CN106647802B - Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle - Google Patents
Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an auxiliary takeoff system of a vertical takeoff unmanned aerial vehicle, which can enable the unmanned aerial vehicle to rapidly and safely take off in a severe environment and avoid sideslip and sideslip when the unmanned aerial vehicle leaves the ground, because a storage unit stores a threshold value of vertical speed, a proportional coefficient of an accelerator and time and a hovering height of the unmanned aerial vehicle after the unmanned aerial vehicle successfully takes off, an acquisition unit can acquire the vertical speed of the unmanned aerial vehicle, a comparison unit can compare the vertical speed with the threshold value, a micro control unit controls a rotary wing generating lift force to start according to a takeoff signal, the accelerator is controlled to be proportionally increased along with the time according to the proportional coefficient, and whether the accelerator stops increasing or not is controlled according to a comparison result of the comparison unit, so that the unmanned aerial vehicle can rapidly obtain a vertically upward speed and leave the ground in a short time Rollover, so that the unmanned aerial vehicle is easier to operate.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an auxiliary takeoff system of a vertical takeoff unmanned aerial vehicle.
Background
In recent years, the market of unmanned aerial vehicles is developed vigorously, and the application field is more and more extensive. No matter agricultural plant protection, electric power inspection, forest fire prevention or maritime search and rescue, unmanned aerial vehicle products have been widely used in many traditional industries.
In the daily use of the unmanned aerial vehicle product, the takeoff environment is severe, such as uneven ground or high ground wind speed, so that the takeoff of the aircraft is difficult or fails, and the application scene and the market space of the unmanned aerial vehicle product are greatly limited.
The vast majority of unmanned aerial vehicle products in the current market offer two mainstream modes of operation: remote control manual and ground station automatic.
The manual mode mainly depends on the personal operation of a flying hand, the input signal of a remote controller directly determines the size of an aircraft accelerator, in the takeoff process, the manual operation needs to provide a very large accelerator for the aircraft in a short time, so that misoperation is easily caused, the number of the given accelerators is also determined according to the experience level of the flying hand, the aircraft cannot take off when the given accelerators are small, the aircraft is also easily subjected to dangerous conditions such as rollover or sideslip under the condition of uneven ground, if the given accelerators are too large, the aircraft accelerator and the height return to the normal level by additional operation after takeoff, and the damage to the landing part of the aircraft caused by severe fluctuation of the aircraft height and even direct touchdown is easily caused.
While the automatic mode, which is popular in the market and gives the aircraft a desired altitude, and then gradually increases the throttle until the aircraft leaves the ground, is prone to dangerous situations such as sideslip or rollover during the process of not leaving the ground just before starting the throttle. Therefore, it is generally adopted to let the flying hand manually take off the airplane and then switch to automatic control, and the manual mode also has some problems described in the previous paragraph, and the automatic mode is substantially a semi-automatic mode.
Disclosure of Invention
The invention aims to solve the problems and provides an auxiliary takeoff system of a vertical takeoff unmanned aerial vehicle, which can enable the unmanned aerial vehicle to take off quickly and safely in a severe environment and can avoid sideslip and side rollover of the unmanned aerial vehicle when the unmanned aerial vehicle leaves the ground.
The invention provides an auxiliary takeoff system of a vertical takeoff unmanned aerial vehicle, which is characterized by comprising the following components: a control unit including: the device comprises a setting unit for setting a control signal and a first communication unit for sending a takeoff signal and the control signal; and a flight control unit including: the device comprises a storage unit, a collecting unit, a comparing unit, a micro-control unit and a second communication unit, wherein the collecting unit is connected with an airspeed head on the unmanned aerial vehicle and used for collecting the vertical speed of the unmanned aerial vehicle in the vertical direction, the comparing unit is in communication connection with the first communication unit and used for receiving and sending signals, the storage unit stores a threshold value of the vertical speed, a proportional coefficient of an accelerator and time and a hovering height of the unmanned aerial vehicle after the unmanned aerial vehicle successfully takes off, the comparing unit is used for comparing the vertical speed with the threshold value to obtain a comparison result, the micro-control unit is used for controlling take-off and flying of the unmanned aerial vehicle according to a take-off signal and a control signal, in a take-off stage, the micro-control unit does not execute the control signal sent by the control part, the micro-control unit controls a rotary wing generating lift force to start according to the take-off signal, and controlling the unmanned aerial vehicle to hover, finishing the takeoff stage, and then controlling the unmanned aerial vehicle to fly by the micro-control unit according to the control signal.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: wherein the comparison result comprises: the vertical speed is greater than or equal to a threshold value, and the vertical speed is smaller than the threshold value, and when the comparison result shows that the vertical speed is smaller than the threshold value, the micro-control unit controls the accelerator to be increased in proportion along with time; and when the comparison result shows that the vertical speed is greater than or equal to the threshold value, the micro-control unit controls the accelerator to stop increasing in proportion with the time.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: the motor of the rotary wing is connected with the electronic speed controller, the micro-control unit sends an accelerator size signal to the electronic speed controller, and the electronic speed controller controls the rotating speed of the motor of the rotary wing according to the received accelerator size signal.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: wherein the control part only serves as a switch in the takeoff phase.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: wherein, the control part is a remote controller or a ground station, and when the control part is the remote controller, the setting unit comprises an accelerator operating lever of the remote controller.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: when the control part is a remote controller, in a takeoff phase, when the accelerator operating lever of the control part is pushed to be more than 60%, the remote controller sends a takeoff control signal to the flight control system, and if the control part is not the remote controller, the remote controller does not send the takeoff signal.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: when the control part is a remote controller, after the vertical speed is greater than or equal to the threshold value, the unmanned aerial vehicle is hovered, and the accelerator operating lever is dialed to 50%.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: when the control part is a ground station, the micro control unit controls the unmanned aerial vehicle to fly to the hovering height for hovering.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: wherein the storage unit is also used for storing the expected value of the throttle.
Further, in the vertical take-off unmanned aerial vehicle assisted take-off system provided by the invention, the system can also have the following characteristics: after the vertical speed is greater than or equal to the threshold value and before the unmanned aerial vehicle hovers, the accelerator is calculated according to the following method:
thrustint＝thrustsum-P*|VZ|
among them, irustintThrottle integral, throttlesumP is a proportionality coefficient, | V, controlled by a flight control part when the control part controls the unmanned aerial vehicle to fly in order to obtain an accelerator expected value linearly increasing along with timeZAnd | is the absolute value of the velocity in the vertical direction.
The present invention provides the following advantages:
according to the auxiliary takeoff system of the vertical takeoff unmanned aerial vehicle, the storage unit stores the threshold value of the vertical speed, the proportional coefficient of the accelerator and the time and the hovering height of the unmanned aerial vehicle after the unmanned aerial vehicle successfully takes off, the acquisition unit can acquire the vertical speed of the unmanned aerial vehicle, the comparison unit can compare the vertical speed with the threshold value, the micro control unit controls the rotary wing generating the lift force to be started according to the takeoff signal, the accelerator is controlled to be increased in a positive proportion along with the time according to the proportional coefficient, and whether the accelerator is stopped to be increased or not is controlled according to the comparison result of the comparison unit, so that the unmanned aerial vehicle can rapidly obtain a vertically upward speed and leave the ground in a short time Rollover, so that the unmanned aerial vehicle is easier to operate.
Drawings
Fig. 1 is a schematic structural diagram of an auxiliary takeoff system of a vertical takeoff unmanned aerial vehicle in an embodiment of the invention;
fig. 2 is a flow chart of the auxiliary takeoff of the vertical takeoff unmanned aerial vehicle operated in the embodiment of the invention;
FIG. 3 is a graph of throttle desired value versus time for manual mode in an embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the following embodiments specifically describe the assisted take-off system of the vertical take-off unmanned aerial vehicle in combination with the attached drawings.
As shown in fig. 1, the vertical takeoff unmanned aerial vehicle assisted takeoff system 100 includes: a control unit 10 and a flight control unit 20.
The setting unit 11 is used for setting the control signal. The control signal includes: the starting mode of each rotary wing of the unmanned aerial vehicle, the size of an accelerator and the like are used for controlling the flying speed, hovering, diving and the like of the unmanned aerial vehicle. The first communication unit 12 is used for being in communication connection with the flight control unit 20 and sending a takeoff signal and a control signal to the unmanned aerial vehicle.
The first communication unit 12 is in communication connection with the second communication unit 25, and the control unit 10 and the flight control unit 20 realize mutual transmission of signals through the first communication unit 12 and the second communication unit 25.
The acquisition unit 21 is connected with the airspeed head of the unmanned aerial vehicle for acquire the vertical speed of the vertical direction of the unmanned aerial vehicle.
The storage unit 22 is used for storing a threshold value of the vertical speed, a proportional coefficient of the throttle and the time and a hovering height of the unmanned aerial vehicle after the unmanned aerial vehicle successfully takes off.
The proportional coefficient of the accelerator and the time is adjusted according to different models.
The comparing unit 23 is used for comparing the vertical speed acquired by the acquiring unit 21 with the threshold value of the vertical speed stored in the storage unit 22 to obtain a comparison result. The comparison results include two cases: the vertical speed is greater than or equal to a threshold value, and the vertical speed is less than the threshold value. In the signal transmission, the vertical speed may be made equal to or greater than the threshold value to be "0", and the vertical speed may be made equal to or less than the threshold value to be "1".
And the micro control unit 24 is used for controlling the takeoff and the flight of the unmanned aerial vehicle according to the takeoff signal and the control signal.
The flight control unit 20 is connected to an electronic speed controller, the motor of the rotary wing is connected to the electronic speed controller, and the micro control unit 24 transmits an accelerator size signal to the electronic speed controller, which controls the rotation speed of the motor of the rotary wing according to the received accelerator size signal.
The control part 10 sends a takeoff signal to the flight control part 20, enters a takeoff phase, the micro control unit 24 does not execute the control signal sent by the control part 10 in the takeoff phase, the micro control unit 24 controls the rotary wing generating the lift force to start, and controls the accelerator to increase proportionally with time according to the proportional coefficient of the accelerator and the time, and judges whether the accelerator continues to increase proportionally with time according to the comparison result of the comparison unit, when the micro-control unit 24 receives the signal sent by the comparison unit as '1', that is, when the vertical speed is less than the threshold value, the accelerator continues to increase proportionally with time, and when the micro-control unit 24 receives the signal sent by the comparing unit as "0", namely, when the vertical speed is more than or equal to the threshold value, the accelerator stops increasing, the micro-control unit 24 controls the unmanned aerial vehicle to hover, the takeoff stage is ended, then, the micro control unit 24 controls the flight of the unmanned aerial vehicle based on the control signal transmitted from the control unit 10.
As shown in fig. 2, the process of operating the vertical takeoff unmanned aerial vehicle for pop-up assisted takeoff is as follows:
and step S1, unlocking the unmanned aerial vehicle to enable the unmanned aerial vehicle to be in an idle state, enabling the unmanned aerial vehicle to enter a take-off stage, and sending a take-off control signal to the unmanned aerial vehicle according to the type of the control part.
And step S1-1, when the control part is a remote controller and a manual mode is selected, the accelerator operating lever on the remote controller is dialed to a position above 60%, and the remote controller sends a takeoff signal to the unmanned aerial vehicle. In the takeoff stage, the accelerator operating lever on the remote controller does not control the size of the accelerator of the unmanned aerial vehicle, only serves as a switch for use, and only controls whether the takeoff signal is sent or not, namely when the accelerator operating lever is lower than 60%, the takeoff signal is not sent, and when the accelerator operating lever is higher than 60%, the takeoff signal is sent. The size of the throttle is controlled by the micro-control unit.
And step S1-2, when the control part is a ground station and the automatic mode is selected, the ground station directly sends a takeoff signal. In the takeoff stage, the ground station does not control the size of the accelerator of the unmanned aerial vehicle, only serves as a switch for use, and only controls whether the takeoff signal is sent or not. The size of the throttle is controlled by the micro-control unit.
In step S2, the flight control unit controls the rotation of the rotor that generates lift force of the drone, and controls the accelerator of the drone to be gradually increased with time, wherein the expected value of the accelerator (the size of the accelerator) is in a direct proportional relationship with time, as shown in fig. 3.
The resultant force generated by the rotary wing generating the lift force is only in the vertical direction, and no component force in the horizontal direction exists. When there is not wind, the speed of unmanned aerial vehicle horizontal direction is 0 for ground, when there is wind, and unmanned aerial vehicle receives the influence of wind-force and has certain speed at the horizontal direction.
And step S3, the comparison unit compares the vertical speed of the unmanned aerial vehicle in the vertical direction with a threshold value, if the vertical speed is less than the threshold value, the micro control unit controls the accelerator to continuously increase along with the time, otherwise, the micro control unit controls the accelerator to stop increasing along with the time in a direct proportion, and the next step is carried out. The storage unit stores the size of the accelerator at this time.
Wherein, when the drone is in a takeoff phase, the drone does not receive any control signals other than the takeoff control signal.
And step S4, hovering the unmanned aerial vehicle, entering a flight phase, and flying the unmanned aerial vehicle according to the flight control signal.
When the control part is a remote controller and selects a manual mode, after the vertical speed is greater than or equal to the threshold value, the accelerator operating rod is dialed to 50% before the unmanned aerial vehicle hovers. When the operator observes that unmanned aerial vehicle no longer rises rapidly, pull back throttle action bars 50% position promptly, when the speed of unmanned aerial vehicle vertical direction drops to 0, can keep this height to hover.
When the control part is a ground station and an automatic mode is selected, the micro-control unit 24 controls the unmanned aerial vehicle to fly to the hovering height stored in the storage unit for hovering.
After the vertical speed is greater than or equal to the threshold value and before the unmanned aerial vehicle hovers, in order to ensure that the accelerator and the vertical speed are kept continuous, the micro-control unit 24 controls the size of the accelerator according to the following calculation method:
thrustint＝thrustsum-P*|VZ|
among them, irustintThrottle integral, throttlesumP is a proportionality coefficient, | V, controlled by a flight control part when the control part controls the unmanned aerial vehicle to fly in order to obtain an accelerator expected value linearly increasing along with timeZAnd | is the absolute value of the velocity in the vertical direction.
When the vertical speed is greater than or equal to the threshold value, the accelerator starts to respond to the control of the remote controller, at the moment, the vertical speed continues to increase due to inertia, the maximum value of the increase of the vertical speed is about twice of the threshold value of the vertical speed, and then the vertical speed starts to decrease until the control of the remote controller is completely responded.
Vzmax＝2*Vlimit
Wherein, VzmaxIs a velocity value in the vertical direction, VlimitIs the threshold value for vertical velocity.
The unmanned aerial vehicle enters a flight phase and flies according to the flight control signal sent by the control part 10.
In the flight phase, when the remote controller controlled the unmanned aerial vehicle to fly, the throttle action bars were in 50% position, then unmanned aerial vehicle hovered, was higher than 50% unmanned aerial vehicle and upwards flies, was less than 50% unmanned aerial vehicle and downwards flies.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (4)
1. The utility model provides a vertical take-off unmanned aerial vehicle assisted take-off system which characterized in that includes:
a control unit including: the device comprises a setting unit for setting a control signal and a first communication unit for sending a takeoff signal and the control signal; and
a flight control unit comprising: a storage unit, a collecting unit connected with an airspeed head on the unmanned aerial vehicle and used for collecting the vertical speed of the unmanned aerial vehicle in the vertical direction, a comparing unit, a micro-control unit and a second communication unit which is in communication connection with the first communication unit and used for receiving and sending signals,
the storage unit stores a threshold value of vertical speed, a proportional coefficient of an accelerator and time and a hovering height of the unmanned aerial vehicle after the unmanned aerial vehicle successfully takes off;
the comparison unit is used for comparing the vertical speed with the threshold value to obtain a comparison result,
the micro control unit is used for controlling the takeoff and the flight of the unmanned aerial vehicle according to the takeoff signal and the control signal,
in a takeoff phase, the micro control unit does not execute a control signal sent by the control part, the micro control unit controls a rotary wing generating lift force to start according to the takeoff signal, controls an accelerator to increase in proportion along with time according to the proportional coefficient, controls the accelerator to stop increasing in proportion along with time according to the comparison result, controls the unmanned aerial vehicle to hover, ends the takeoff phase, and then controls the unmanned aerial vehicle to fly according to the control signal;
the control part is a remote controller or a ground station, and when the control part is the remote controller, the setting unit comprises an accelerator operating lever of the remote controller;
when the control part is a remote controller, in a takeoff stage, when the accelerator operating lever of the control part is dialed to be more than 60%, the remote controller sends a takeoff control signal to the flight control system, and if not, the remote controller does not send the takeoff signal;
when the control part is a remote controller, after the vertical speed is greater than or equal to the threshold value and before the unmanned aerial vehicle hovers, the accelerator operating lever is dialed to 50%;
the comparison result comprises: the vertical speed is equal to or greater than the threshold value, and the vertical speed is less than the threshold value,
when the comparison result shows that the vertical speed is smaller than the threshold value, the micro-control unit controls the accelerator to increase proportionally with time;
when the comparison result shows that the vertical speed is greater than or equal to the threshold value, the micro-control unit controls the accelerator to stop increasing in proportion with time;
the storage unit is also used for storing the expected value of the accelerator;
after the vertical speed is greater than or equal to the threshold value and before the unmanned aerial vehicle hovers, the throttle is calculated according to the following method:
thrustint＝thrustsum-P*|VZ|
among them, irustintThe integral quantity of the accelerator is obtained; thrastsumThe throttle expected value is obtained by linear increase along with time;
p is a proportional coefficient controlled by the flight control part when the control part controls the unmanned aerial vehicle to fly; i VZAnd | is the absolute value of the velocity in the vertical direction.
2. The vertical take-off unmanned aerial vehicle assisted take-off system of claim 1, wherein:
the motor of the rotary wing is connected with an electronic speed controller, the micro-control unit sends an accelerator size signal to the electronic speed controller, and the electronic speed controller controls the rotating speed of the motor of the rotary wing according to the received accelerator size signal.
3. The vertical take-off unmanned aerial vehicle assisted take-off system of claim 1, wherein:
the control part only acts as a switch in the takeoff phase.
4. The vertical take-off unmanned aerial vehicle assisted take-off system of claim 1, wherein:
when the control part is a ground station, the micro control unit controls the unmanned aerial vehicle to fly to the hovering height for hovering.
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| 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 |
| 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 |
| CN111427376B (en) * | 2020-04-02 | 2024-05-24 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle take-off method and device, storage medium, autopilot and unmanned aerial vehicle |
| CN111498123B (en) * | 2020-04-15 | 2022-05-06 | 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 |
| CN111427380B (en) * | 2020-06-15 | 2020-10-16 | 仿翼(北京)科技有限公司 | Aircraft, control method of aircraft, and controller |
| 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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Denomination of invention: Auxiliary Takeoff System of VTO UAV Effective date of registration: 20210422 Granted publication date: 20200424 Pledgee: Nanning United Innovation Venture Capital Co.,Ltd. Pledgor: Guangxi Sheng Yao science and technology of aviations Co.,Ltd. Registration number: Y2021450000010 |
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Address after: 530007 floor 102, block B, building 8, No. 23, Chuangxin Road, high tech Zone, Nanning, Guangxi Zhuang Autonomous Region Patentee after: Guangxi Shengyao Intelligent Technology Co.,Ltd. Address before: 530007 No. 208, building 8, 23 innovation road, hi tech Zone, Nanning, the Guangxi Zhuang Autonomous Region, B Patentee before: Guangxi Sheng Yao science and technology of aviations Co.,Ltd. |
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Date of cancellation: 20220606 Granted publication date: 20200424 Pledgee: Nanning United Innovation Venture Capital Co.,Ltd. Pledgor: Guangxi Sheng Yao science and technology of aviations Co.,Ltd. Registration number: Y2021450000010 |
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Denomination of invention: Vertical takeoff UAV aided Takeoff System Effective date of registration: 20220609 Granted publication date: 20200424 Pledgee: Guangxi Guihui Financing Guarantee Co.,Ltd. Pledgor: Guangxi Shengyao Intelligent Technology Co.,Ltd. Registration number: Y2022450000083 |