CN107315420A - A kind of unmanned plane turning method - Google Patents
A kind of unmanned plane turning method Download PDFInfo
- Publication number
- CN107315420A CN107315420A CN201710529171.7A CN201710529171A CN107315420A CN 107315420 A CN107315420 A CN 107315420A CN 201710529171 A CN201710529171 A CN 201710529171A CN 107315420 A CN107315420 A CN 107315420A
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- aircraft
- flight
- task
- attitude
- unmanned plane
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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
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This technology is related to unmanned air vehicle technique field, and a kind of unmanned plane turning method comprises the following steps：Aircraft horizontal flight, reaches the task destination overhead for needing to turn；Aircraft is vertical attitude by horizontal flight posture changing；Aircraft under lift mode, ventral direction is deflected, and task course line is pointed in ventral direction；Aircraft flight attitude is changed horizontally by vertical flight；Aircraft continues horizontal flight along task course line, performs aerial mission.The present invention realizes that fuselage is efficiently turned by the flight attitude of convert aircraft, fixed-wing unmanned vehicle is efficiently solved the problem of invalid voyage is long during turning, turning time is saved, while air maneuver is improved, the endurance of aircraft is improved indirectly, solves aircraft the problem of radius of turn during turning is big, mobility is poor.
Description
Technical field
This technology is related to unmanned air vehicle technique field, and in particular to a kind of unmanned plane turning method.
Background technology
Fixed-wing unmanned plane has that cruising speed is fast, long-endurance feature, be widely used in land resources mapping,
The fields such as police fire inspection, emergency management and rescue.With the continuous expansion of fixed-wing unmanned plane application, it is in the task of execution
Radius of turn is big, time-consuming, the defect of maneuverability difference is also exposed, and how to realize the efficient turning of fixed-wing unmanned plane
It is the significant problem for needing to solve.
When the fixed-wing unmanned plane of prior art is turned in the air, mainly roll is controlled to tilt by manipulating the aileron of aircraft
Posture comes gradually change of flight direction.Due to square being directly proportional for radius of turn and flying speed, this method needs longer turn
Curved radius could be realized, be appointed when task course line is performed with former line of flight distance less than aircraft turn radius, especially aircraft
When business needs half-turn, aircraft needs the turning course line detoured farther out so that when the track of turning and tangent target pattern
Can smoothly it turn, this turning mode adds invalid flying distance, and the cruising time of aircraft is shortened indirectly.
Prior art（Publication number CN105905295）The VTOL fixed-wing unmanned vehicle researched and developed for applicant, tool
The standby function of flying, hover of hanging down, is that hardware foundation has been established in the proposition of the application.
The content of the invention
The application is in order to solve the above technical problems, there is provided a kind of quick, direct turning method of energy.
1. a kind of unmanned plane turning method, comprises the following steps：
1）Aircraft horizontal flight, reaches the task destination overhead for needing to turn；
2）Aircraft is vertical attitude by horizontal flight posture changing；
3）Aircraft under lift mode, ventral direction is deflected, and task course line is pointed in ventral direction；
4）Aircraft flight attitude is changed horizontally by vertical flight；
5）Aircraft continues horizontal flight along task course line, performs aerial mission.
Wherein, the step 2）When horizontal flight is changed, both sides propeller coordinated signals pulling force, both sides aileron, which links, to be caused
Plane nose is lifted, and both sides revolution speed of propeller is adjusted with aileron angle change, aircraft is gradually adjusted by level-flight attitude
To vertical attitude.
Further, the step 3）Hang down under winged state, both sides aileron is differential so that aircraft is rotated about the axis, so that
Obtain aircraft to rotate along the progress of axis, stopped operating when ventral is consistent with task course-and-bearing, aircraft is kept the winged shape that hangs down
State.
This technology is beneficial in that, realizes that fuselage is efficiently turned by the flight attitude of convert aircraft, is effectively solved
Fixed-wing unmanned vehicle has saved turning time invalid voyage is long during turning the problem of, is improving air maneuver
While property, the endurance of aircraft is improved indirectly, solves that aircraft radius of turn during turning is big, mobility is poor
The problem of.
Brief description of the drawings
The turning pose adjustment schematic diagram of Fig. 1 embodiment of the present invention one；
Fig. 2 present invention applies the turning pose adjustment schematic diagram of example two.
Embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings.
The present invention provides a kind of flight attitude of convert aircraft and realizes unmanned plane turning method, flies after aircraft lift-off according to original
Row airline operation, and when some in particular cases need to be taken a sudden turn, using method provided herein.
Embodiment one
The present embodiment needs for the turning in the case of any, the step of using be include it is following：
1）Aircraft horizontal flight, reaches the task destination overhead for needing to turn, now, task destination is current location point.
2）Aircraft is vertical attitude, both sides propeller coordinated signals pulling force, both sides pair by horizontal flight posture changing
The wing, which links, causes plane nose to lift, and both sides revolution speed of propeller adjustment, both sides aileron adjustment makes aircraft gradually be adjusted by level-flight attitude
It is whole to vertical attitude.
3）Aircraft under lift mode, ventral direction deflects, and both sides aileron is differential so that aircraft revolves around axis
Turn, so that aircraft is rotated along the progress of ventral axis, stopped operating when ventral is consistent with task course-and-bearing, make to fly
Machine keeps winged state of hanging down.
4）Aircraft flight attitude is changed horizontally by vertical flight, is hung down under winged state, both sides aileron linkage, in both sides
Propeller makes aircraft pitch posture change on the premise of providing pulling force, realizes to hang down winged turn and equals winged process.
5）Aircraft continues horizontal flight along task course line, performs aerial mission.
The present embodiment can carry out turning action in the case of immediately, fly to be directly changed into lift mode by flat, it
Afterwards adjustment ventral direction be again converted into it is flat flies into capable conversion, in this fashion former road make a return voyage etc. that action need not detour can be real
It is existing, power is saved, mobility is greatly improved.
Embodiment two
When aircraft performs mapping or the parallel spacing course line of task dispatching of spraying insecticide, target pattern is pre-determined route
Step 1）Aircraft horizontal flight is to the task destination overhead for needing to turn, and aircraft can not realize directly flight to task boat
Line, therefore, now task course line necessarily intersects with aircraft turn radius, now, aircraft still with min. turning radius towards need
Perform and flown at the task course line extended line of task, task destination is radius of turn and task course line extending line intersection point.
Step 2）When aircraft reaches task destination, aircraft flight attitude is gradually converted into lift mode.
Step 3）Aircraft is under lift mode, and the sensing of ventral is deflected to task course-and-bearing, and ventral direction is with appointing
It is engaged in stopping deflection when course line is consistent.
Step 4）Aircraft flight attitude is changed horizontally by vertical flight, realizes that lift mode is converted into putting down
Fly, hang down under winged state, aileron linkage in both sides becomes aircraft pitch posture on the premise of both sides propeller provides pulling force
Change, realize to hang down winged turn and equal winged process.
Step 5）Aircraft is flown along task course line extended line, and task course line is reached afterwards and performs aerial mission.
The turning process in situations such as the present embodiment is for spacing shorter parallel course line is described, due to task course line both
Fixed, the determination of aircraft turn task destination is related to task course line, carries out continuous minor-circle turn, greatlys save the flight time,
Reduce around row distance, invalid flight is avoided as far as possible, increase voyage.
Embodiment three
In the present embodiment, target pattern deflects, such as some pursuit tracking tasks, and target direction of motion changes, with original
Course line angle is any angle, and now target pattern and aircraft turn radius have an intersection point, aircraft still with min. turning radius to
And flown at the task course line extended line for needing execution task, task destination is that radius of turn is handed over task course line extended line
Point, is determined after the task destination according to step 2）Continue executing with.
Significantly, since it is only to use that aircraft, which acts turning pose adjustment schematic diagram in continuity from above, the application,
To illustrate aircraft action change, flight position and state are not represented on stricti jurise.
Claims (3)
1. a kind of unmanned plane turning method, it is characterised in that including following steps：
1）Aircraft horizontal flight, reaches the task destination overhead for needing to turn；
2）Aircraft is vertical attitude by horizontal flight posture changing；
3）Aircraft under lift mode, ventral direction is deflected, and task course line is pointed in ventral direction；
4）Aircraft flight attitude is changed horizontally by vertical flight；
5）Aircraft continues horizontal flight along task course line, performs aerial mission.
2. unmanned plane turning method according to claim 1, it is characterised in that the step 2）When horizontal flight is changed, two
Side propeller coordinated signals pulling force, both sides aileron, which links, causes plane nose to lift, and both sides revolution speed of propeller is with aileron angle
Change is adjusted, and aircraft is gradually adjusted by level-flight attitude to vertical attitude.
3. the unmanned plane turning method according to right wants 1 or 2, it is characterised in that the step 3）Hang down under winged state, both sides pair
The wing is differential so that aircraft is rotated about the axis, so that aircraft rotates along the progress of axis, when ventral and task course-and-bearing
Stopped operating when consistent, aircraft is kept winged state of hanging down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529171.7A CN107315420A (en) | 2017-07-01 | 2017-07-01 | A kind of unmanned plane turning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529171.7A CN107315420A (en) | 2017-07-01 | 2017-07-01 | A kind of unmanned plane turning method |
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| Publication Number | Publication Date |
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| CN107315420A true CN107315420A (en) | 2017-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710529171.7A Pending CN107315420A (en) | 2017-07-01 | 2017-07-01 | A kind of unmanned plane turning method |
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| CN (1) | CN107315420A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111158392A (en) * | 2020-01-09 | 2020-05-15 | 辽宁壮龙无人机科技有限公司 | Planning control method and device for unmanned aerial vehicle turning, electronic equipment and storage medium |
| CN111221354A (en) * | 2019-11-26 | 2020-06-02 | 南京航空航天大学 | Fixed wing formation control method based on improved turning radius |
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| US5289994A (en) * | 1989-10-10 | 1994-03-01 | Juan Del Campo Aguilera | Equipment carrying remote controlled aircraft |
| CN102126553A (en) * | 2010-01-12 | 2011-07-20 | 北京航空航天大学 | Vertically taking off and landing small unmanned aerial vehicle |
| CN103979104A (en) * | 2014-05-29 | 2014-08-13 | 西北工业大学 | Vertical take-off and landing miniature air vehicle with variable X-type wing |
| CN104608924A (en) * | 2015-02-12 | 2015-05-13 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft |
| CN106114853A (en) * | 2016-08-09 | 2016-11-16 | 烟台中飞海装科技有限公司 | A kind of push-button aircraft |
| CN206050074U (en) * | 2016-09-19 | 2017-03-29 | 视界智能科技（深圳）有限公司 | VTOL Fixed Wing AirVehicle |
| CN106892102A (en) * | 2017-02-28 | 2017-06-27 | 王文正 | A kind of VUAV and its control method |
-
2017
- 2017-07-01 CN CN201710529171.7A patent/CN107315420A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5289994A (en) * | 1989-10-10 | 1994-03-01 | Juan Del Campo Aguilera | Equipment carrying remote controlled aircraft |
| CN102126553A (en) * | 2010-01-12 | 2011-07-20 | 北京航空航天大学 | Vertically taking off and landing small unmanned aerial vehicle |
| CN103979104A (en) * | 2014-05-29 | 2014-08-13 | 西北工业大学 | Vertical take-off and landing miniature air vehicle with variable X-type wing |
| CN104608924A (en) * | 2015-02-12 | 2015-05-13 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft |
| CN106114853A (en) * | 2016-08-09 | 2016-11-16 | 烟台中飞海装科技有限公司 | A kind of push-button aircraft |
| CN206050074U (en) * | 2016-09-19 | 2017-03-29 | 视界智能科技（深圳）有限公司 | VTOL Fixed Wing AirVehicle |
| CN106892102A (en) * | 2017-02-28 | 2017-06-27 | 王文正 | A kind of VUAV and its control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111221354A (en) * | 2019-11-26 | 2020-06-02 | 南京航空航天大学 | Fixed wing formation control method based on improved turning radius |
| CN111158392A (en) * | 2020-01-09 | 2020-05-15 | 辽宁壮龙无人机科技有限公司 | Planning control method and device for unmanned aerial vehicle turning, electronic equipment and storage medium |
| CN111158392B (en) * | 2020-01-09 | 2023-05-26 | 辽宁壮龙无人机科技有限公司 | Planning control method and device for unmanned aerial vehicle turning, electronic equipment and storage medium |
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