CN108287559A - The method and device controlled for the unmanned plane in target area - Google Patents
The method and device controlled for the unmanned plane in target area Download PDFInfo
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- CN108287559A CN108287559A CN201711488232.6A CN201711488232A CN108287559A CN 108287559 A CN108287559 A CN 108287559A CN 201711488232 A CN201711488232 A CN 201711488232A CN 108287559 A CN108287559 A CN 108287559A
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- unmanned plane
- instruction
- target area
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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
- G05D1/08—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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- 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
Abstract
An embodiment of the present invention provides a kind of method and device that the unmanned plane in target area is controlled, method therein includes：Obtain the fundamental geological position coordinates of marker in base area；Form a circular target area；Obtain the current geographic position coordinate of each unmanned plane；Select the UAV targets controlled；Obtain the first control instruction；According to preset ideal model, it converts first control instruction to the second control instruction being consistent with intended response dynamic；The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；The unmanned plane is controlled according to the third control instruction.The present invention realizes the technique effect for improving unmanned aerial vehicle (UAV) control method stability and robustness.
Description
Technical field
The present invention relates to the sides that electronic technology field more particularly to a kind of unmanned plane in target area are controlled
Method and device.
Background technology
Currently, unmanned plane is widely used in ground mapping, Forest servey, disaster surveillance, logistics express delivery, high-altitude shooting etc.
Field.
Aircraft is substantially a complicated nonlinear system, and traditional control method is first that aircraft mathematical model is linear
Change, obtain the microvariations Linearized state equations under different modalities, is then directed to different model of flight and designs corresponding control law
And tune ginseng is carried out, all state of flights are finally connected to the control law constituted in entire envelope curve.Traditional control method
In, if aspect occurs acute variation or when by larger external interference, aircraft can not effectively be controlled,
Result even in that unmanned plane is directly out of control, thus the stability and robustness that control are poor, flight quality and safety are difficult to ensure.
As it can be seen that there are stability and robustness for the method that is controlled of unmanned plane being directed in the prior art in target area
Poor technical problem.
Invention content
An embodiment of the present invention provides a kind of method and devices that the unmanned plane in target area is controlled, and are used for
It solves the method that is controlled of unmanned plane being directed in target area in the prior art and asks there are stability and robustness are poor
Topic.
In a first aspect, the present invention provides a kind of methods that the unmanned plane in target area is controlled, including：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant UAV targets of second control instruction, and accordingly generate comprehensive
Close feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The UAV targets are controlled according to the third control instruction.
Optionally, the first control instruction and the dynamic correspondence of intended response are provided in the ideal model.
Optionally, the flight status parameter with the relevant unmanned plane of the second control instruction includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
It is one or more in speed, control surface deflection angle, atmospheric density, atmospheric temperature.
Optionally, the integrative feedback that accordingly generates includes：
The value of the flight status parameter is subjected to Variational Design, is converted to instruction corresponding with second control instruction
Changing value, using described instruction changing value as the integrative feedback.
Optionally, control errors are carried out according to second control instruction and the integrative feedback, obtains third control and refers to
Order includes：
Error is calculated according to second control instruction and the integrative feedback, and composition error is obtained by controlling operation
Control instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output as third
Control instruction.
Optionally, control errors are being carried out to second control instruction and the integrative feedback, is obtaining third control and refers to
After order, the method further includes：
The uncertain or disturbing factor of unmanned plane during flying is predicted, predicted value is obtained；
The third control instruction is modified based on the predicted value, obtains the 4th control instruction.
Based on same inventive concept, second aspect of the present invention provides a kind of control device of unmanned plane, including：
Fundamental geological position coordinates acquisition module, the fundamental geological position coordinates for obtaining marker in base area；
Target area forms module, for using the fundamental geological position coordinates as coordinate origin, distance H to be target half
Diameter forms a circular target area；
Current geographic position coordinate obtaining module, for obtaining the current of the unmanned plane of each in several unmanned planes
Geographical position coordinates；
UAV targets' selecting module, for the current geographic position coordinate according to unmanned plane described in each, selection needs
The UAV targets controlled；
First obtains module, and for obtaining the first control instruction, first control instruction is to the target control
Unmanned plane during flying reaches the original control instruction of dbjective state；
Conversion module, for according to preset ideal model, converting first control instruction to and being moved with intended response
The second control instruction that state is consistent；
Feedback module is joined for acquiring with the state of flight of the relevant UAV targets of second control instruction
Number, and accordingly generate integrative feedback；
Second obtains module, for carrying out control errors according to second control instruction and the integrative feedback, obtains
Third control instruction；
Control module, for being controlled the UAV targets according to the third control instruction.
Optionally, the first control instruction and the dynamic correspondence of intended response are provided in the ideal model.
Optionally, the flight status parameter with the relevant UAV targets of second control instruction includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
It is one or more in speed, control surface deflection angle, atmospheric density, atmospheric temperature.
Optionally, the feedback module is additionally operable to：
The value of the flight status parameter is subjected to Variational Design, is converted to instruction corresponding with second control instruction
Changing value, using described instruction changing value as the integrative feedback.
Optionally, the second acquisition module is additionally operable to：
Error is calculated according to second control instruction and the integrative feedback, and composition error is obtained by controlling operation
Control instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output as third
Control instruction.
Optionally, described device further includes prediction module, is used for：
The uncertain or disturbing factor of UAV targets flight is predicted, predicted value is obtained；
The third control instruction is modified based on the predicted value, obtains the 4th control instruction.
Based on same inventive concept, third aspect present invention provides a kind of computer readable storage medium, deposits thereon
Computer program is contained, which realizes following steps when being executed by processor：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
Based on same inventive concept, fourth aspect present invention provides a kind of computer equipment, including memory, processing
On a memory and the computer program that can run on a processor, when processor execution described program, is realized for device and storage
Following steps：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention, on the one hand, first can be according to preset ideal model, by described
One control instruction is converted into the second control instruction being consistent with intended response dynamic, in this way can be to avoid due to the first control instruction
Change greatly, lead to the unstable problem of control of unmanned plane, on the other hand, can according to the relevant nothing of the second control instruction
Man-machine current state parameter generates integrative feedback, carries out control errors further according to the second control instruction and integrative feedback, obtains
Third control instruction integrative feedback in turn controls unmanned plane based on third control instruction, due to finally controlling unmanned plane
Third control instruction after carrying out control errors to integrative feedback and the second control instruction by obtaining, and integrative feedback is root
It is obtained according to the current state parameter of the relevant unmanned plane of the second control instruction, i.e. third control instruction has considered unmanned plane
Current motion state, so as to combine the current motion state of unmanned plane to control unmanned plane, so can improve
To the stability and robustness of the control of unmanned plane, solves the unmanned plane being directed in target area in the prior art and controlled
Method there is a problem of that stability is poor.
Description of the drawings
Fig. 1 is the flow chart for a kind of method that unmanned plane in target area is controlled in the embodiment of the present invention；
Fig. 2 is a kind of structure chart of the controlling party device of unmanned plane in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of computer readable storage medium in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of computer equipment in the embodiment of the present invention.
Specific implementation mode
An embodiment of the present invention provides an embodiment of the present invention provides a kind of unmanned planes in target area to be controlled
The method and device of system, the method that the unmanned plane for solving to be directed in target area in the prior art is controlled, which exists, to be stablized
Property and the poor problem of robustness.
In order to solve the above-mentioned technical problem, the technical solution general thought that one embodiment of the invention provides is as follows：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
In the above method, according to preset ideal model it can convert and be expected first control instruction to first
The second control instruction that response dynamics are consistent can be changed greatly to avoid due to the first control instruction, lead to unmanned plane in this way
Unstable problem is controlled, on the other hand, can be given birth to according to the current state parameter of the relevant unmanned plane of the second control instruction
At integrative feedback, control errors are carried out further according to the second control instruction and integrative feedback, obtain third control instruction integrative feedback
And then unmanned plane is controlled based on third control instruction, the third control instruction due to finally controlling unmanned plane is by right
It is obtained after integrative feedback and the second control instruction progress control errors, and integrative feedback is relevant according to the second control instruction
What the current state parameter of unmanned plane obtained, i.e., third control instruction has considered the current motion state of unmanned plane, to
Unmanned plane can be controlled in conjunction with the current motion state of unmanned plane, so the stabilization of the control to unmanned plane can be improved
Property and robustness, solve the method that is controlled of unmanned plane that is directed in the prior art in target area there are stability and is poor
The problem of.
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the absence of conflict, the technical characteristic in the embodiment of the present application and embodiment can be combined with each other.
The terms "and/or", only a kind of incidence relation of description affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Embodiment one
First aspect present invention provides the method controlled for the unmanned plane in target area, referring to FIG. 1, being
The flow chart of the method controlled for the unmanned plane in target area in the embodiment of the present invention.This method includes：
S110；Obtain the fundamental geological position coordinates of marker in base area；
S120；Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular mesh
Mark region；
S130；The current geographic position for obtaining the unmanned plane of each in several unmanned planes in the target area is sat
Mark；
S140；According to the current geographic position coordinate of unmanned plane described in each, select the target controlled without
It is man-machine；
Specifically, the application is specifically used for controlling the unmanned plane to fly in the air, and fly simultaneously in the air
Unmanned plane have multiple, then when needing to control a certain frame unmanned plane at this time, control needed for determining first can be passed through
Unmanned plane in some base area of system, such as the Wuhan of Hubei, need nobody in the Jiangan District to Wuhan
When machine is controlled, then the Jiangan District can be base area, and a marker, the marker can be first determined in Jiangan District
It can be river bank district government or other other buildings with characteristic, eye-catching mark, then obtain base area acceptance of the bid
The fundamental geological position coordinates of will object；And using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, shape
At a circular target area；Distance H can be 100m, 200m or 300 meter.If then obtaining again in the target area
The current geographic position coordinate of each unmanned plane in dry unmanned plane；
Wherein, in the current geographic position coordinate according to unmanned plane described in each, the target controlled is selected
Unmanned plane；Following sub-step can also be specifically included：According to the current geographic position coordinate of unmanned plane described in each, to several
Current location where a unmanned plane carries out band of position classification, for example, include 2 unmanned planes in the region of first position,
Include 3 unmanned planes in the region of the second position, includes 5 unmanned planes etc. in the third place region；First position region, second
The band of position, the third place region can be understood as three sub-regions of target area.Then from first position region,
Sub-goal region is selected in two bands of position, the third place region, i.e. the sub-goal region can be needed in the area
The region that is controlled of unmanned plane, such as the especially severe region blown or rained of environment；Then from the sub-goal
The UAV targets controlled are selected in region.
S150：The first control instruction is obtained, first control instruction is to reach mesh to control targe unmanned plane during flying
The original control instruction of mark state.
Specifically, the first control instruction is instructed for controlling the single or Comprehensive Control of drone status, comprehensive control
System instruction can be comprehensive amount of speed and posture, or overload, angular speed and the comprehensive amount of dynamic pressure etc., and the first control instruction can
To control the action of unmanned plane.
S160：According to preset ideal model, converts first control instruction to and be consistent with intended response dynamic
Second control instruction.
In specific implementation process, since control instruction changes at any time, if directly according to control instruction to nothing
Man-machine to be controlled, then the amplitude of variation that may result in unmanned plane is excessive, or even the problem of can not execute the control instruction.It lifts
For example, if the first control instruction is the angular acceleration for controlling unmanned plane, if the flight angular acceleration of unmanned plane is 1
Degree per second, the first control instruction are 10 degree per seconds, then need the angular acceleration of unmanned plane directly becoming 10 from 1, this will lead
Cause unmanned plane during flying unstable, larger deflection etc. occurs in fuselage；And the method for the embodiment of the present invention, then it can be to the first control instruction
It is handled, such as 10 degree per seconds is processed into 7 degree per seconds.
Specifically, the first control instruction and the dynamic correspondence of intended response, Ke Yishi are provided in ideal model
According to the correspondence that existing data, knowledge and experience obtain, more specifically, can inputted according to closed loops
The lower response of driving and the requirement of flight quality determine, if the first control instruction of input is acceleration instruction, there will be with
Corresponding intended response dynamic, equally, if input the first control instruction be speed command, also have corresponding pre-
Phase response dynamics.By taking speed command as an example, when inputting some control instruction, intended response dynamic is preceding 0.3s slowly (low
In default response speed) variation, waits and is changed according to preset response speed after reaching stable 1s.
The relationship that between first control instruction and the second control instruction can be corresponding ratio can also be other relationships, example
Such as when the first control instruction is 10, the second control instruction can be that the 8, second control instruction may be 7.Concrete condition can be with
It is arranged according to actual conditions, is not specifically limited herein.
More specifically, it is that cycle executes to process to obtain the second control instruction by the first control instruction, when obtaining the
After two control instructions, it can be handled to obtain control instruction next time to the second control instruction again, until state of flight
Until tending to the first control instruction.
S170：Acquisition and the relevant unmanned plane during flying state parameter of second control instruction, and accordingly generate comprehensive anti-
Feedback；
Specifically, flight status parameter includes flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angle speed
Rate, angular acceleration, flow angle, motor speed, control surface deflection angle, atmospheric density, atmospheric temperature etc., wherein above-mentioned state parameter packet
It includes comprising can be with motion parameter measured directly and the motion parameter not directly measured, such as speed, angle is can be with
Motion parameter measured directly, angular acceleration are the motion parameter not directly measured.
For example, integrative feedback is generated according to flight status parameter to realize by following methods：
Obtain measurable first motion parameter in the flight status parameter of unmanned plane；
Immeasurablel second motion parameter in the flight status parameter is estimated based on default plant model；
According to first motion parameter and second motion parameter, integrative feedback is obtained.
Specifically, for measurable first motion parameter, unmanned plane can be surveyed by sensor device
Amount, to obtain corresponding measured value, above-mentioned measured value may include posture, speed, angular speed, rudder face degree of bias etc..For not
Measurable second motion parameter then can preset plant model to be estimated by structure, such as six degree of freedom
Model or Kalman filtering etc., above-mentioned default plant model can be linear mathematical model, or non-linear mathematics
Model.Optionally, the immeasurablel motion state that the unmanned plane is estimated using nonlinear model, so as to adapt to more
More state of flights.After obtaining the first motion parameter and the second motion parameter respectively, then it can be set by controlling variable
The mode of meter obtains integrative feedback.
S180：Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction.
Specifically, integrative feedback is the instruction for including identical information with the second control instruction, if the second control instruction
Be control angular acceleration instruction, then integrative feedback be also control angular acceleration instruction, then to the second control instruction with it is comprehensive
It closes feedback to be compared, obtains deviation between the two.Obtaining the deviation between second control instruction and integrative feedback
Afterwards, can third control instruction be set by deviation controller.
S190：Unmanned plane is controlled based on the third control instruction.
Method provided in an embodiment of the present invention, first can be according to preset ideal model, by first control instruction
It is converted into the second control instruction being consistent with intended response dynamic, it is defeated that ideal model contains ideal of the aircraft under given input
Go out dynamic, ideal dynamic meets the requirements such as flight quality and performance, which ensure that control system has enough stability margins；Separately
On the one hand, integrative feedback is generated according to the flight status parameter of the relevant unmanned plane of the second control instruction, integrative feedback is more
Variable Control problem, it will ensure that aircraft under the premise of meeting control instruction, ensure other flight parameters be also at safety can
Within the scope of control, to improve the robustness of control；Second control instruction and integrative feedback are carried out error control by the third aspect
System obtains third control instruction, by selecting suitable control errors algorithm so that integrative feedback instruction follows the second control in time
System instruction, it is ensured that closed-loop system has consistent quality and performance with ideal model.So the technical solution solves existing
With the presence of the problem that the method stability that is controlled of unmanned plane and robustness that are directed in technology in target area are poor.
Since third control instruction is error, by selecting suitable control errors algorithm so that error is according to scheduled
Ideal dynamic convergence, it is ensured that closed-loop system has consistent quality and performance with ideal model.
In general, integrative feedback can be obtained by following manner, flight status parameter be carried out Variational Design, and will
It is converted to instruction changing value corresponding with second control instruction, then anti-using described instruction changing value as the synthesis
Feedback.
Specifically, if the second control instruction be pitch rate instruction, be 50deg/s, and with the second control instruction
Relevant parameter includes pitch rate, the angle of attack, normal g-load etc., then Variational Design is carried out according to above-mentioned parameter, by above-mentioned ginseng
Number is converted into instruction changing value, i.e., is converted to instruction changing value, example according to the influence degree of the second control instruction of above-mentioned parameter pair
If pitch rate is 40deg/s, angle of attack 15deg, normal g-load 5g, then it can be translated into instruction changing value 60deg/s, and will
It is as integrative feedback.
Specifically, certain pitch orientation integrative feedback method is
Wherein, p and q is rolling and pitch rate；U and v is body x and y-axis speed；It is rolling and pitch angle with θ；α
It is the angle of attack；G is acceleration of gravity；V∞It is air speed；K is scale factor, with dynamic pressure, flying speed, aerodynamic coefficient and reference
The correlations such as area.
In method provided in an embodiment of the present invention, error is carried out according to second control instruction and the integrative feedback
Control, obtaining third control instruction includes：
Error is calculated according to second control instruction and the integrative feedback, and composition error is obtained by controlling operation
Control instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output as third
Control instruction.
It specifically, can be by designing the second control instruction of controller pair and integrative feedback after obtaining integrative feedback
Control errors are carried out, then composition error control instruction is obtained by controlling operation, then composition error control instruction is solved
Analysis, and the physical quantity directly related with control output, such as composition error control instruction are extracted, can include pitch angle speed
Rate, normal g-load, the angle of attack, the ratio shared by control Variational Design each section is different according to actual conditions, such as
80% pitch rate, 10% normal g-load, 10% the angle of attack, the instruction of above-mentioned Comprehensive Control is parsed, and is extracted
The physical quantity directly related with control output, angular acceleration is generally to the control of unmanned plane.
Specifically, if pitch orientation integrative feedback is as shown in Equation 1, that first carries out differential to formula 1 and approximation can obtain：
At this point, writing out the expression formula of pitching angular acceleration instruction
Wherein,It is the composition error control instruction that control errors obtain；U and v is body x and y-axis speed；It is
Rolling angular acceleration instructs；It is the instruction of pitching angular acceleration.
In method provided in an embodiment of the present invention, obtaining between second control instruction and the integrative feedback
After deviation, the method further includes：
The disturbing factor of unmanned plane during flying is predicted, predicted value is obtained；
The deviation is modified based on the predicted value.
Specifically, above-mentioned disturbing factor, which includes noise, wind-force, modeling inaccuracy etc., may influence unmanned plane during flying
Factor, then estimated to obtain predicted value to these factors, and be modified to obtain the 4th control to third control instruction
Instruction, so that control instruction carries out adaptive correction, to improve the accuracy of control.
Embodiment two
Based on invention structure same as the method that is controlled of unmanned plane being directed in aforementioned first aspect in target area
Think, the embodiment of the present invention two additionally provides the control device of unmanned plane, as shown in Fig. 2, including：
Fundamental geological position coordinates acquisition module 210, the fundamental geological position for obtaining marker in base area are sat
Mark；
Target area forms module 220, and using the fundamental geological position coordinates as coordinate origin, distance H is radius of target,
Form a circular target area；
Current geographic position coordinate obtaining module 230, for obtaining the unmanned plane of each in several unmanned planes
Current geographic position coordinate；
UAV targets' selecting module 240, for the current geographic position coordinate according to unmanned plane described in each, selection
The UAV targets controlled；
First obtains module 250, and for obtaining the first control instruction, first control instruction is to control unmanned plane
Flight reaches the original control instruction of dbjective state；
Conversion module 260 converts and intended response first control instruction to for according to preset ideal model
The second control instruction that dynamic is consistent；
Feedback module 270, for acquire and the flight status parameter of the relevant unmanned plane of the second control instruction, and according to
This generates integrative feedback；
Second obtains module 280, for carrying out control errors according to second control instruction and the integrative feedback, obtains
Obtain third control instruction；
Control module 290, for being controlled the unmanned plane according to the third control instruction.
The first control instruction and intended response dynamic are provided in control device provided in this embodiment, in ideal model
Correspondence.
In control device provided in this embodiment, the flight status parameter packet with the relevant unmanned plane of the second control instruction
It includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor turn
Speed, control surface deflection angle, atmospheric density, atmospheric temperature etc..
In control device provided in this embodiment, the feedback module is additionally operable to：
The value of the flight status parameter is subjected to Variational Design, is converted to instruction corresponding with second control instruction
Changing value, using described instruction changing value as the integrative feedback.
In control device provided in this embodiment, the second acquisition module is additionally operable to：
Error is calculated according to second control instruction and the integrative feedback, and composition error is obtained by controlling operation
Control instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output as third
Control instruction.
Control device provided in this embodiment further includes prediction module, is used for：
The uncertain or disturbing factor of unmanned plane during flying is predicted, predicted value is obtained；
The third control instruction is modified based on the predicted value, obtains the 4th control instruction.
The various change mode of the method controlled for the unmanned plane in target area in 1 embodiment of earlier figures and
Specific example is equally applicable to the control device of the unmanned plane of the present embodiment, by aforementioned to for the unmanned plane in target area
The detailed description of the method controlled, those skilled in the art are clear that the control dress of unmanned plane in the present embodiment
The implementation set, so in order to illustrate the succinct of book, this will not be detailed here.
Embodiment three
Based on invention structure same as the method that is controlled of unmanned plane being directed in previous embodiment one in target area
Think, the embodiment of the present invention three additionally provides a kind of computer readable storage medium, as shown in figure 3, being stored thereon with computer journey
Sequence, the program realize following steps when being executed by processor：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
The various change mode of the method controlled for the unmanned plane in target area in 1 embodiment of earlier figures and
Specific example is equally applicable to the computer readable storage medium of the unmanned plane of the present embodiment, by aforementioned to being directed to target area
In the detailed description of method that is controlled of unmanned plane, those skilled in the art are clear that in the present embodiment and calculate
The implementation of machine readable storage medium storing program for executing, so in order to illustrate the succinct of book, this will not be detailed here.
Example IV
Based on invention structure same as the method that is controlled of unmanned plane being directed in previous embodiment one in target area
Think, the embodiment of the present invention four additionally provides a kind of computer equipment, including memory 401, processor 402 and is stored in memory
Computer program 403 that is upper and can running on a processor, the processor realize following steps when executing described program：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area
Domain；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach target to control UAV targets' flight
The original control instruction of state；
According to preset ideal model, it converts first control instruction to the second control being consistent with intended response dynamic
System instruction；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.For convenience of description, it illustrates only and this hair
The bright relevant part of embodiment, particular technique details do not disclose, please refer to present invention method part.Memory 401
It can be used for storing computer program 403, above computer program includes software program, module and data, and processor 402 passes through fortune
Row, which executes, is stored in the computer program 403 of memory 401, at the various function application and data to execute electronic equipment
Reason.
In specific implementation process, memory 401 can be used for storing software program and module, processor 402 pass through
Operation is stored in the software program and module of memory 401, to execute the various function application and data of electronic equipment
Processing.Memory 401 can include mainly storing program area and storage data field, wherein storing program area can storage program area,
Application program etc. needed at least one function；Storage data field can be stored uses created data according to electronic equipment
Deng.In addition, memory 401 may include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other volatile solid-state parts.Processor 802 is the control of electronic equipment
Center is stored in memory using the various pieces of various interfaces and the entire electronic equipment of connection by running or executing
Software program in 401 and/or module, and the data being stored in memory 401 are called, execute the various work(of electronic equipment
Data can and be handled, to carry out integral monitoring to electronic equipment.Optionally, processor 402 may include one or more processing
Unit；Preferably, processor 402 can integrate application processor, wherein the main processing operation system of application processor, Yong Hujie
Face and application program etc..
The various change mode of the method controlled for the unmanned plane in target area in 1 embodiment of earlier figures and
Specific example is equally applicable to the computer equipment of the unmanned plane of the present embodiment, by aforementioned to for nobody in target area
The detailed description for the method that machine is controlled, those skilled in the art are clear that the present embodiment Computer equipment
Implementation, so in order to illustrate the succinct of book, this will not be detailed here.
Said one in the embodiment of the present application or multiple technical solutions at least have following one or more technology effects
Fruit：
In the technical solution of the embodiment of the present invention：It on the one hand, first can be according to preset ideal model, by described
One control instruction is converted into the second control instruction being consistent with intended response dynamic, and ideal model contains aircraft in given input
Under ideal output dynamic, ideal dynamic meets the requirements such as flight quality and performance, which ensure that control system have it is enough
Stability margin；On the other hand, integrative feedback is generated according to the flight status parameter of the relevant unmanned plane of the second control instruction, it is comprehensive
It is multivariable Control problem to close feedback, it will ensure that aircraft under the premise of meeting control instruction, ensures other flight parameters
Within the scope of safely controllable, to improve the robustness of control；The third aspect, by the second control instruction and integrative feedback
It carries out control errors and obtains third control instruction, by selecting suitable control errors algorithm so that integrative feedback instruction is timely
Follow the second control instruction, it is ensured that closed-loop system has consistent quality and performance with ideal model.So the technical side
Case solves the method that the unmanned plane being directed in target area in the prior art is controlled, and there are stability and robustness are poor
The problem of.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of method that unmanned plane in target area is controlled, which is characterized in that including：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach dbjective state to control UAV targets' flight
Original control instruction；
According to preset ideal model, converts first control instruction to the second control being consistent with intended response dynamic and refer to
It enables；
The flight status parameter of acquisition and the relevant UAV targets of second control instruction, and accordingly generate comprehensive anti-
Feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The UAV targets are controlled according to the third control instruction.
2. it is dynamic with intended response it to be provided with the first control instruction the method as described in claim 1, in the ideal model
Correspondence.
3. the method as described in claim 1, the flight with the relevant UAV targets of second control instruction
State parameter includes：
Flying speed, dynamic pressure, overload, height, acceleration, attitude angle, angular speed, angular acceleration, flow angle, motor speed, rudder
It is one or more in deflecting facet angle, atmospheric density, atmospheric temperature.
4. method according to claim 3, the integrative feedback that accordingly generates includes：
The value of the flight status parameter is subjected to Variational Design, is converted to instruction variation corresponding with second control instruction
Value, using described instruction changing value as the integrative feedback.
5. it is according to claim 4, control errors are carried out according to second control instruction and the integrative feedback, are obtained
Third control instruction includes：
Error is calculated according to second control instruction and the integrative feedback, and composition error control is obtained by controlling operation
Instruction；
It is parsed from the composition error control instruction and extracts the physical quantity directly related with control output and controlled as third
Instruction.
6. the method as described in claim 1, which is characterized in that carried out to second control instruction and the integrative feedback
Control errors, after obtaining third control instruction, the method further includes：
The uncertain or disturbing factor of UAV targets flight is predicted, predicted value is obtained；
The third control instruction is modified based on the predicted value, obtains the 4th control instruction.
7. a kind of device for being controlled unmanned plane, which is characterized in that including：
Fundamental geological position coordinates acquisition module, the fundamental geological position coordinates for obtaining marker in base area；
Target area forms module, for using the fundamental geological position coordinates as coordinate origin, distance H to be radius of target, shape
At a circular target area；
Current geographic position coordinate obtaining module, for obtaining the nothing of each in several unmanned planes in the target area
Man-machine current geographic position coordinate；
UAV targets' selecting module, for current geographic position coordinate according to unmanned plane described in each, selection need into
The UAV targets of row control；
First obtain module, for obtain the first control instruction, first control instruction be to control the target nobody
Machine, which flies, reaches the original control instruction of dbjective state；
Conversion module, for according to preset ideal model, converting and intended response dynamic phase first control instruction to
Second control instruction of symbol；
Feedback module for acquire and the flight status parameter of the relevant unmanned plane of the second control instruction, and accordingly generates
Integrative feedback；
Second obtains module, for carrying out control errors according to second control instruction and the integrative feedback, obtains third
Control instruction；
Control module, for being controlled the unmanned plane according to the third control instruction.
8. it is dynamic with intended response it to be provided with the first control instruction device as claimed in claim 7, in the ideal model
Correspondence.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Following steps are realized when row：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach dbjective state to control UAV targets' flight
Original control instruction；
According to preset ideal model, converts first control instruction to the second control being consistent with intended response dynamic and refer to
It enables；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
10. a kind of computer equipment, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, which is characterized in that the processor realizes following steps when executing described program：
Obtain the fundamental geological position coordinates of marker in base area；
Using the fundamental geological position coordinates as coordinate origin, distance H is radius of target, forms a circular target area；
Obtain the current geographic position coordinate of the unmanned plane of each in several unmanned planes in the target area；
According to the current geographic position coordinate of unmanned plane described in each, the UAV targets controlled are selected；
The first control instruction is obtained, first control instruction is to reach dbjective state to control UAV targets' flight
Original control instruction；
According to preset ideal model, converts first control instruction to the second control being consistent with intended response dynamic and refer to
It enables；
The flight status parameter of acquisition and the relevant unmanned plane of the second control instruction, and accordingly generate integrative feedback；
Control errors are carried out according to second control instruction and the integrative feedback, obtain third control instruction；
The unmanned plane is controlled according to the third control instruction.
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