controls: the landing control instruction that composite wing unmanned plane utilizes ground controller to send, and completes manually
Landing；
Described manual-operated emergent controls to include two ways: fixed-wing flying method and many rotor flyings mode；
Described fixed-wing flying method and many rotor flyings mode can be switched over by ground controller.
A kind of composite wing unmanned plane emergency control method the most according to claim 1, it is characterised in that unmanned at composite wing
When machine receives the control mode instruction controlled into manual-operated emergent, carry out following operation: obtain composite wing unmanned plane flight speed,
Obtain the electricity for the battery as vertical spin oar power；
Flight speed at composite wing unmanned plane is less than according to presetting more than the electricity of the controlled maximal rate of many rotors or battery
Needed for big fall rate landing ground during merit, use ground controller that composite wing unmanned plane is switched to fixed-wing flying method；
Otherwise, use ground controller that composite wing unmanned plane is switched to many rotor flyings mode.
A kind of composite wing unmanned plane emergency control method the most according to claim 2, it is characterised in that described many rotors can
Control maximal rate is fixed-wing stalling speed and the low value in many propeller aircrafts stalling speed.
A kind of composite wing unmanned plane emergency control method the most according to claim 2, it is characterised in that described many rotors can
Control maximal rate is 0.85 to 0.95 times of fixed-wing stalling speed low value middle with many propeller aircrafts stalling speed.
A kind of composite wing unmanned plane emergency control method the most according to claim 2, it is characterised in that unmanned at composite wing
The flight speed of machine is less than according to default maximum fall rate jump area more than the electricity of the controlled maximal rate of many rotors or battery
Needed for face during 1.1 to 1.2 times of merit, composite wing unmanned plane uses fixed-wing flying method；Otherwise, composite wing unmanned plane uses many
Rotor flying mode.
A kind of composite wing unmanned plane emergency control method the most according to claim 2, it is characterised in that described ground controls
Device at least five passages, one of them passage is switch, is used for selecting automatic emergency control or manual-operated emergent to control；Remaining
Passage fixed-wing flying method under manual-operated emergent control control, send pneumatic rudder face and horizontal engine control to refer to
Order, during the many rotor flyings mode under manual-operated emergent control controls, remaining passage sends vertical spin oar control instruction.
A kind of composite wing unmanned plane emergency control method the most as claimed in any of claims 1 to 6, its feature exists
In, when composite wing unmanned plane needs landing, composite wing unmanned plane controller earthward sends the one or several in following information
Kind: flight speed, place height, cell voltage, flat fly revolution speed of propeller, vertical spin oar rotating speed；
And after ground controller receives information, export to operator by the way of image and/or voice.
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| CN201610563232.7A CN106155083B (en) | 2016-07-18 | 2016-07-18 | A kind of composite wing unmanned plane emergency operating device |
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| CN201610563232.7A CN106155083B (en) | 2016-07-18 | 2016-07-18 | A kind of composite wing unmanned plane emergency operating device |
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Cited By (6)
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| CN108107903A (en) * | 2017-12-01 | 2018-06-01 | 北京臻迪科技股份有限公司 | Unmanned plane Hovering control method, apparatus and system |
| WO2018161287A1 (en) * | 2017-03-09 | 2018-09-13 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicle |
| CN108803645A (en) * | 2018-08-03 | 2018-11-13 | 成都纵横自动化技术有限公司 | Unmanned plane forced landing method, apparatus, automatic pilot and unmanned plane |
| WO2020237529A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN114596491A (en) * | 2022-03-03 | 2022-06-07 | 北京新科汇智科技发展有限公司 | Unmanned aerial vehicle induction method and system |
| US20230419741A1 (en) * | 2022-06-28 | 2023-12-28 | Beta Air, Llc | Assembly and method for gauging fuel of electric aircraft |
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| US20230419741A1 (en) * | 2022-06-28 | 2023-12-28 | Beta Air, Llc | Assembly and method for gauging fuel of electric aircraft |
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| Publication number | Publication date |
|---|---|
| CN106155083B (en) | 2019-04-23 |
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