CN107264813A - A kind of tailstock vertical takeoff and landing vehicle flight control system - Google Patents
A kind of tailstock vertical takeoff and landing vehicle flight control system Download PDFInfo
- Publication number
- CN107264813A CN107264813A CN201710374278.9A CN201710374278A CN107264813A CN 107264813 A CN107264813 A CN 107264813A CN 201710374278 A CN201710374278 A CN 201710374278A CN 107264813 A CN107264813 A CN 107264813A
- Authority
- CN
- China
- Prior art keywords
- control
- flight
- aircraft
- attitude
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
-
- 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
Abstract
The invention discloses a kind of tailstock vertical takeoff and landing vehicle flight control system, including an aircraft, state sensor unit, flight control units, flight execution unit, terrestrial contr；The state sensor unit is to real-time sense aircraft flight attitude information and the status information of aircraft；The flight control units are attached with terrestrial contr and flight execution unit, to according to ground telecommand, control instruction is made to flight execution unit on the basis of the flight attitude and status information that state sensing unit is provided, to aircraft flight pose adjustment；The terrestrial contr transmits the flight attitude information and status information of coming to carry out data radio station on ground monitoring and display aircraft to aircraft, and flight control units are carried out implementing control and ground control instruction is sent；Flight control system lift of the present invention, cruising speed are high, and effectively aircraft can be controlled.
Description
Technical field
The invention belongs to flying vehicles control technical field, particularly a kind of tailstock vertical takeoff and landing vehicle flight control system
System.
Background technology
, it is necessary to which sliding run could complete take-off process for general Fixed Wing AirVehicle.And in view of actual conditions,
In place of the mode of this rolling start comes with some shortcomings.First, rolling start requirement has very big space, meets sliding over long distances
The need for race, as topmost limiting factor.Secondly, must from now on either in military or civil aircraft development
So require there is higher flexibility and mobility.And more flexible rotor class aircraft such as four-axle aircraft, helicopter etc.,
The requirement of the VTOL in small space can be met, but is due to that their offline mode are single, it is impossible to fair speed is reached, and
There is provided because required lift is all rotated the air-flow produced by driven by engine propeller, consume energy larger, be unfavorable for long-range flight.
Therefore vertically taking off and landing flyer is just derived, vertically taking off and landing flyer has single fixed-wing or incomparable excellent of gyroplane
Gesture --- the rapid requirement taken off with long range high-performance cruise in small space can be met simultaneously.
The vertically taking off and landing flyer come into operation at present has a lot, has " sparrow hawk " formula fighter plane of Britain in military field, beautiful
V-22 " osprey " transporters and F-35 fighter planes of state etc.；Many scientific and technological giants are also being actively developed vertical take-off and landing unmanned fly
Row device, external Google have developed a vertical take-off and landing unmanned aerial vehicle, but be abandoned in the last test stage, and Japan
Sony is by designing and producing into commodity and will put goods on the market before, and also there is " roc " unmanned plane made in length and breadth the country already
Through selling.The high product for civilian use in the market of the good reliability of VTOL civil aircraft quality or seldom on the whole.
The V22 ospreys in the U.S. represent the at a relatively high level of tilting rotor class aircraft in military affairs, and domestic and international Ye You team is according to fish
Hawk develops the vertically taking off and landing flyer of civilian version.
It is to revolve mostly just from the point of view of real product although having had substantial amounts of research to vertically taking off and landing flyer both at home and abroad more
The VTOL that wing mode is carried out, this mode can make aircraft add four engines and its supporting construction, and reduction is effectively carried
Lotus；And as the aircraft of this tilting rotor of osprey, control structure is complicated, mechanical structure requirement on machining accuracy is high, exploitation system
Make difficulty relatively large.
The content of the invention
Technical problem solved by the invention is to provide a kind of tailstock vertical takeoff and landing vehicle flight control system, solved
Determine when being combined conventional fixed-wing and many rotor advantages, structure design, control circuit and the control algolithm of aircraft
The problem of.
The technical solution for realizing the object of the invention is：
A kind of tailstock vertical takeoff and landing vehicle flight control system, including an aircraft, state sensor unit, flight
Control unit, flight execution unit, terrestrial contr；
The state sensor unit is to real-time sense aircraft flight attitude information and the status information of aircraft；
The flight control units are attached with terrestrial contr and flight execution unit, to according to ground remote control
Instruction, control instruction is made on the basis of the flight attitude and status information that state sensing unit is provided to flight execution unit,
To aircraft flight pose adjustment；
The terrestrial contr transmits to carry out aircraft data radio station on ground monitoring and display aircraft
Flight attitude information and status information, and flight control units are carried out implementing control and ground control instruction is sent.
The present invention compared with prior art, its remarkable advantage：
(1) power motor uses twin shaft pattern, and rotor is less, can be while for flat winged offer appropriate power
VTOL provides enough lift.
(2) use servos control rudder face to realize that the loop wheel machine of tilting wing turns flat winged mode, it is not necessary to be individually for its design
Special inclining rotary mechanism, it is simple and reliable, it is with low cost.
(3) aircraft integral body uses all-wing aircraft aerofoil profile, improves the lift-drag ratio of aircraft, improves the cruising speed of aircraft
With voyage.
(4) using the integrated winged control plate of designed, designed, small volume is lightweight but full-featured, improves in aircraft cabin
Space availability ratio, the corresponding module of flight control system to aircraft to control effectively.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Accompanying drawing is said
Fig. 1 is the scheme of installation of tailstock vertical takeoff and landing vehicle flight control system of the present invention.
Fig. 2 is winged control plate connection diagram.
Fig. 3 is winged control each module connection diagram of plate.
Fig. 4 is aircraft coordinate system.
Fig. 5 controls stable loop figure to fly control to aircraft pitch attitude.
Fig. 6 controls stable loop figure to fly control to aircraft roll attitude
Fig. 7 is the control program flow chart of aircraft transition flight.
Embodiment
In order to illustrate technical scheme and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is done to the present invention
It is further to introduce.
A kind of tailstock vertical takeoff and landing vehicle flight control system of the present invention, including an aircraft, state sensor
Unit, flight control units, flight execution unit, terrestrial contr；
The aircraft using all-wing aircraft aerofoil profile as fuselage main body structure to improve the lift-drag ratio of aircraft, using double-shaft power
Dynamical system efficiency is improved under conditions of sufficient power can be provided, foot stool is installed additional in wing end as landing and supports fuselage
Structure with strengthen aircraft takeoff landing stability.
The state sensor unit is to real-time sense aircraft flight attitude information (including pitching, roll and course
Information) and aircraft status information (including flying height, speed and GPS position information)；
The flight control units are attached with terrestrial contr and flight execution unit, to according to ground remote control
Instruction, control instruction is made on the basis of the flight attitude and status information that state sensing unit is provided to flight execution unit,
To aircraft flight pose adjustment；
With reference to Fig. 1, Fig. 2, the flight execution units directly control to fly according to the control instruction of flight control units
Row device posture；
The terrestrial contr transmits to carry out aircraft data radio station 8 on ground monitoring and display aircraft
Flight attitude information and status information, and flight control units are carried out implementing control and ground control instruction is sent；
The state sensing unit includes three axle electronic compass, six axle attitude transducers (including gyroscope and acceleration
Meter), barometer, pitot meter 5 and GPS locator 6；The pitot meter 5 is arranged on aircraft Handpiece Location, the GPS locator 6
On aircraft fuselage；
It is preferred that, the three axle electronic compass, six axle attitude transducers, which are integrated in, to fly on control plate 3, by being welded on winged control
It is small by integrated winged control plate bulk on plate 3, it is lightweight, improve space availability ratio in aircraft cabin；Pitot meter 5 and GPS location
Device 6 is connected with winged control plate 3, and accurate latitude and longitude information is provided for the flight of aircraft.
The flight control units include winged control plate 3, data radio station 8, remote-control receiver 4, left electricity and adjust 9-1, right electricity tune 9-
2nd, battery 7；The winged control plate 3, data radio station 8, remote-control receiver 4 are arranged in front of aircraft nacelle；Left electricity adjusts 9-1, right electricity
Adjust 9-2 respectively symmetrically on the left and right wing of aircraft；The remote-control receiver 4, it is left electricity adjust 9-1, it is right electricity adjust 9-2 with
Fly control plate 3 to be connected；The battery 7 is powered to fly control plate 3 and flight execution unit；
The flight execution unit includes left motor 1-1, right motor 1-2, port aileron steering wheel 2-1, starboard aileron steering wheel 2-2
(the lifting steering wheel effect simultaneously of aileron steering wheel)；The left motor 1-1 and port aileron steering wheel 2-1 is installed in machine on the left of aircraft
On the wing, the right motor 1-2, starboard aileron steering wheel 2-2 are respectively mounted on the symmetrical right side wing of aircraft；Left motor 1-1, right motor
1-2 adjusts 9-1, right electricity to adjust 9-2 to be connected with flying control plate 3 by left electricity respectively；Port aileron steering wheel 2-1, starboard aileron steering wheel 2-2 are with flying
Plate 3 is controlled to be connected；
The terrestrial contr includes ground control terminal and remote control 10；The ground control terminal passes through ground number
The platform that conducts electricity communicates with carry-on data radio station 8, realizes ground control terminal with flying the communication of control plate 3；The remote control 10
Pass through remote-control receiver 4 and the communication for flying control plate 3；
Further, the ground control terminal is connected using computer by USB serial ports with ground data radio station, is calculated
Machine control terminal software is embedded in electronic map software.It is preferred that, ground data radio station specification is 500mw 433MHZ；Remote control 10
Specification uses the general model airplane remote controllers of 2.4GHZ；
With reference to Fig. 2, Fig. 3, the winged control plate 3 includes memory module, initialization module, data detection module, flight attitude
Resolve module, mode deciding module, control output module；
Flight parameter of the memory module to store aircraft, such as offline mode, passage threshold value, sensor initializing
The parameter informations such as value；
Further, the memory module is realized using FRAM；Other modules pass through ARM chip microcontrollers, it is preferred that
The ARM single-chip microcomputers use stm32F405；
The initialization module by the flight parameter of memory module to call in and assign initial value；
The data detection module updates the aircraft of ground control terminal setting to detect the data-signal of remote control 10
Control model, updates each sensor data information；
The flight attitude computing module is detected according to sensor unit reading each sensor data information
Data are resolved by attitude algorithm unit to attitude of flight vehicle, and calculating control aircraft according to the attitude data resolved flies
The required control rate of row；
The flight attitude computing module includes attitude algorithm unit and control law computing unit.
The attitude algorithm unit carries out posture filtering resolving realization using complementary filter method to be believed aerocraft real posture
The acquisition of breath：
As shown in figure 4, first carrying out coordinate foundation to aircraft, if aircraft center of gravity position is O points, coordinate system x-axis is pointed to
Prow direction, y-axis is pointed on the right side of fuselage, and z-axis determines direction perpendicular to x/y plane by the right-hand rule；
The angular velocity omega of x-axis is compensated using roll angle φ using complementary filter algorithmx, the angular speed of pitching angle theta compensation y-axis
ωy, the angular velocity omega of yaw angle ψ compensation z-axisz, by contrasting angle and accelerometer (or three axle electronics sieve obtained by integration
Disk) angle that measures, change the output of gyroscope using the deviation between them, so that the angle of integration is progressively traced into
Angle obtained by accelerometer, so just completes the accurate resolving of roll angle φ, pitching angle theta, yaw angle ψ；Consequently facilitating
The follow-up flight attitude to aircraft is judged and is modified.
The attitude of flight vehicle information that the control law computing unit is calculated according to attitude algorithm unit, to aircraft flight
Control rate is constantly adjusted；Control law includes rolling control law and pitch control is restrained, and detailed process is as follows：
Rolling control law：Roll attitude is adjusted by aileron rudder, and rolling Angular stabilization loop is as shown in figure 5, roll attitude
Control loop uses angular rate measurement feedback arrangement, and control coefrficient is by proportional gain kPφWith differential gain kDφComposition, according to flight
The dynamic characteristic of device, optimizes to control parameter and adjusts, and is configured by ground control terminal.When input instruction roll angle
φcAfterwards, it with actual roll angle φ make the difference obtaining eφ, δaBy eφDetermine and influenceed by rolling angular speed p negative-feedbacks,
And be biased to the transmission function of pitch rate to determine to obtain actual after rolling angular speed p, p are integrated according to aileron rudder rudder
Roll angle φ, φ further feed back to e againφ。
Finally give corresponding aileron rudder control law δaFor：
δa=kPφ(φc–φ)kDφp
φcRoll angle is instructed, φ is aerocraft real roll angle, kPφFor the proportional gain of rolling control law, kDφFor rolling
The differential gain of control law, p is components of the ω in body axis system x-axis,Pitch rate is biased to for elevator rudder
Transmission function.
Pitch control is restrained：Flight control system is adjusted to pitch attitude by elevator, pitching Angular stabilization loop such as Fig. 6 institutes
Show, pitch attitude control loop uses angular rate measurement feedback arrangement, and control coefrficient is by proportional gain kPθWith differential gain kDθGroup
Into according to the dynamic characteristic of aircraft, can optimizing and adjust to control parameter, be configured by ground control terminal.
When input instruction pitching angle thetacAfterwards, itself and actual pitching angle theta make the difference obtaining eθ, δeBy eθDetermine and by pitch rate q
The influence of negative-feedback, and be biased to the transmission function of pitch rate to determine pitch rate q according to elevator rudder, q is through product
Actual pitching angle theta is obtained after point, θ further feeds back to e againθ。
Obtain corresponding elevator control law δeFor：
δe=kPθ(θ-θc)+kDθq
Turn when in order to do not fall height, it is necessary to add roll angle compensation termThe pitch control finally given
Restrain δeFor：
θcFor the instruction angle of pitch, θ is the angle of pitch of aerocraft real, kPθThe proportional gain restrained for pitch control, kDθTo bow
The differential gain of control law is faced upward,The transmission function of pitch rate is biased to for elevator rudder, note ω sits for body
Total angular velocity vector of mark system relative inertness coordinate system, q is components of the ω in body axis system y-axis.
The mode decision module judges to the pattern to the path setting of remote control 10, if increasing steady pattern, then
It is determined as gesture stability；If destination pattern, then it is determined as position control；
Controller is divided into the loop wheel machine controller of control hovering action and controls cruise action by the control output module
Flat ymc controller, to the offline mode application CCU to being judged according to mode decision module, in correspondence controller
Under control instruction is sent to flight execution unit, the control to rudder face of flight motor pulling force and steering wheel is adjusted by output pwm signal
System realizes the adjustment to aircraft flight posture；
The course of work：Fly control hand closing aircraft power and setting required flight parameter (destination in earth station
Positional information, automatic takeoff, flying height, whether hover/whether the hovering time, make a return voyage/Autonomous landing)；Pass through data radio station 8
The related way point information of the aerial mission set is transferred to carry-on data radio station 8 by ground based terminal, by flying at control plate 3
Reason, obtains the angle of pitch required for practical flight, roll angle and course angle.Fly control plate 3 timing sampling GPS locator 6, air pressure
Meter, obtains the difference of the current height of aircraft and destination height, while according to three axle electronic compass and six axle attitude transducers
The posture and status information of current flight device are obtained, is flown by flying control realization of the control plate 3 to motor on aircraft and steering wheel
The regulation of row device posture and state, and then set destination is reached, realize the goal task set.Fly control hand and pass through earth station
In the effective communication distance of data radio station 8, the flight path destination parameter of aircraft can be modified, make aircraft by
New flight path flight；Fly control hand in the effective range of remote-control receiver 4, by carrying out communication realization with winged control plate 3
The control acted to aircraft flight.
With reference to Fig. 7, the state of flight of tail sitting posture vertical take-off and landing unmanned aerial vehicle of the present invention mainly has two kinds --- loop wheel machine shape
State and flat winged state, are mainly acted by hovering, the action of transition flight patten transformation and cruise action composition.
(1) hovering is acted:Under the control of loop wheel machine controller in control performing module, fly control plate 3 and act on port aileron
Steering wheel 2-1, starboard aileron steering wheel 2-2, control aircraft head is stable and pitching is stable；Left motor 1-1, right motor 1-2 are acted on,
Roll of the aircraft under loop wheel machine state is controlled to keep stable so that aircraft hovers in the air.
(2) transition flight patten transformation is acted：Such as Fig. 4, the attitude information of remote information and aircraft is obtained first, that is, is worked as
Preceding pitching angle theta, judges ground remote control instruction and carries out corresponding controller conversion according to the current angle of pitch and air speed, be this we
Set controller conversion angle θ*And controller conversion air speed V*:1. loop wheel machine turns flat winged, and aircraft is first in loop wheel machine controller
Control is lower to fly, when current pitching angle theta is less than θ*(θ*It is preferred that 30 degree), and air speed V is more than V*(V*It is preferred that 15m/s) when, flight
Device controller switches to flat ymc controller；2. winged slewing crane is put down, aircraft first flies under the control of flat ymc controller, when current
Pitching angle theta is more than θ*(θ*It is preferred that 30 degree), and air speed V is less than V*(V*It is preferred that 15m/s) when, controller of aircraft, which is switched to, to be hung
Machine controller.
(3) cruise is acted：Operating personnel are that aircraft sets destination in ground control terminal, plan after course line, pass through
Remote control 10 sends automatic flight directive to winged control plate 3, aircraft realized by state sensing unit to own location information and
The judgement of way point information, and complete task action according to planning information.
Claims (10)
1. a kind of tailstock vertical takeoff and landing vehicle flight control system, including an aircraft, state sensor unit, flight control
Unit processed, flight execution unit, terrestrial contr；Characterized in that,
The state sensor unit is to real-time sense aircraft flight attitude information and the status information of aircraft；
The flight control units are attached with terrestrial contr and flight execution unit, to be referred to according to ground remote control
Order, control instruction is made on the basis of the flight attitude and status information that state sensing unit is provided to flight execution unit, right
Aircraft flight pose adjustment；
The terrestrial contr transmits fly to carry out data radio station on ground monitoring and display aircraft to aircraft
Row attitude information and status information, and flight control units are carried out implementing control and ground control instruction is sent.
2. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 1, it is characterised in that the shape
State sensing unit includes three axle electronic compass, six axle attitude transducers, barometer, pitot meter and GPS locator；The pitot meter
Installed in aircraft Handpiece Location, the GPS locator is arranged on aircraft fuselage；Pitot meter and GPS locator are with flying
Control plate to be connected, accurate latitude and longitude information is provided for the flight of aircraft.
3. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 1, it is characterised in that described to fly
Row control unit includes winged control plate, data radio station, remote-control receiver, left electricity tune, right electricity tune, battery；The winged control plate, number conduct electricity
Platform, remote-control receiver are arranged in front of aircraft nacelle；Left electricity is adjusted, right electricity adjusts the left and right wing for being respectively symmetrically arranged on aircraft
On；The remote-control receiver, left electricity are adjusted, right electricity is adjusted and is connected with winged control plate；The battery is winged control plate and flight execution unit
Power supply.
4. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 1, it is characterised in that described to fly
Row execution unit includes left motor, right motor, port aileron steering wheel, starboard aileron steering wheel；The left motor is pacified with port aileron steering wheel
On wing on the left of aircraft, the right motor, starboard aileron steering wheel are respectively mounted on the symmetrical right side wing of aircraft；Left electricity
Machine, right motor are adjusted by left electricity respectively, right electricity is adjusted and is connected with flying control plate；Port aileron steering wheel, starboard aileron steering wheel control plate phase with winged
Even.
5. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 1, it is characterised in that describedly
Face control unit includes ground control terminal and remote control；The ground control terminal passes through on ground data radio station and aircraft
Data radio station communication, realize ground control terminal with fly control plate communication；The remote control is by remote-control receiver with flying control
The communication of plate.
6. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 5, it is characterised in that describedly
Face control terminal uses computer to be connected ground data radio station specification with ground data radio station by USB serial ports for 500mw
433MHZ；Remote control specification uses the general model airplane remote controllers of 2.4GHZ.
7. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 1, it is characterised in that described to fly
Control plate defeated including memory module, initialization module, data detection module, flight attitude resolving module, mode deciding module, control
Go out module；
Flight parameter of the memory module to store aircraft；
The initialization module by the flight parameter of memory module to call in and assign initial value；
The data detection module updates the flying vehicles control mould of ground control terminal setting to detect remote-controller data signal
Formula, updates each sensor data information；
The flight attitude computing module is to read each sensor data information, and the data detected according to sensor unit
Attitude of flight vehicle is resolved by attitude algorithm unit, control aircraft flight institute is calculated according to the attitude data resolved
The control law needed；
The mode decision module judges to the pattern to remote control path setting, if increasing steady pattern, is then determined as
Gesture stability；If destination pattern, then it is determined as position control；
Controller is divided into the loop wheel machine controller of control hovering action and flat the flying of control cruise action by the control output module
Controller, it is right under correspondence controller to the offline mode application CCU to being judged according to mode decision module
Flight execution unit sends control instruction, and it is real to adjust the control of flight motor pulling force and steering wheel to rudder face by output pwm signal
Now to the adjustment of aircraft flight posture.
8. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 7, it is characterised in that described to fly
Row Attitude Calculation module includes attitude algorithm unit and control law computing unit；
The attitude algorithm unit carries out posture filtering using complementary filter method and resolves realization to aerocraft real attitude information
Obtain；
The attitude of flight vehicle information that the control law computing unit is calculated according to attitude algorithm unit, to aircraft flight control
Rule is constantly adjusted.
9. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 8, it is characterised in that the appearance
State solving unit carries out posture filtering using complementary filter method and resolves acquisition of the realization to aerocraft real attitude information：First to flying
Row device carries out coordinate foundation, if aircraft center of gravity position is O points, and coordinate system x-axis points to prow direction, and y-axis is pointed on the right side of fuselage,
Z-axis is perpendicular to x/y plane；
The angular velocity omega of x-axis is compensated using roll angle φ using complementary filter algorithmx, the angular velocity omega of pitching angle theta compensation y-axisy,
Yaw angle ψ compensates the angular velocity omega of z-axisz, by contrasting the angle obtained by integrating and accelerometer (or three axle electronic compass)
The angle measured, changes the output of gyroscope using the deviation between them, adds so that the angle of integration is progressively traced into
Angle obtained by speedometer, so just completes the accurate resolving of roll angle φ, pitching angle theta, yaw angle ψ；Consequently facilitating after
The continuous flight attitude to aircraft is judged and is modified.
10. a kind of tailstock vertical takeoff and landing vehicle flight control system as claimed in claim 8, it is characterised in that described
Control law computing unit adjusts process to control law：
Rolling control law：Roll attitude is adjusted by aileron rudder, and roll attitude control loop feeds back knot using angular rate measurement
Structure, according to the dynamic characteristic of aircraft, optimizes to control parameter and adjusts, and is configured by ground control terminal；Input
Instruct roll angle φcAfterwards, it with actual roll angle φ make the difference obtaining eφ, δaBy eφDetermine and negative anti-by rolling angular speed p
The influence of feedback, and be biased to the transmission function of pitch rate to determine rolling angular speed p according to aileron rudder rudder, after p is integrated
Obtain actual roll angle φ, φ and further feed back to e againφ；Finally give corresponding aileron rudder control law δaFor：
δa=kPφ(φc–φ)kDφp
φcRoll angle is instructed, φ is aerocraft real roll angle, kPφFor the proportional gain of rolling control law, kDφFor rolling control
The differential gain of rule, p is components of the ω in body axis system x-axis；
Pitch control is restrained：Flight control system is adjusted to pitch attitude by elevator, and pitch attitude control loop uses angular speed
Feedback arrangement is measured, according to the dynamic characteristic of aircraft, control parameter is optimized and adjusted, carried out by ground control terminal
Set；Input instruction pitching angle thetacAfterwards, itself and actual pitching angle theta make the difference obtaining eθ, δeBy eθDetermine and by angle of pitch speed
The influence of rate q negative-feedbacks, and be biased to the transmission function of pitch rate to determine pitch rate q, q warp according to elevator rudder
Actual pitching angle theta is obtained after integration, θ further feeds back to e againθ；
Obtain corresponding elevator control law δeFor：
δe=kPθ(θ-θc)+kDθq
Turn when in order to do not fall height, it is necessary to add roll angle compensation termThe pitch control rule δ finally givene
For：
<mrow>
<msub>
<mi>&delta;</mi>
<mi>e</mi>
</msub>
<mo>=</mo>
<msub>
<mi>k</mi>
<mrow>
<mi>P</mi>
<mi>&theta;</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>&theta;</mi>
<mo>-</mo>
<msup>
<mi>&theta;</mi>
<mi>c</mi>
</msup>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>k</mi>
<mrow>
<mi>D</mi>
<mi>&theta;</mi>
</mrow>
</msub>
<mi>q</mi>
<mo>-</mo>
<msub>
<mi>k</mi>
<mi>&phi;</mi>
</msub>
<mfrac>
<mrow>
<mn>1</mn>
<mo>-</mo>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
<mrow>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mfrac>
</mrow>
θcFor the instruction angle of pitch, θ is the angle of pitch of aerocraft real, kPθThe proportional gain restrained for pitch control, kDθFor pitching control
The differential gain of rule is made, note ω is total angular velocity vector of body axis system relative inertness coordinate system, and q is ω in body axis system
Component in y-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374278.9A CN107264813A (en) | 2017-05-24 | 2017-05-24 | A kind of tailstock vertical takeoff and landing vehicle flight control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374278.9A CN107264813A (en) | 2017-05-24 | 2017-05-24 | A kind of tailstock vertical takeoff and landing vehicle flight control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107264813A true CN107264813A (en) | 2017-10-20 |
Family
ID=60064138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710374278.9A Pending CN107264813A (en) | 2017-05-24 | 2017-05-24 | A kind of tailstock vertical takeoff and landing vehicle flight control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107264813A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279693A (en) * | 2017-12-29 | 2018-07-13 | 北京航天飞腾装备技术有限责任公司 | A kind of projecting rolling control method of Air-to-Surface Guided Weapon |
| CN109334973A (en) * | 2018-11-14 | 2019-02-15 | 惟创新（武汉）科技有限公司 | A kind of the first visual angle aircraft using tail sitting posture VTOL fixed-wing |
| CN109634296A (en) * | 2018-12-18 | 2019-04-16 | 南京航空航天大学 | Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| 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 |
| CN114419109A (en) * | 2022-03-29 | 2022-04-29 | 中航金城无人系统有限公司 | Aircraft positioning method based on visual and barometric information fusion |
| CN114610075A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle |
| CN116088549A (en) * | 2022-12-30 | 2023-05-09 | 西北工业大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle attitude control method |
| CN117369529A (en) * | 2023-12-06 | 2024-01-09 | 常州丰飞智控科技有限公司 | Unmanned aerial vehicle's roll gesture stable system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205131625U (en) * | 2015-11-10 | 2016-04-06 | 湖南云顶智能科技有限公司 | Small -size portable all -wing aircraft overall arrangement unmanned aerial vehicle |
| CN106249747A (en) * | 2016-08-17 | 2016-12-21 | 邹霞 | Intelligent UAS |
| CN106292680A (en) * | 2016-09-18 | 2017-01-04 | 上海交通大学 | Many rotor wing unmanned aerial vehicles and system thereof and flight control method |
| CN205854496U (en) * | 2016-08-05 | 2017-01-04 | 北京奇正数元科技股份有限公司 | The unmanned plane wing that a kind of active force can be verted |
-
2017
- 2017-05-24 CN CN201710374278.9A patent/CN107264813A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205131625U (en) * | 2015-11-10 | 2016-04-06 | 湖南云顶智能科技有限公司 | Small -size portable all -wing aircraft overall arrangement unmanned aerial vehicle |
| CN205854496U (en) * | 2016-08-05 | 2017-01-04 | 北京奇正数元科技股份有限公司 | The unmanned plane wing that a kind of active force can be verted |
| CN106249747A (en) * | 2016-08-17 | 2016-12-21 | 邹霞 | Intelligent UAS |
| CN106292680A (en) * | 2016-09-18 | 2017-01-04 | 上海交通大学 | Many rotor wing unmanned aerial vehicles and system thereof and flight control method |
Non-Patent Citations (1)
| Title |
|---|
| 杨方伟: "样例无人机常规控制律", 《小型无人机简化配置控制律设计技术研究》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279693A (en) * | 2017-12-29 | 2018-07-13 | 北京航天飞腾装备技术有限责任公司 | A kind of projecting rolling control method of Air-to-Surface Guided Weapon |
| CN108279693B (en) * | 2017-12-29 | 2021-07-13 | 北京航天飞腾装备技术有限责任公司 | Air-to-ground guided weapon upside-down-hanging rolling control method |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| CN110147111B (en) * | 2018-02-13 | 2021-05-14 | 广州极飞科技股份有限公司 | Flight attitude control method and device and flight control system |
| 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 |
| CN109334973A (en) * | 2018-11-14 | 2019-02-15 | 惟创新（武汉）科技有限公司 | A kind of the first visual angle aircraft using tail sitting posture VTOL fixed-wing |
| CN109634296A (en) * | 2018-12-18 | 2019-04-16 | 南京航空航天大学 | Small drone catapult-assisted take-off control system and method based on the robust theory of servomechanism |
| CN114419109A (en) * | 2022-03-29 | 2022-04-29 | 中航金城无人系统有限公司 | Aircraft positioning method based on visual and barometric information fusion |
| CN114610075A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle |
| CN116088549A (en) * | 2022-12-30 | 2023-05-09 | 西北工业大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle attitude control method |
| CN117369529A (en) * | 2023-12-06 | 2024-01-09 | 常州丰飞智控科技有限公司 | Unmanned aerial vehicle's roll gesture stable system |
| CN117369529B (en) * | 2023-12-06 | 2024-02-20 | 常州丰飞智控科技有限公司 | Unmanned aerial vehicle's roll gesture stable system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107264813A (en) | A kind of tailstock vertical takeoff and landing vehicle flight control system | |
| CN205854492U (en) | A kind of dismountable tailstock formula VUAV | |
| CN105353762B (en) | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers | |
| CN105468009B (en) | It is applied to many power fusion flight control system and the method for micro air vehicle | |
| CN104656664B (en) | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method | |
| CN105607640B (en) | The Pose Control device of quadrotor | |
| NL2017971B1 (en) | Unmanned aerial vehicle | |
| CN106114853B (en) | A kind of push-button aircraft | |
| CN109358654B (en) | Water-air amphibious search and rescue support unmanned aerial vehicle system | |
| CN104597912A (en) | Tracking flying control system and method of six-rotor unmanned helicopter | |
| CN109606674A (en) | Tail sitting posture vertical take-off and landing drone and its control system and control method | |
| CN107957730A (en) | A kind of unmanned vehicle stabilized flight control method | |
| CN104118555B (en) | A kind of unmanned control and the method for building up of flight control system thereof | |
| CN108706099B (en) | Tilting triaxial composite wing unmanned aerial vehicle and control method thereof | |
| CN105923147B (en) | A kind of fixed-wing unmanned plane landing control method | |
| CN106043695B (en) | A kind of dynamic multi-rotor unmanned aerial vehicle fixed pitch variable speed system of oil and control technology | |
| CN105204514A (en) | Novel tilt-rotor unmanned aerial vehicle attitude control system | |
| CN206050075U (en) | A kind of oil moves multi-rotor unmanned aerial vehicle fixed pitch variable speed system | |
| CN103979105A (en) | Vertical take-off and landing type variable-wing aircraft | |
| CN102968123A (en) | Automatic pilot of unmanned aerial vehicle | |
| CN106143878A (en) | Multiaxis fixed-wing integrated machine controller based on sliding mode control algorithm | |
| CN103847963A (en) | Unmanned power delta wing aircraft | |
| CN105468010A (en) | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller | |
| CN202939490U (en) | Autopilot for unmanned aerial vehicles | |
| CN207173952U (en) | A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |
|
| RJ01 | Rejection of invention patent application after publication |