CN106542083B - A kind of small drone cunning race augmentation control method - Google Patents
A kind of small drone cunning race augmentation control method Download PDFInfo
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- CN106542083B CN106542083B CN201611055489.8A CN201611055489A CN106542083B CN 106542083 B CN106542083 B CN 106542083B CN 201611055489 A CN201611055489 A CN 201611055489A CN 106542083 B CN106542083 B CN 106542083B
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- unmanned plane
- elevator
- aileron
- deflection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/12—Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C2009/005—Ailerons
Abstract
It is slided the invention discloses a kind of small drone and runs augmentation control method, for solving the problems, such as small drone in the sliding rollover run correction and be susceptible in the process, this method is in unmanned plane is slided and runs steering procedure, add augmentation control, work as advancing slip race state according to unmanned plane, controls and generate aerodynamic moment, the rollover torque during balancing steering suffered by unmanned plane, to increase attitude stability when unmanned plane slides race, prevent it from rollover or wing wiping ground accident occurs.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control fields, and in particular to a kind of its ground-run attitude of increase for small drone is steady
Qualitative control method.
Background technology
Always took much count of the airflight performance of unmanned plane in unmanned plane development process in the past, although unmanned plane take off/
The time of landing only accounts for the 2%-3% of entire aerial mission, but many aircraft accidents are all to be happened at the process taken off/landed
In.Small particularly with wheel size, body light weight small drone, the runway used is typically more simple and crude, on runway
Protrusion or the factors such as hollow, fitful wind can all generate larger disturbance to the unmanned plane in sliding run, so that its course is occurred larger
Deviation.It is easy to appear rollovers or wing to wipe ground phenomenon during correction of deviation for small drone.In existing unmanned plane
It is sliding run control research in terms of, people are the correction of deviation control for paying close attention to unmanned plane, often have ignored during correction nobody
The attitude stability of machine, and during taking a flight test on be often able to see small drone occur during correction rollover or
Wing wipes ground accident, these accidents can cause unmanned plane prodigious damage.Therefore need a kind of control program small-sized to increase
Unmanned plane slides the attitude stability during running, and solves the problems, such as the rollover being susceptible to.
Invention content
In view of this, for the small drone of tricycle landing gear layout, the present invention proposes a kind of based on small-sized
Unmanned plane, which is slided, runs augmentation control method, can increase unmanned plane and slide the attitude stability run in steering procedure, solve miniature self-service
Machine ensure that small drone slides the safety run when turning in the sliding rollover problem run and be susceptible in steering procedure.
A kind of small drone cunning race augmentation control method, is applied to the small drone of tricycle landing gear layout；
This method works as advancing slip race state in unmanned plane is slided and runs steering procedure, according to unmanned plane, and control generates aerodynamic moment, balancing steering
Rollover torque suffered by unmanned plane in the process.
Preferably, described to work as advancing slip race state according to unmanned plane, control generates aerodynamic moment and is：According to running speed with before
Corner is taken turns, the deflection angle of elevator and aileron is resolved, elevator and aileron movement are controlled accordingly, to generate aerodynamic moment.
Preferably, when the deflection angle for resolving elevator and aileron, the control rule of foundation is：
When unmanned plane running speed is in small velocity interval, and front wheel angle is low-angle, determines that unmanned plane is endangered without rollover
Danger；At this time：Elevator forward direction wide-angle deflection, aileron small angle deflection；
When unmanned plane running speed is in small velocity interval, and front wheel angle is wide-angle, and it is smaller to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator negative sense small angle deflection, aileron small angle deflection；
When unmanned plane running speed is in big velocity interval, and front wheel angle is low-angle, and it is smaller to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator forward direction small angle deflection, aileron wide-angle deflection；
When unmanned plane running speed is in big velocity interval, and front wheel angle is wide-angle, and it is larger to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator negative sense wide-angle deflection, aileron wide-angle deflection；
Wherein, the positive deflection of the elevator deflects down for elevator, forms aerodynamic moment of bowing；The elevator
Negative sense be deflected to elevator and upward deflect, form new line aerodynamic moment；In front wheel angle, elevator and aileron movement angle
Wide-angle and low-angle are judged all in accordance with respective threshold value.
Preferably, the deflection angle that elevator and aileron are resolved using fuzzy controller, is specifically included：
Establishing fuzzy control rule table according to the control rule is：
Wherein, NB, NM, NS, ZO, PS, PM, PB be respectively it is negative big, negative in, bear small, intermediate value, be just small, is center, honest；
According to the fuzzy control rule table, membership function is designed；Wherein triangle and Normal Type is selected to be combined
Membership function, adjustment fuzzy subset obtain convergence and response speed satisfaction are wanted in the position of entire domain and coverage area
The membership function asked；According to membership function, using gravity model appoach as ambiguity solution algorithm, the fuzzy of aileron and elevator is obtained
The regular face of control；Aerodynamic moment is generated using fuzzy control rule face control aileron and lifting rudder kick, realizes that sliding run turns to
Augmentation control in the process.
Advantageous effect：
(1) present invention it is innovative in unmanned plane is slided and runs steering procedure, advancing slip race state, control flaps are worked as according to unmanned plane
Deflecting facet generates aerodynamic moment, the rollover torque during balancing steering suffered by unmanned plane, so as to efficiently solve small-sized nothing
The man-machine sliding blank run the problem of being easy rollover in steering procedure, filled up in terms of current unmanned plane cunning runs augmentation control.
(2) present invention is proposed using running speed and front wheel angle as input quantity, using elevator and aileron movement as
Controlled quentity controlled variable, wherein input quantity are using the running speed and front wheel steering angle for being easy to obtain, the attitude angle without using unmanned plane,
Advantage is can to control to generate aerodynamic moment before UAV Attitude changes, and it is more preferable to increase steady effect.
(3) present invention realizes control rule using fuzzy control, and fuzzy control itself has stronger robustness, be not easy by
External interference；And fuzzy control is relatively low to computing environment requirement, has higher realizability.
Description of the drawings
Fig. 1 is tricycle landing gear schematic layout pattern；
It is the membership function of elevator and aileron movement in Fig. 2 fuzzy controls；
Fig. 3 is lifting rudder kick fuzzy control rule face；
Fig. 4 is aileron movement fuzzy control rule face；
Wherein：1- steering front wheels, 2- left rear wheels, 3- off hind wheels, 4- port ailerons, 5- starboard ailerons, 6- elevators.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
It is slided the present invention provides a kind of small drone and runs augmentation control method, rectified a deviation for sliding run, this method is innovative
Unmanned plane slide run steering procedure in, add augmentation control, according to unmanned plane work as advancing slip race state, control control surface deflection production
Angry kinetic moment, the rollover torque during balancing steering suffered by unmanned plane are steady to increase the posture that unmanned plane is slided when running
It is qualitative, prevent it from rollover or wing wiping ground accident occurs.
Above-mentioned small drone is the unmanned plane that empty weight is less than 116 kilograms.The tricycle landing gear layout
As shown in Fig. 1, there are three undercarriage and corresponding tires for unmanned plane, have a generally triangular shape layout, there are one rise and fall fore-body
Frame, the tire on the undercarriage are steerable front wheel, and there are two undercarriages for waist, are symmetrically distributed at left and right sides of fuselage,
Tire can not turn on undercarriage.The sliding lateral distance deviation run correction as correction unmanned plane and generated in the process in sliding race
With side velocity deviation, so that unmanned plane is slided along runway centerline and run.The unmanned plane rollover is that unmanned plane side tire leaves
Ground, unmanned plane body and ground collide contact.
Wherein, sliding race state chooses running speed and front wheel angle.Then when sliding race turns to, according to running speed and front-wheel
Corner resolves the deflection angle of elevator and aileron, controls elevator and aileron movement accordingly, to generate aerodynamic moment, balance
Rollover torque during correction makes body posture held stationary, increases the sliding of unmanned plane and runs stability, while can also increase
Front-wheel is to the pressure on ground, to improve steering efficiency.
Rule is specifically controlled based on above-mentioned resolving is：
When unmanned plane running speed is in small velocity interval, and front wheel angle is low-angle, determines that unmanned plane is endangered without rollover
Danger；At this time：Elevator forward direction wide-angle deflection forms nose-down pitching moment, increases pressure of the front-wheel to ground, improves front-wheel steer effect
Rate；Aileron small angle deflection, reduction resistance are conducive to unmanned plane and reach takeoff speed as early as possible.
When unmanned plane running speed is in small velocity interval, and front wheel angle is wide-angle, and it is smaller to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator negative sense small angle deflection, aileron small angle deflection form resultant force away from balance unmanned plane is subject to
Rollover torque.
When unmanned plane running speed is in big velocity interval, and front wheel angle is low-angle, and it is smaller to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator forward direction small angle deflection, aileron wide-angle deflection form larger resistance and reduce unmanned plane
Side velocity, while generating the rollover torque that larger rolling moment balance unmanned plane is subject to.
When unmanned plane running speed is in big velocity interval, and front wheel angle is wide-angle, and it is larger to determine that unmanned plane has
Rollover is dangerous；At this time：Elevator negative sense wide-angle deflection, aileron wide-angle deflection, forming larger resultant moment prevents unmanned plane
Rollover.The deflection of elevator is limited in the process, avoid because elevator angle spend it is big caused by unmanned plane from
Ground；
Wherein, the positive deflection of the elevator deflects down for elevator, forms aerodynamic moment of bowing；The elevator
Negative sense be deflected to elevator and upward deflect, form new line aerodynamic moment；In front wheel angle, elevator and aileron movement angle
Wide-angle and low-angle are judged all in accordance with respective threshold value.
In the preferred embodiment, the deflection angle of elevator and aileron is resolved using fuzzy controller, it is this fuzzy
Expression further increases the accuracy of calculation result.
Establishing fuzzy control rule table according to the control rule is：
Wherein, NB, NM, NS, ZO, PS, PM, PB be respectively it is negative big, negative in, bear small, intermediate value, be just small, is center, honest.
According to the fuzzy control rule table, membership function is designed；Wherein triangle and Normal Type is selected to be combined
Membership function, adjustment fuzzy subset obtain the degree of membership that convergence is good, response is fast in the position of entire domain and coverage area
Function；According to membership function the fuzzy control rule of aileron and elevator is obtained using gravity model appoach as ambiguity solution algorithm
Face.The sliding augmentation control run in steering procedure is carried out using the fuzzy control rule face.
Above-mentioned fuzzy control uses fuzzy controller, and the input of fuzzy controller is unmanned plane running speed and front-wheel steer
Angle, the output obtained by fuzzy logic and ambiguity solution are the deflection angles of unmanned plane elevator and aileron.Described obscure is patrolled
It is the control rule made by expertise to collect rule.The fuzzy subset is that big domain is divided into each obscure
Collection.The membership function is used for indicating that subjection degree of a certain element to certain fuzzy subset, triangle and normal state shape are then used for
Membership function equation is described.The gravity model appoach ambiguity solution is to consider that all non-zeros are subordinate to weighted mean method come ambiguity solution
The information for spending point is weighted by degree of membership averagely, to realize ambiguity solution.
It slides race augmentation control process to unmanned plane below to describe, for turning to correction to the right, in different sliding races
Under the conditions of speed and front wheel steering angle, the sliding augmentation control strategy that runs of unmanned plane is：
1, unmanned plane running speed is relatively low, when 1 corner of front-wheel is smaller, the risk that unmanned plane is not turned on one's side at this time, in order to increase
Add the pressure between unmanned plane steering front wheel and ground, at this time the positive wide-angle deflection of elevator 6, i.e. 6 downward big angle of elevator
Degree deflection, the nose-down pitching moment of generation can increase the pressure between unmanned plane front-wheel 1 and ground, and which adds turning for unmanned plane
To efficiency.Due to there is no rollover risk, aileron 4,5 not to deflect or carry out positive very little angular deflection (4 downward bias of port aileron
Turn, starboard aileron 5 upward deflects), the resistance that unmanned plane is subject to is minimized, unmanned plane is made to reach takeoff speed as early as possible.
2, unmanned plane running speed is relatively low, and when 1 corner of front-wheel is larger, unmanned plane is by smaller rollover torque, tool at this time
There are the smaller risk that front is turned on one's side to the left, 6 negative sense small angle deflection of elevator, i.e. 6 upward small angle deflection of elevator, aileron
4,5 positive small angle deflection, i.e. port aileron 4 deflect down, and starboard aileron 5 upward deflects, and generation comes back pneumatic with rolling to the right
Torque, the rollover torque that balance unmanned plane is subject to, reduces the rollover risk of unmanned plane.
3, unmanned plane running speed is higher, and when 1 corner of front-wheel is smaller, unmanned plane has smaller front to the left to turn on one's side at this time
Risk, the positive small angle deflection of elevator 6, i.e. 6 downward small angle deflection of elevator generate nose-down pitching moment and increase unmanned plane steering
Efficiency, the positive wide-angle deflection of aileron 4,5, i.e. 4 downward wide-angle deflection of port aileron, 5 upward wide-angle deflection of starboard aileron generate
Larger right rolling moment, the left side-turning torque that balance unmanned plane is subject to, while larger resistance can also be generated and reduce nobody
The side velocity of machine.
4, unmanned plane running speed is higher, and when 1 corner of front-wheel is larger, ground force larger suffered by unmanned plane can make nothing at this time
The man-machine generation trend that front is turned on one's side to the left, unmanned plane, which will present, bows and left roll attitude, and rollover risk is larger, lifts at this time
6 negative sense wide-angle deflection of rudder, i.e. 6 upward wide-angle deflection of elevator, aileron forward direction wide-angle deflection, i.e. port aileron 4 are big downwards
Angular deflection, 5 upward wide-angle deflection of starboard aileron form larger new line and right rolling aerodynamic moment, balance unmanned plane by
Rollover torque, make UAV Attitude held stationary.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (2)
1. a kind of small drone, which is slided, runs augmentation control method, it is applied to the small drone of tricycle landing gear layout；Its
It is characterized in that, in unmanned plane is slided and runs steering procedure, advancing slip race state is worked as according to unmanned plane, control generates aerodynamic moment, balance
Rollover torque in steering procedure suffered by unmanned plane；
Described to work as advancing slip race state according to unmanned plane, control generates aerodynamic moment and is：
According to running speed and front wheel angle, the deflection angle of elevator and aileron is resolved, elevator is controlled accordingly and aileron is inclined
Turn, to generate aerodynamic moment；
When the deflection angle for resolving elevator and aileron, the control rule of foundation is：
When unmanned plane running speed is in small velocity interval, and front wheel angle is low-angle, determines that unmanned plane is dangerous without rollover；This
When：Elevator forward direction wide-angle deflection, aileron small angle deflection；
When unmanned plane running speed is in small velocity interval, and front wheel angle is wide-angle, determines that unmanned plane has smaller rollover
It is dangerous；At this time：Elevator negative sense small angle deflection, aileron small angle deflection；
When unmanned plane running speed is in big velocity interval, and front wheel angle is low-angle, determines that unmanned plane has smaller rollover
It is dangerous；At this time：Elevator forward direction small angle deflection, aileron wide-angle deflection；
When unmanned plane running speed is in big velocity interval, and front wheel angle is wide-angle, determines that unmanned plane has larger rollover
It is dangerous；At this time：Elevator negative sense wide-angle deflection, aileron wide-angle deflection；
Wherein, the positive deflection of the elevator deflects down for elevator, forms aerodynamic moment of bowing；The elevator is born
It is upward deflected to elevator is deflected to, forms new line aerodynamic moment；Big angle in front wheel angle, elevator and aileron movement angle
Degree and low-angle are judged all in accordance with respective threshold value.
2. the method as described in claim 1, which is characterized in that resolve the deflection angle of elevator and aileron using fuzzy controller
Degree, specifically includes：
Establishing fuzzy control rule table according to the control rule is：
Wherein, NB, NM, NS, ZO, PS, PM, PB be respectively it is negative big, negative in, bear small, intermediate value, be just small, is center, honest；
According to the fuzzy control rule table, membership function is designed；What wherein selection triangle and Normal Type were combined is subordinate to
Function is spent, adjustment fuzzy subset meets the requirements in the position of entire domain and coverage area, acquisition convergence and response speed
Membership function；According to membership function the fuzzy control of aileron and elevator is obtained using gravity model appoach as ambiguity solution algorithm
Regular face；Aerodynamic moment is generated using fuzzy control rule face control aileron and lifting rudder kick, realization is sliding to run steering procedure
In augmentation control.
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| CN108205321B (en) * | 2017-12-20 | 2021-05-25 | 成都纵横自动化技术股份有限公司 | Deviation rectifying control method for sliding and related device |
| CN110398977A (en) * | 2018-04-25 | 2019-11-01 | 成都飞机工业（集团）有限责任公司 | A kind of unmanned plane aileron deceleration system and method |
| CN110554703A (en) * | 2018-06-04 | 2019-12-10 | 百度在线网络技术（北京）有限公司 | Unmanned aerial vehicle flight attitude adjusting method and device and storage medium |
| CN115129084A (en) * | 2022-07-21 | 2022-09-30 | 成都飞机工业（集团）有限责任公司 | Large-lateral-deviation landing deviation-correcting control method for flying wing layout unmanned aerial vehicle |
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