CN106647802A - Vertical take-off unmanned aerial vehicle auxiliary take-off system - Google Patents
Vertical take-off unmanned aerial vehicle auxiliary take-off system Download PDFInfo
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- CN106647802A CN106647802A CN201611048866.5A CN201611048866A CN106647802A CN 106647802 A CN106647802 A CN 106647802A CN 201611048866 A CN201611048866 A CN 201611048866A CN 106647802 A CN106647802 A CN 106647802A
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- unmanned plane
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 16
- 230000000052 comparative effect Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- MZZBPDKVEFVLFF-UHFFFAOYSA-N cyanazine Chemical compound CCNC1=NC(Cl)=NC(NC(C)(C)C#N)=N1 MZZBPDKVEFVLFF-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a vertical take-off unmanned aerial vehicle auxiliary take-off system. A vertical speed threshold, an accelerator and time proportionality coefficient and the hovering height after successful take-off of an unmanned aerial vehicle are stored in a storage unit, an acquisition unit can acquire the vertical speed of the unmanned aerial vehicle, a comparison unit can compare the vertical speed with the threshold, and a micro-control unit controls rotary wings producing lifting force to be started according to a take-off signal, controls the accelerator to proportionally increase along with time according to the proportionality coefficient and controls stop of increasing of the accelerator according to the comparison result of the comparison unit so that the unmanned aerial vehicle is enabled to rapidly acquire the vertical speed to leave the ground in a short period of time. Therefore, the unmanned aerial vehicle is enabled to rapidly and safely take off in the severe environment, and side slipping and side turning can be avoided when the unmanned aerial vehicle leaves the ground by application of the vertical take-off unmanned aerial vehicle auxiliary take-off system so that operation of the unmanned aerial vehicle is enabled easier.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, and in particular to one kind takes off vertically unmanned plane assisted takeoff system.
Background technology
In recent years, the market of unmanned plane is flourished, and application is also more and more extensive.Whether agricultural plant protection, electric power
Patrol and examine, forest fire protection or SAR at Sea, unmanned plane product is used widely in numerous traditional industries.
And in the routine use of unmanned plane product, be frequently encountered the bad environments that take off, such as ground out-of-flatness or
Situations such as face wind speed is larger so that take off difficulty or take off unsuccessfully, greatly limit the application scenarios of unmanned plane product
And the market space.
The unmanned plane product of the overwhelming majority provides the operator scheme of two kinds of main flows in Vehicles Collected from Market：Remote control is manually and ground
Stand automatically.
Manual mode depends on the personal operation of winged hand, and the input signal of remote control directly determines airplane throttle
Size, it is manually operated to need at short notice to one very big throttle of aircraft in take-off process, so easily cause behaviour by mistake
Make, be also come throttle has been given little and then cannot have been taken off, in the feelings that ground is uneven according to the experience level for flying hand itself to how many throttles
Under condition, aircraft be also easy to occur rollover or break away etc. unsafe condition, if throttle give it is excessive, then after taking off, need volume
Outer operation easily causes aircraft altitude and acutely rises and falls up and down or even straight allowing airplane throttle and height to revert to normal level
Aircraft takeoffs and landings part is contiguously caused to damage.
And more popular in the market is automatic mode, the automatic mode gives plane reservation one Desired Height, then by
Opening the throttle until aircraft leaves ground gradually, this kind of method is just starting to start the process for also not leaving ground of throttle
In, easily there is the unsafe condition such as sideslip or rollover.Therefore, be generally adopted by allowing winged hand allow manually take off after cut again
Change into and automatically control, and manual mode there is also some problems described in leading portion, and automatic mode is essentially semiautomatic-mode.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that is provided one kind and is enabled to unmanned plane severe
Environment in fast and safely take off, can avoid unmanned plane occur when ground is left break away, rollover take off vertically nobody
Machine assisted takeoff system.
The unmanned plane assisted takeoff system the invention provides one kind takes off vertically, it is characterised in that include：Control unit, bag
Contain：For setting the setup unit of control signal and for sending the first communication unit of signal and control signal of taking off；With
And flight control unit, comprising：Memory cell is connected with the pitot on unmanned plane for the vertical direction for gathering unmanned plane
Vertically the collecting unit of speed, comparing unit, micro control unit and be connected with the first communication unit communication and for receive and
Second communication unit of the number of delivering letters, wherein, memory cell be stored with vertical speed threshold value, throttle and time proportionality coefficient,
Unmanned plane successfully take off after hovering height, comparing unit be used for vertical speed is compared with the threshold value, compared
As a result, micro control unit is used for according to signal is taken off and control signal control unmanned plane taking off and flying, in takeoff phase, micro-control
Unit does not perform the control signal that the control unit sends, and micro control unit is opened according to the rotary wings that signal control of taking off produces lift
It is dynamic, and over time direct proportion increases to control throttle according to proportionality coefficient, and throttle stopping is controlled with the time according to comparative result
Direct proportion increases, control unmanned plane hovering, terminates takeoff phase, and then, micro control unit controls unmanned plane and flies according to control signal
OK.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, comparative result is included：Vertically speed is more than or equal to threshold value, and vertically speed is less than threshold value, when comparative result is institute
When stating vertical speed less than threshold value, micro control unit controls throttle to be increased with time direct proportion；When comparative result is that vertical speed is big
When equal to threshold value, micro control unit control throttle stops increasing with time direct proportion.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, the motor of rotary wings is connected with electronic speed controller, and throttle high low signal is sent to electronics speed by micro control unit
Degree controller, rotating speed of the electronic speed controller according to the motor of the throttle high low signal control rotary wings for receiving.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, in takeoff phase control unit only as switch.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, control unit is remote control or earth station, and when control unit is remote control, throttle of the setup unit comprising remote control is grasped
Make bar.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, when control unit is remote control, in takeoff phase, when the throttle operation bar by the control unit pushes more than 60%
When, remote control to flight control system sends control signal of taking off, if it is not, remote control does not send the signal that takes off.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, when control unit is remote control, after vertical speed is more than or equal to threshold value, before unmanned plane hovering, by throttle operation bar
Push at 50%.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, when control unit is earth station, micro control unit control unmanned plane flies at hovering height and hovers.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, memory cell is additionally operable to store the desired value of throttle.
Further, take off vertically in unmanned plane assisted takeoff system what the present invention was provided, there can also be such spy
Levy：Wherein, after vertical speed is more than or equal to threshold value, before unmanned plane hovering, throttle is calculated according to following methods:
thrustint=thrustsum-P*|VZ|
Wherein, thrustintFor throttle integration amount, thrustsumTo increase the throttle desired value for obtaining, P linearly over time
When controlling unmanned plane during flying for control unit, the proportionality coefficient of flight control unit control, | VZ| for the absolute value of vertical direction speed.
The invention provides following advantage：
According to the unmanned plane assisted takeoff system that takes off vertically involved in the present invention, the vertically speed because memory cell is stored with
The threshold value of degree, the proportionality coefficient of throttle and time, unmanned plane successfully take off after hovering height, collecting unit can gather nobody
The vertical speed of machine, comparing unit can be compared vertical speed and threshold value, and micro control unit is produced according to signal control of taking off
The rotary wings of raw lift start, and over time direct proportion increases to control throttle according to the proportionality coefficient, and according to comparing unit
Comparative result control throttle whether stop increasing so that unmanned plane can rapidly obtain a speed straight up,
Ground is left at short notice, so, the unmanned plane assisted takeoff system that takes off vertically of the present invention enables to unmanned plane and is disliking
Fast and safely take off and can avoid unmanned plane to occur breakking away when ground is left, turn on one's side in bad environment so that unmanned plane
It is easier to operate to.
Description of the drawings
Fig. 1 is the structural representation of unmanned plane assisted takeoff system of taking off vertically in embodiments of the invention；
Fig. 2 is the flow chart that the unmanned plane Assisted Take Off that takes off vertically is manipulated in embodiments of the invention；
Throttle desired value-time plot when Fig. 3 is manual mode in embodiments of the invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, it is real below
Apply example combine accompanying drawing to the present invention the unmanned plane assisted takeoff system that takes off vertically be specifically addressed.
As shown in figure 1, the unmanned plane assisted takeoff system 100 that takes off vertically is included：Control unit 10 and flight control unit 20.
Control unit 10 is used to control unmanned plane during flying, and control unit 10 is remote control or earth station.Control unit 10 is included：Setting
The communication unit 12 of unit 11 and first.
Setup unit 11 is used to set control signal.Control signal is included：Mode, throttle that each rotary wings of unmanned plane start
Size etc., for controlling speed, hovering, the underriding etc. of unmanned plane during flying.First communication unit 12 is used for and flight control unit
20 communication connections, to unmanned plane take off signal and control signal are sent.
Flight control unit 20 is used for the operation of the motor for controlling unmanned plane, and flight control unit 20 is arranged on the fuselage of unmanned plane
Interior, flight control unit 20 is included：Collecting unit 21, memory cell 22, comparing unit 23, the communication unit of micro control unit 24 and second
25。
First communication unit 14 is communicated to connect with the second communication unit 25, and control unit 10 and flight control unit 20 pass through first
The communication unit 23 of communication unit 14 and second realizes the mutual transmission of signal.
Collecting unit 21 is connected with the pitot of unmanned plane, for gathering the vertical speed of unmanned plane vertical direction.
Memory cell 22 is used for the proportionality coefficient and unmanned plane of threshold value, throttle and the time for storing vertical speed and successfully takes off
Hovering height afterwards.
Throttle is adjusted from the proportionality coefficient of time according to different types.
The vertical speed that comparing unit 23 is used to gather collecting unit 21 stores the vertical speed of storage with memory cell 22
Threshold value is compared and obtains comparative result.Comparative result includes two kinds of situations：Vertically speed is more than or equal to threshold value, and vertically speed
Degree is less than threshold value.In signal transmission, vertical speed can be made to be " 0 " more than or equal to threshold value, vertical speed is less than threshold value
“1”。
Micro control unit 24 is used for according to taking off signal and control signal control unmanned plane taking off and flies.
Flight control unit 20 is connected with electronic speed controller, and the motor of rotary wings is connected with electronic speed controller
Connect, throttle high low signal is sent to electronic speed controller by micro control unit 24, and electronic speed controller is according to the throttle for receiving
The rotating speed of the motor of high low signal control rotary wings.
Control unit 10 to flight control unit 20 sends the signal that takes off, into takeoff phase, in takeoff phase micro control unit 24
Do not perform control unit 10 transmission control signal, micro control unit 24 control produce lift rotary wings start, and according to throttle with
Over time direct proportion increases the proportionality coefficient control throttle of time, and whether judges throttle according to the comparative result of comparing unit
Continue to increase with time direct proportion, be " 1 " when micro control unit 24 receives the signal of comparing unit transmission, i.e., vertical speed is less than
During threshold value, throttle continues to increase with time direct proportion, when the signal that micro control unit 24 receives comparing unit transmission is " 0 ", i.e.,
When vertically speed is more than or equal to threshold value, throttle stops increasing, the control unmanned plane hovering of micro control unit 24, terminates takeoff phase, so
Afterwards, micro control unit 24 controls unmanned plane during flying according to the control signal that control unit 10 sends.
Flow process as shown in Fig. 2 operation is taken off vertically during unmanned plane flip-over type Assisted Take Off is as follows：
Step S1, unlocks unmanned plane, makes unmanned plane in idling mode, and unmanned plane enters takeoff phase, according to control unit
Type send to unmanned plane and take off control signal.
Step S1-1, when control unit is remote control, during from manual mode, the throttle operation bar on remote control is pushed
More than 60% position, remote control sends the signal that takes off to unmanned plane.Throttle operation bar on takeoff phase, remote control is not
Control unmanned plane throttle size, only uses as switch, and only whether the control signal that takes off sends, i.e., when throttle operation bar is less than
60% position, does not send the signal that takes off, and the position higher than more than 60% sends the signal that takes off.The size of throttle is by microcontroller list
Unit's control.
Step S1-2, when control unit is earth station, when from automatic mode, earth station directly transmits the signal that takes off.
Takeoff phase, earth station does not control unmanned plane throttle size, only uses as switch, and only whether the control signal that takes off sends.Oil
The size of door is by micro-control unit controls.
Step S2, flight control unit control unmanned plane produce lift rotary wings rotate, control unmanned plane throttle with
Time becomes larger, wherein, as shown in figure 3, the desired value (size of throttle) of throttle and time proportional.
Wherein, making a concerted effort only in vertical direction, the component without horizontal direction produced by the rotary wings of lift is produced.I.e. when
When not having wind, the speed of unmanned plane horizontal direction is 0 relative to ground, and when there is wind, unmanned plane is affected in level side by wind-force
To having certain speed.
Step S3, comparing unit is compared the vertical speed of the vertical direction of unmanned plane with threshold value, if vertically speed
Degree is less than threshold value, then micro control unit control throttle continues to increase with the time, and otherwise, control throttle stops increasing with time direct proportion
Plus, into next step.Memory cell is stored the size of throttle now.
Wherein, when unmanned plane is in takeoff phase, unmanned plane is not received except any control of control signal of taking off is believed
Number.
Step S4, unmanned plane hovering, into mission phase, unmanned plane flies according to flight control signal.
When control unit is remote control, during from manual mode, after vertical speed is more than or equal to threshold value, unmanned plane hovering
Before, throttle operation bar is pushed at 50%.When i.e. operator observes that unmanned plane no longer rises rapidly, throttle operation bar is retracted
50% position, when the speed of unmanned plane vertical direction is reduced to 0, you can keep this height to hover.
When control unit is earth station, during from automatic mode, the control unmanned plane of micro control unit 24 flies to memory cell storage
Hovering highly locate hovering.
It is to ensure that throttle and vertical speed keep continuous before unmanned plane hovering after vertical speed is more than or equal to threshold value, it is micro-
Control unit 24 is controlled according to following computational methods to the size of throttle:
thrustint=thrustsum-P*|VZ|
Wherein, thrustintFor throttle integration amount, thrustsumTo increase the throttle desired value for obtaining, P linearly over time
When controlling unmanned plane during flying for control unit, the proportionality coefficient of flight control unit control, | VZ| for the absolute value of vertical direction speed.
After vertical speed is more than or equal to threshold value, throttle begins to respond to the control of remote control, now because inertia is vertically fast
Degree continues to increase, and the maximum of vertical speed increase is about the threshold value of the vertical speed of twice, and then vertical speed starts to reduce,
Until the control of totally linearization remote control.
Vzmax=2*Vlimit
Wherein, VzmaxFor the velocity amplitude of vertical direction, VlimitFor the threshold value of vertical speed.
Unmanned plane enters mission phase, according to the flight control signal flight that control unit 10 sends.
In mission phase, when remote control control unmanned plane during flying, throttle operation bar hangs in 50% position, then unmanned plane
Stop, fly upwards higher than 50% unmanned plane, fly downwards less than 50% unmanned plane.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (10)
1. one kind takes off vertically unmanned plane assisted takeoff system, it is characterised in that include：
Control unit, comprising：For set control signal setup unit and for sending take off signal and control signal the
One communication unit；And
Flight control unit, comprising：Memory cell is connected for the vertical direction for gathering unmanned plane with the pitot on unmanned plane
The collecting unit of vertical speed, comparing unit, micro control unit and be connected and for connecing with first communication unit communication
The second communication unit with sending signal is received,
Wherein, the be stored with proportionality coefficient of threshold value, throttle and the time of vertical speed, unmanned plane of the memory cell successfully takes off
Hovering height afterwards,
The comparing unit is used to be compared the vertical speed and the threshold value, obtains comparative result,
The micro control unit is used to take off signal and control signal control unmanned plane taking off and flies according to described,
In takeoff phase, the micro control unit does not perform the control signal that the control unit sends, and the micro control unit is according to institute
The rotary wings startup that signal control of taking off produces lift is stated, and over time direct proportion increases to control throttle according to the proportionality coefficient
Plus, and stop increasing with time direct proportion according to comparative result control throttle, control unmanned plane hovering terminates rank of taking off
Section, then, the micro control unit controls unmanned plane during flying according to the control signal.
2. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
The comparative result is included：The vertical speed is more than or equal to the threshold value, and the vertical speed is less than the threshold
Value,
When the comparative result is that the vertical speed is less than the threshold value, the micro control unit controls the throttle with the time
Direct proportion increases；
When the comparative result is that the vertical speed is more than or equal to the threshold value, the micro control unit controls the throttle and stops
Only increase with time direct proportion.
3. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
The motor of the rotary wings is connected with electronic speed controller, and throttle high low signal is sent to institute by the micro control unit
Electronic speed controller is stated, the electronic speed controller controls the motor of the rotary wings according to the throttle high low signal for receiving
Rotating speed.
4. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
In control unit described in takeoff phase only as switch.
5. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
The control unit is remote control or earth station, and when the control unit is remote control, the setup unit includes remote control
Throttle operation bar.
6. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
It is distant when the throttle operation bar by the control unit pushes more than 60% in takeoff phase when control unit is remote control
Control device to flight control system sends control signal of taking off, if it is not, remote control does not send the signal that takes off.
7. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
When control unit is remote control, after the vertical speed is more than or equal to the threshold value, before unmanned plane hovering, throttle is grasped
Push at 50% as bar.
8. the unmanned plane assisted takeoff system that takes off vertically according to claim 1, it is characterised in that：
When control unit is earth station, the micro control unit control unmanned plane flies at the hovering height and hovers.
9. the unmanned plane assisted takeoff system that takes off vertically according to any claim in claim 1-8, its feature exists
In：
The memory cell is additionally operable to store the desired value of throttle.
10. the unmanned plane assisted takeoff system that takes off vertically according to claim 9, it is characterised in that：
After the vertical speed is more than or equal to the threshold value, before unmanned plane hovering, the throttle is calculated according to following methods:
thrustint=thrustsum-P*|VZ|
Wherein, thrustintFor throttle integration amount；thrustsumTo increase the throttle desired value for obtaining linearly over time；P is control
During control unmanned plane during flying in portion's processed, the proportionality coefficient of flight control unit control；|VZ| for the absolute value of vertical direction speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048866.5A CN106647802B (en) | 2016-11-23 | 2016-11-23 | Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611048866.5A CN106647802B (en) | 2016-11-23 | 2016-11-23 | Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN106647802A true CN106647802A (en) | 2017-05-10 |
| CN106647802B CN106647802B (en) | 2020-04-24 |
Family
ID=58811225
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|---|---|---|---|
| CN201611048866.5A Active CN106647802B (en) | 2016-11-23 | 2016-11-23 | Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle |
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| CN111427380A (en) * | 2020-06-15 | 2020-07-17 | 仿翼(北京)科技有限公司 | Aircraft, control method of aircraft, and controller |
| CN111427372A (en) * | 2020-03-03 | 2020-07-17 | 深圳蚁石科技有限公司 | Anti-reverse repeated oscillation method for aircraft |
| CN111427376A (en) * | 2020-04-02 | 2020-07-17 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle take-off method and device, storage medium, automatic pilot and unmanned aerial vehicle |
| CN111498123A (en) * | 2020-04-15 | 2020-08-07 | 中国航空工业集团公司西安飞机设计研究所 | Method for determining speed of accelerator rod push rod |
| CN111766896A (en) * | 2020-07-10 | 2020-10-13 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle control method and system based on movable base |
| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN112416014B (en) * | 2019-08-23 | 2024-03-08 | 杭州海康威视数字技术股份有限公司 | Flight control method and device of multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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| CN111498123A (en) * | 2020-04-15 | 2020-08-07 | 中国航空工业集团公司西安飞机设计研究所 | Method for determining speed of accelerator rod push rod |
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| CN111766896A (en) * | 2020-07-10 | 2020-10-13 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle control method and system based on movable base |
| CN111766896B (en) * | 2020-07-10 | 2023-12-29 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle control method and system based on movable base |
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|---|---|
| CN106647802B (en) | 2020-04-24 |
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