CN108052005A - Control method, the unmanned plane of a kind of interior unmanned plane speed limit and limit for height - Google Patents
Control method, the unmanned plane of a kind of interior unmanned plane speed limit and limit for height Download PDFInfo
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- CN108052005A CN108052005A CN201711289224.9A CN201711289224A CN108052005A CN 108052005 A CN108052005 A CN 108052005A CN 201711289224 A CN201711289224 A CN 201711289224A CN 108052005 A CN108052005 A CN 108052005A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000003044 adaptive effect Effects 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 2
- 230000001965 increasing effect Effects 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Software Systems (AREA)
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- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to unmanned air vehicle technique fields, disclose control method, the unmanned plane of a kind of indoor unmanned plane speed limit and limit for height, the limitation of the flying speed of aircraft and height limitation are set by earth station, can ensure that aircraft is flown under various conditions with the performance of most safety and stability.The speed in flight course is indirectly controlled by controlling attitude angle, it is the excursion for setting an angle during general control, the adaptive process that the present invention uses, the value of maximum angle is dynamically adjusted during adjustment, it can be ensured that the limitation of speed more targetedly and timeliness；Control for height is to measure the current height and position of body by barometer and ultrasonic sensor, ensures that the height in flight course is no more than current setting value by surely high algorithm.Ensure flight in a rationally controllable scope.
Description
Technical field
The invention belongs to unmanned air vehicle technique field more particularly to the control method of a kind of indoor unmanned plane speed limit and limit for height,
Unmanned plane.
Background technology
Indoor environment is complicated and changeable, and all barriers are detected for existing sensor certain difficulty,
It is limited by the flying speed to aircraft and height, can also reach the mesh for ensureing flight safety under environment indoors
's.By limiting speed and height, the region for having delimited an aircraft flight is equivalent to, by being added from control is internal
One security insurance.
In conclusion problem existing in the prior art is：Lack corresponding speed and height for the unmanned plane of indoor flight
Control in terms of degree relies solely on vision or sonic sensor detection barrier, it is impossible to reach the safety under complex environment
It is required that.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of indoor unmanned plane speed limits and the controlling party of limit for height
Method, unmanned plane.
The present invention is achieved in that the control method of a kind of indoor unmanned plane speed limit and limit for height, the interior unmanned plane
The control method speed limit and limit for height of speed limit and limit for height are a three-dimensional position control modes, pass through the rate limitation in terms of level
It is controlled with the height of vertical direction, reaches the safe flight in entire space.The rate-determining steps of speed limit are by self-adaptive controlled
Algorithm processed, it is different according to the coefficient of setting, reach and different speed controls is realized according to the distance apart from barrier.Pass through ground
It stands and the parameter of adaptive control algorithm is set, the control parameter more than difference can reach different control sensitivity.Pass through change
Attitude angle in aircraft flight increaseds or decreases its frontal resistance, achievees the purpose that control speed.
The present invention sets the limitation of the flying speed of aircraft and height limitation by earth station；Attitude angle is controlled indirect
Control flight course in speed；The value of maximum angle is dynamically adjusted during adaptive adjustment；The control of height is led to
Barometer and ultrasonic sensor are crossed to measure the current height and position of body, it is current to ensure that height is no more than by surely high algorithm
Setting value.
Further, the control method of the indoor unmanned plane speed limit and limit for height turns sequence, Z axis plummet, X-axis court using z-y-x
Before, Y-axis is into right-handed system；
ψ angles first are rotated around z-axis, θ angles are rotated further around y-axis, finally rotating γ angles around x-axis has：
What BR contexts represented is that the equal sign left side is B this system coordinates, is R referential coordinates on the right of equal sign.
Further, the indoor unmanned plane speed limit is different with two attitude matrix method for expressing of the control method of limit for height,
But value is identical, has：
It is a kind of using the control method of the indoor unmanned plane speed limit and limit for height another object of the present invention is to provide
Unmanned plane.
Advantages of the present invention and good effect are：It is limited by earth station to set the limitation of the flying speed of aircraft and height
System, can ensure that aircraft is flown under various conditions with the performance of most safety and stability.By controlling attitude angle come indirectly
Control flight course in speed, be the excursion for setting an angle during general control, the present invention uses
An adaptive process, the value of maximum angle is dynamically adjusted during adjustment, it can be ensured that the limitation of speed is more
Targeted and timeliness；Control for height is to measure the current height of body by barometer and ultrasonic sensor
Position is spent, ensures that the height in flight course is no more than current setting value by surely high algorithm.Ensure flight in a conjunction
It manages in controllable scope.
Description of the drawings
Fig. 1 is the control method flow chart of indoor unmanned plane speed limit and limit for height provided in an embodiment of the present invention.
Fig. 2 is coordinate system schematic diagram provided in an embodiment of the present invention.
Fig. 3 is that the control method of indoor unmanned plane speed limit and limit for height provided in an embodiment of the present invention realizes flow chart.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention is current using survey aircraft by light stream sensor and high-precision ultrasonic wave sensor, is carried out
Position and residing height, the decorative pattern cloth for having high contrast that the ground in flight range is pasted so are conducive to light stream sensing
The identification of device.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the control method of interior unmanned plane speed limit provided in an embodiment of the present invention and limit for height includes following step
Suddenly：
S101：The limitation of the flying speed of aircraft and height limitation are set by earth station；Attitude angle is controlled indirect
Control flight course in speed；
S102：The value of maximum angle is dynamically adjusted during adaptive adjustment；The control of height by barometer and
Ultrasonic sensor measures the current height and position of body, ensures that height is no more than current setting value by surely high algorithm.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
Referential can turn to this system by limited number of time foundation rotation.Limited number of time rotation can be reduced to mutually solely
Three vertical rotations, corresponding three angles are exactly Eulerian angles.Different rotational orders can generate different Eulerian angles.It uses
It is that z-y-x turns sequence.Z axis plummet, X-axis is facing forward, and Y-axis is into right-handed system.
ψ angles first are rotated around z-axis, θ angles is rotated further around y-axis, finally rotates γ angles around x-axis.Then have：
What BR contexts represented is that the equal sign left side is B this system coordinates, is R referential coordinates on the right of equal sign.
Attitude matrix is only related with rotational order, unrelated with referential.This is because Eulerian angles are this systems compared with ginseng
Examine the angle for being, no matter referential be east northeast or northeast day, also or other coordinate systems, as long as meet the right-hand rule and
Z-y-x's turns sequence, and attitude matrix must be above-mentioned matrix.
As shown in Fig. 2, according to the meaning of current coordinate system, also known as ψ is yaw angle, and θ is pitch angle, and γ is roll angle.
Two attitude matrix method for expressing are different, but value is identical, therefore have：
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (4)
1. the control method of a kind of interior unmanned plane speed limit and limit for height, which is characterized in that the interior unmanned plane speed limit and limit for height
Control method pass through the height of the rate limitation in terms of level and vertical direction control；Speed limit by adaptive control algorithm,
It is different according to the coefficient of setting, different speed controls is realized according to the distance apart from barrier；It is set by earth station adaptive
Answer the parameter of control algolithm, the control parameter more than difference can reach different control sensitivity；By changing aircraft flight mistake
Attitude angle in journey increaseds or decreases its frontal resistance.
2. the control method of interior unmanned plane speed limit as described in claim 1 and limit for height, which is characterized in that it is described it is indoor nobody
The control method of machine speed limit and limit for height turns sequence using z-y-x, and Z axis plummet, X-axis is facing forward, and Y-axis is into right-handed system；
ψ angles first are rotated around z-axis, θ angles are rotated further around y-axis, finally rotating γ angles around x-axis has：
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3. the control method of interior unmanned plane speed limit as described in claim 1 and limit for height, which is characterized in that it is described it is indoor nobody
Machine speed limit is different with two attitude matrix method for expressing of the control method of limit for height, but value is identical, has：
θ=arcsin (- 2 (q1q3-q0q2))
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Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711289224.9A CN108052005A (en) | 2017-12-07 | 2017-12-07 | Control method, the unmanned plane of a kind of interior unmanned plane speed limit and limit for height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711289224.9A CN108052005A (en) | 2017-12-07 | 2017-12-07 | Control method, the unmanned plane of a kind of interior unmanned plane speed limit and limit for height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108052005A true CN108052005A (en) | 2018-05-18 |
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