CN107991884A - Small-sized fixed-wing unmanned plane advanced stall recovery method based on range information - Google Patents
Small-sized fixed-wing unmanned plane advanced stall recovery method based on range information Download PDFInfo
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Abstract
The present invention relates to a kind of small-sized fixed-wing unmanned plane advanced stall recovery method based on range information, designs sliding mode controller first to eliminate wind field to the horizontal lateral influence of unmanned plane；Then the different stall window feasible zone scopes that unmanned plane maps under different flight mode are derived；Finally unmanned plane is obtained to the range information of setting drop point using distance measuring sensor, and compared with currently without man-machine state's mapped stall window feasible zone scope pair, when meeting feasible zone requirement, the controlled quentity controlled variable chosen using sliding mode controller removes wind field to the horizontal lateral disturbance of unmanned plane come adjustment direction angle of rudder reflection；Adjustment lifting angle of rudder reflection realizes advanced stall assigned spot recovery to the specified lifting angle of rudder reflection of current state mapped.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and relates to a recovery method of a small-sized fixed-wing unmanned aerial vehicle, in particular to a deep stall recovery method of the small-sized fixed-wing unmanned aerial vehicle based on distance information.
Background
Literature "simulation study of deep stall recovery of small-sized electric unmanned aerial vehicle [ J ], flight mechanics, 2011, 29 (05): 77-80 "discloses a deep stall recovery scheme for small fixed wing drones that ignores lateral effects. According to the scheme, an unmanned aerial vehicle deep stall recovery model is established, and the recovery scheme is feasible on the premise of reasonably selecting the stall height of the small-sized fixed-wing unmanned aerial vehicle through simulation verification. The method disclosed by the literature ignores the discussion of the transverse direction, and the recovery effect of the method is influenced by a wind field; literature analysis verifies the feasibility of applying the deep stall recovery scheme to the small-sized fixed wing unmanned aerial vehicle, discusses the selection of the stall height, ignores the research on the stall initial speed of the unmanned aerial vehicle, and has low universality.
Disclosure of Invention
Technical problem to be solved
In order to overcome the dependence of a conventional unmanned aerial vehicle recovery landing method on site environment and equipment and realize fixed-point recovery of the unmanned aerial vehicle, the invention provides a method for recovering deep stall of a small-sized fixed-wing unmanned aerial vehicle based on distance information.
Technical scheme
A method for recovering deep stall of a small-sized fixed wing unmanned aerial vehicle based on distance information is characterized by comprising the following steps:
step 1: adjusting the posture of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly horizontally; adjusting the flying height and the speed of the unmanned aerial vehicle in the current flying mode to approach the set typical flying height and speed until the flying height and the speed are equal to each other;
step 2: keep unmanned aerial vehicle's flying height, speed unchangeable, it sets for the drop point to hover to be close, utilizes the airborne range finding sensor to acquire in real time and sets for the distance information d of drop point, and the distribution region that can territory is moved into to the speed per hour window up to unmanned aerial vehicle:
dmin≤d≤dmax
wherein,the distance from the unmanned plane to the farthest end of the landing area,is the distance from the nearest end of the drop point region,r is the radius of a drop point area, and delta x, delta y and delta z are longitudinal displacement, transverse lateral displacement and height difference in an unmanned aerial vehicle recovery path respectively;
and step 3: keeping the flying height, the speed and the distance from the landing point of the unmanned aerial vehicle unchanged, adjusting the posture of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly horizontally, just setting the landing point, and longitudinally consistent with the wind field of the unmanned aerial vehicle, outputting the control quantity to a flight control system, and adjusting the rudder deflection angle delta by controlling a sliding mode structure controllerrThe bounded wind field disturbance is removed; controlling elevator yaw angle deltaeWhen the deviation angle value of the rated rudder is reached, the unmanned aerial vehicle fixed-point recovery based on the distance information is realized;
the control amount is as follows:
wherein, a1、a2B is an element in the system state matrix, x1、x2Respectively representing the transverse lateral displacement and the transverse lateral speed of the unmanned aerial vehicle, wherein r is reference input, and epsilon and k are parameters of a sliding mode modal structure.
Advantageous effects
The invention provides a method for recovering deep stall of a small-sized fixed wing unmanned aerial vehicle based on distance information, and provides a method for solving the feasible region range of a stall window mapped by the unmanned aerial vehicle in different typical flight modes (typical height and speed) when the unmanned aerial vehicle enters the stall window, wherein a small height difference value delta h existing in the fixed-height flight of the unmanned aerial vehicle and a range d of a rated distance d between the unmanned aerial vehicle and a landing point region are utilizedmin≤d≤dmaxThe shape and the specific spatial distribution of the feasible region range of the stall window are determined, so that the method has higher engineering application value and improves the universality of the recovery method; the influence of a wind field of a recovery field on the unmanned aerial vehicle is considered, bounded interference is introduced, a sliding mode controller is designed, the influence of the bounded wind field on the transverse lateral position offset of the unmanned aerial vehicle is eliminated by controlling the rudder deflection angle, and the adaptability of the method is improved.
Drawings
FIG. 1 is a schematic diagram of the design steps of the sliding mode controller in the method
FIG. 2 is a technical route of a deep stall recovery method for a small-sized fixed wing unmanned aerial vehicle based on distance information
FIG. 3 is a diagram illustrating a range of feasible regions of nominal distance information
FIG. 4 is a schematic view of a stall window feasible region range of an unmanned aerial vehicle in a certain flight mode
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
according to the method, the transverse and lateral and longitudinal states of the unmanned aerial vehicle are comprehensively considered, firstly, the influence caused by a wind field is simulated by introducing set bounded disturbance, and a sliding mode controller is designed to eliminate the influence of the wind field on the transverse and lateral directions of the unmanned aerial vehicle.
And then solving the distance information constraint between the unmanned aerial vehicle and the target landing point mapped under different typical flight modes (typical height and speed) when the unmanned aerial vehicle in the wind field enters a stall window and the rated deflection angle constraint of the elevator, deducing the different stall window feasible region ranges mapped under different typical flight modes of the unmanned aerial vehicle, and establishing an offline database of the stall window feasible region for reducing the operation load of the flight control panel by considering that the airborne operation capability of the unmanned aerial vehicle is limited.
Finally, distance information from the unmanned aerial vehicle to a set landing point is obtained through a distance measuring sensor, and the distance information is compared with a stall window feasible region range mapped by the current unmanned aerial vehicle state, and when the feasible region requirement is met, a rudder deflection angle is adjusted through a control quantity selected by a sliding mode controller to remove disturbance of a wind field to the transverse direction of the unmanned aerial vehicle; and adjusting the deflection angle of the elevator to the rated deflection angle of the elevator mapped in the current state, and realizing the fixed-point recovery of deep stall.
1. Firstly, introducing set bounded disturbance and designing a sliding mode controller, eliminating the influence of a wind field on the lateral offset of the unmanned aerial vehicle, and preparing a model:
referring to fig. 1, a wind field is simulated by using set bounded disturbance, and specifically, the wind field can be decomposed into a laterally bounded turbulent wind field, a longitudinally constant wind field and a vertically constant wind field.
based on the established state equation of the unmanned aerial vehicle, decoupling and linearizing the state equation of the unmanned aerial vehicle, and converting the state equation into the following form:
namely:
wherein A is the system state matrix and B is the systemControl matrix, x1、x2Horizontal lateral displacement and horizontal lateral velocity of unmanned aerial vehicle respectively, u is the controlled variable.
It can be written as follows:
and defining the bounded error as:
where r is the reference input. Designing a sliding mode controller for an error system, selecting and switching a manifold:
wherein c > 0 is a pending sliding mode parameter. Then there is
Order toEquivalent control
Wherein, a1、a2B is an element in the system state matrix;
selecting an approximation law in an exponential form to weaken buffeting can improve the dynamic quality of the approximation motion:
wherein epsilon and k are parameters of the sliding mode modal structure.
In the formulaIs an exponential approximation term, which can be solved from the above formula:
it can be seen that increasing k and decreasing epsilon accelerates the approach process and reduces buffeting. But k cannot be infinitely large nor epsilon can be infinitely small due to limited control of the system.
selecting the control quantity as follows:
and controlling the rudder deflection angle of the unmanned aerial vehicle (wherein b in the formula is related to the rudder deflection angle) by using the control quantity, and removing the influence of the wind field on the transverse and lateral displacement of the unmanned aerial vehicle.
2. Establishing an offline database for recovering the feasible domain range of the window information, and preparing the data:
based on an unmanned aerial vehicle model which eliminates the lateral disturbance of the wind field to the unmanned aerial vehicle, the method executes the following steps aiming at a certain typical flight mode of the unmanned aerial vehicle to obtain the stall window feasible region range mapped by the mode; for other flight modes of the unmanned aerial vehicle, the following steps are executed in a circulating mode to obtain the information of the feasible region range of different stall windows mapped by the flight modes of the unmanned aerial vehicle, an offline database of the unmanned aerial vehicle is established, and data are provided to the unmanned aerial vehicle fixed-point accurate recovery method based on the distance information.
Referring to a technical route diagram of fig. 2, on the basis of setting an unmanned aerial vehicle model with bounded wind field disturbance, the method performs the following 5 steps for a certain typical flight mode of the unmanned aerial vehicle, and can obtain a stall window feasible region range mapped by the mode.
setting the typical height of the unmanned aerial vehicle as h under a certain typical flight mode1Typical velocity is v1The unmanned plane flies horizontally and is just opposite to the set landing point;
② adjusting the deflection angle delta of the elevatoreUntil the following two conditions are met: the smoothest response curve occurs for the height z; the speed in the z direction is a minimum value when the height is 0 (ensuring that the landing of the unmanned aerial vehicle is as safe as possible);
setting the landing point of the unmanned aerial vehicle as an ideal landing point, and setting the deflection angle delta of the elevator at the momenteIs a rated deflection angle;
fourthly, a standard value of the rated distance information d can be calculated by utilizing the recovery path of the unmanned aerial vehicle:
wherein: and the delta x, the delta y and the delta z are respectively longitudinal displacement, transverse lateral displacement and height difference in the unmanned aerial vehicle recovery path.
By utilizing the feasible region range of the rated distance information, the feasible region range of the stall window of the unmanned aerial vehicle in the flight mode can be solved: considering that the ideal drop point is a circular domain with a radius of R, referring to fig. 3, the range of feasible domains for the existence of the rated distance information is:
dmin≤d≤dmax(12)
wherein:
referring to fig. 4, the unmanned aerial vehicle is difficult to maintain constant-height flight, namely, a small difference value delta h exists in h, and the distance between the unmanned aerial vehicle and the farthest end of a landing area is dmaxThe distance from the nearest end of the drop point region is dminThe distance d satisfies dmin≤d≤dmaxThe time is in accordance with the fixed-point recovery condition; the stall window feasible region range is determined to be a hollow circular truncated cone region with the center falling on the target falling point, such as a hollow circular truncated cone geometric region of a shaded part in fig. 4.
for other flight modes of the unmanned aerial vehicle, the ① -the fifth step are executed in a circulating mode, the information of the feasible region range of different stall windows mapped by the flight modes of the unmanned aerial vehicle can be obtained, an off-line database of the unmanned aerial vehicle is established, and data are provided for an unmanned aerial vehicle fixed-point accurate recovery strategy based on distance information.
3. Unmanned aerial vehicle fixed-point accurate recovery method based on distance information
Referring to fig. 4, by using the stall window feasible region range information offline database obtained in step 2, a method for accurately recovering unmanned aerial vehicle fixed points based on distance information is provided:
adjusting the flying height and speed of the unmanned aerial vehicle in the current flying mode to approach the typical flying height and speed set in the established off-line database until the flying height and speed are equal to each other;
keeping the flying height and the speed of the unmanned aerial vehicle unchanged, hovering the unmanned aerial vehicle to approach a set landing point, acquiring distance information between the unmanned aerial vehicle and the set landing point in real time by using an airborne ranging sensor, comparing the distance information with the feasible region range of a stall window mapped by the current mode, and continuously approaching a target until the unmanned aerial vehicle enters a distribution region of the feasible region of a speed-per-hour window, namely, a graph 4;
the flight height, the speed and the distance from the landing point of the unmanned aerial vehicle are kept unchanged, the attitude of the unmanned aerial vehicle is adjusted to enable the unmanned aerial vehicle to fly horizontally, the landing point is just set, the longitudinal direction of the unmanned aerial vehicle is longitudinally consistent with the longitudinal direction of a wind field, the control quantity selected in the step 1 is executed, and the rudder deflection angle delta is adjusted by controlling the sliding mode structure controllerrThe bounded wind field disturbance is removed; controlling elevator yaw angle deltaeAnd when the deviation angle value of the rated rudder is reached, the fixed-point recovery of the unmanned aerial vehicle based on the distance information is realized.
Claims (1)
1. A method for recovering deep stall of a small-sized fixed wing unmanned aerial vehicle based on distance information is characterized by comprising the following steps:
step 1: adjusting the posture of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly horizontally; adjusting the flying height and the speed of the unmanned aerial vehicle in the current flying mode to approach the set typical flying height and speed until the flying height and the speed are equal to each other;
step 2: keep unmanned aerial vehicle's flying height, speed unchangeable, it sets for the drop point to hover to be close, utilizes the airborne range finding sensor to acquire in real time and sets for the distance information d of drop point, and the distribution region that can territory is moved into to the speed per hour window up to unmanned aerial vehicle:
dmin≤d≤dmax
wherein,the distance from the unmanned plane to the farthest end of the landing area,is the distance from the nearest end of the drop point region,r is the radius of a drop point area, and delta x, delta y and delta z are longitudinal displacement, transverse lateral displacement and height difference in an unmanned aerial vehicle recovery path respectively;
and step 3: keeping the flying height, the speed and the distance from the landing point of the unmanned aerial vehicle unchanged, adjusting the posture of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly horizontally, just setting the landing point, and longitudinally consistent with the wind field of the unmanned aerial vehicle, outputting the control quantity to a flight control system, and adjusting the rudder deflection angle delta by controlling a sliding mode structure controllerrThe bounded wind field disturbance is removed; controlling elevator yaw angle deltaeWhen the deviation angle value of the rated rudder is reached, the unmanned aerial vehicle fixed-point recovery based on the distance information is realized;
the control amount is as follows:
wherein, a1、a2B is an element in the system state matrix, x1、x2Respectively representing the transverse lateral displacement and the transverse lateral speed of the unmanned aerial vehicle, wherein r is reference input, and epsilon and k are parameters of a sliding mode modal structure.
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| CN114020010A (en) * | 2021-10-20 | 2022-02-08 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster air-based recovery method and system, electronic equipment and medium |
| CN114020010B (en) * | 2021-10-20 | 2023-10-24 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster space-based recovery method, unmanned aerial vehicle cluster space-based recovery system, electronic equipment and medium |
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