CN108205329A - A kind of no true course slides control method - Google Patents
A kind of no true course slides control method Download PDFInfo
- Publication number
- CN108205329A CN108205329A CN201711303179.8A CN201711303179A CN108205329A CN 108205329 A CN108205329 A CN 108205329A CN 201711303179 A CN201711303179 A CN 201711303179A CN 108205329 A CN108205329 A CN 108205329A
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- China
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- gain coefficient
- branch
- variable
- flight
- lateral deviation
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005259 measurement Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
Control method is slided the present invention relates to a kind of no true course.The present invention includes：(1) incipient stage is slided：The variable-gain coefficient of flight-path angle branch is 1.5；Variable-gain coefficient of the lateral deviation away from branch is 0；The gain coefficient of yaw speed branch is 1；(2) the low speed slide stage：The variable-gain coefficient of flight-path angle branch is gradually reduced to 1 by 1.5；Variable-gain coefficient of the lateral deviation away from branch progressively increases to 1 by 0；The gain coefficient of yaw speed branch is 1；(3) the high speed slide stage：The variable-gain coefficient of flight-path angle branch remains 1；Variable-gain coefficient of the lateral deviation away from branch remains 1；The gain coefficient of yaw speed branch remains 1.The present invention is realized at low speeds without control is slided in the case of side drift angle inaccuracy caused by true course, magnetic heading etc., and the small drone for solving no true course slides control problem.
Description
Technical field
The invention belongs to flying vehicles control technologies, and be related to a kind of no true course slides control method.
Background technology
Wheeled landing is the principal mode of aircraft landing.And slide the process that race is indispensability during wheeled landing.In order to
Ensure that aircraft slides, and can resist the such environmental effects such as runway environment and crosswind in runway center, it is necessary to nothing
It is man-machine just to slide Heading control ability.Conventional aircraft, which is slided, runs in Controlling model, normal operating speed controls, yaw angle controls,
Flight-path angle, yawrate control, lateral deviation are away from the control of the too many levels such as control, and wherein yaw angle is that conventional aircraft slides race control
In key parameter.
Certain type unmanned plane can not know its course angle due to cost and volumetric constraint.More it is difficult to, due to engine
Interference and sliding run preceding are stationary state, and flight-path angle and magnetic heading angle are also very insincere, and there is a serious shortage of the measurement sides of yaw angle
Formula.Therefore, original aircraft, which slides race Controlling model, can not support the model unmanned plane is slided to run.
Invention content
The purpose of the present invention is：It is limited for small drone measurement means, six-freedom motion model parameter missing, letter
Change computational methods, introduce variable-gain parameter, by being designed with aircraft system combined parameters, propose a kind of no true course slides control
Method processed.
The technical scheme is that：A kind of no true course slides control method, and the control method that slides is nobody
Machine slides each sensor parameters setting during race, including：
4) it slides the incipient stage, unmanned plane ground velocity is 0~12km/h：
D) the variable-gain coefficient k chigrnd of flight-path angle branch is 1.5；
E) variable-gain coefficient k ygrnd of the lateral deviation away from branch is 0；
F) the gain coefficient krsnsn of yaw speed branch is 1；
5) low speed slide stage, unmanned plane ground velocity are 12~30km/h：
D) the variable-gain coefficient k chigrnd of flight-path angle branch is gradually reduced to 1 by 1.5；
E) variable-gain coefficient k ygrnd of the lateral deviation away from branch progressively increases to 1 by 0；
F) the gain coefficient krsnsn of yaw speed branch is 1；
6) high speed slide stage, unmanned plane ground velocity are 30km/h~liftoff：
D) the variable-gain coefficient k chigrnd of flight-path angle branch remains 1；
E) variable-gain coefficient k ygrnd of the lateral deviation away from branch remains 1；
F) the gain coefficient krsnsn of yaw speed branch remains 1.
The beneficial effects of the invention are as follows：The control method that slides in the present invention is designed by control structure and relevant parameter,
It realizes at low speeds without control is slided in the case of side drift angle inaccuracy caused by true course, magnetic heading etc., solves
The small drone of no true course slides control problem.The present invention carries out Flight Test by small drone, works well.
Description of the drawings
Fig. 1 for the present invention in lateral deviation away from, flight-path angle, the control structure connection diagram of yaw speed parameters.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings.
The key point of the present invention be lateral deviation away from, flight-path angle, the control structure of yaw speed parameters and control strategy,
Specific its parameter access opportunity and the visible description of the drawings of form structure.
Referring to Fig. 1, wherein：
cmd:Flight-path angle instructs
chi:Flight path angle measurement
ydist:Lateral deviation is away from measured value
rsnsn：Yaw speed
Kchigrnd:The variable-gain coefficient of flight-path angle branch
Kygrnd:Variable-gain coefficient of the lateral deviation away from branch
Kyawrnd:Gain coefficient of the lateral deviation away from branch
Krsnsn:The gain coefficient of yaw speed branch
Ktaxiy：Master gain
Apyc：Final control instruction
Formula is：Apyc=(((cmd-chi) * kchigrnd-ydist*kygrnd*kyawrnd)-rsnsn*
krsnsn)*ktaxiy。
Parameters will be joined according to unmanned plane current state into Mobile state tune.
Claims (1)
1. a kind of no true course slides control method, it is characterized in that the control method that slides is each during unmanned plane cunning race
A sensor parameters setting, including：
1) it slides the incipient stage, unmanned plane ground velocity is 0~12km/h：
A) the variable-gain coefficient k chigrnd of flight-path angle branch is 1.5；
B) variable-gain coefficient k ygrnd of the lateral deviation away from branch is 0；
C) the gain coefficient krsnsn of yaw speed branch is 1；
2) low speed slide stage, unmanned plane ground velocity are 12~30km/h：
A) the variable-gain coefficient k chigrnd of flight-path angle branch is gradually reduced to 1 by 1.5；
B) variable-gain coefficient k ygrnd of the lateral deviation away from branch progressively increases to 1 by 0；
C) the gain coefficient krsnsn of yaw speed branch is 1；
3) high speed slide stage, unmanned plane ground velocity are 30km/h~liftoff：
A) the variable-gain coefficient k chigrnd of flight-path angle branch remains 1；
B) variable-gain coefficient k ygrnd of the lateral deviation away from branch remains 1；
C) the gain coefficient krsnsn of yaw speed branch remains 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303179.8A CN108205329A (en) | 2017-12-08 | 2017-12-08 | A kind of no true course slides control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303179.8A CN108205329A (en) | 2017-12-08 | 2017-12-08 | A kind of no true course slides control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108205329A true CN108205329A (en) | 2018-06-26 |
Family
ID=62604273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711303179.8A Pending CN108205329A (en) | 2017-12-08 | 2017-12-08 | A kind of no true course slides control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108205329A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5259569A (en) * | 1992-02-05 | 1993-11-09 | Hughes Missile Systems Company | Roll damper for thrust vector controlled missile |
| CN101266150A (en) * | 2008-05-09 | 2008-09-17 | 北京航空航天大学 | Un-manned machine side navigation method |
| CN103941742A (en) * | 2014-04-29 | 2014-07-23 | 中国科学院自动化研究所 | Unmanned aerial vehicle ground sliding deviation rectification control device and method |
| CN105573340A (en) * | 2016-01-15 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Anti-crosswind flight control method for fixed wing unmanned plane |
-
2017
- 2017-12-08 CN CN201711303179.8A patent/CN108205329A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5259569A (en) * | 1992-02-05 | 1993-11-09 | Hughes Missile Systems Company | Roll damper for thrust vector controlled missile |
| CN101266150A (en) * | 2008-05-09 | 2008-09-17 | 北京航空航天大学 | Un-manned machine side navigation method |
| CN103941742A (en) * | 2014-04-29 | 2014-07-23 | 中国科学院自动化研究所 | Unmanned aerial vehicle ground sliding deviation rectification control device and method |
| CN105573340A (en) * | 2016-01-15 | 2016-05-11 | 中国人民解放军国防科学技术大学 | Anti-crosswind flight control method for fixed wing unmanned plane |
Non-Patent Citations (2)
| Title |
|---|
| 周乃恩: "无人机起降纠偏控制技术研究", 《中国优秀硕士学位论文全文数据库》 * |
| 段镇等: "无人机滑跑线性化建模与增益调节纠偏控制", 《光学精密工程》 * |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180626 |