CN109597421A - Unmanned plane during flying state control system code auxiliary generating method - Google Patents
Unmanned plane during flying state control system code auxiliary generating method Download PDFInfo
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- CN109597421A CN109597421A CN201811417613.XA CN201811417613A CN109597421A CN 109597421 A CN109597421 A CN 109597421A CN 201811417613 A CN201811417613 A CN 201811417613A CN 109597421 A CN109597421 A CN 109597421A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013016 damping Methods 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
- 230000010006 flight Effects 0.000 claims 1
- 238000011161 development Methods 0.000 abstract description 10
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
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- 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
-
- 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
The invention discloses unmanned plane during flying state control system code auxiliary generating methods, comprising the following steps: (1) chooses result according to the offline mode of unmanned plane, unmanned plane during flying state control system component combination and unmanned plane during flying state control system component mount message writes offline mode respectively and rule, mode are transferred and rule is transferred；(2) sensor and track profile used according to unmanned plane determines algorithm, writes track profile and determines algorithm file；(3) according to the executing agency of unmanned plane use and track profile control algolithm, track profile control algolithm file is write；(4) according to unmanned plane during flying pattern switching logic, offline mode switching control file is write；(5) it is exported according to the input of the sensitive information of unmanned aerial vehicle (UAV) control device and control instruction, writes controller information and transmit file.The development amount that Attitude and orbit control system emulation source code can be reduced through the invention improves the Universal and scalability of Attitude and orbit control system emulation source code.
Description
Technical field
The present invention relates to a kind of artificial intelligence Writing methods of source code, fly in particular to a kind of digital unmanned plane
Row state control system source code artificial intelligence Writing method.
Background technique
State of flight control system is the important component of UAV system, is responsible for unmanned plane track profile and determines and control
System executes task for unmanned plane and provides safeguard.It is limited to the period manufactured and designed and cost, the flight of each corresponding unmanned plane
State control system design scheme and posture are determining, attitude control method all manufactures a true unmanned plane progress flight validation is
It is unpractical；Therefore, digital simulation technique is generallyd use to test unmanned aerial vehicle design scheme or control method progress high-precision analog
Card.
In the prior art, a large amount of personnel of tissue are needed to carry out prolonged state of flight control system for each unmanned plane
Source code is write, is compiled, and time-consuming and laborious, working efficiency is very low.
Summary of the invention
Place based on the deficiencies of the prior art, the present invention provide a kind of digital unmanned plane during flying state control system source code
Artificial intelligence Writing method shortens the development cycle, mentions to reduce the development amount of digital unmanned plane during flying state control system
The versatility of high number unmanned plane attitude and orbit control subsystem source code.
The present invention is adopted the technical scheme that achieve the goals above:
Unmanned plane during flying state control system code auxiliary generating method, comprising the following steps:
(1) result and nothing are chosen according to the offline mode of unmanned plane, unmanned plane during flying state control system component combination
Man-machine state of flight control system component mount message writes offline mode respectively and rule, mode are transferred and component mount message
Header file；The unmanned plane during flying state control system component includes sensor, executing agency and controller；
(2) sensor and track profile used according to unmanned plane determines algorithm, writes track profile and determines algorithm file；
(3) according to the executing agency of unmanned plane use and track profile control algolithm, track profile control algolithm text is write
Part；
(4) according to unmanned plane during flying pattern switching logic, offline mode switching control file is write；
(5) it is exported according to the input of the sensitive information of unmanned aerial vehicle (UAV) control device and control instruction, writes controller information transmission text
Part.
Number unmanned plane as described above is collected by the function of true unmanned plane, composition, structure, mode, program, operation
At the dynamic analog simulation system operated in software simulated space environment.
According to the combination of offline mode, unmanned plane during flying state control system component in unmanned plane during flying state control system
It chooses result and mount message writes header file, algorithm, track profile control algolithm, unmanned plane during flying mould are determined to track profile
Formula switch logic, unmanned aerial vehicle (UAV) control device sensitive information input and control instruction output carry out taxonomic revision, write number nobody
Machine state of flight control system source code, can shorten the development cycle of digital unmanned plane during flying state control system source code, mention
High development efficiency reduces development cost.
Further, sensor includes gyro, sun sensor, earth sensor, star sensor, magnetometer, acceleration
The multiple combinations of the components such as meter, global unmanned plane positioning system；Executing agency includes engine, thruster, flywheel, magnetic torque
The multiple combinations of the components such as device, control-moment gyro, accurate wheel.Further, the offline mode in the step (1) includes:
Rate damping mode, Direct to the sun mode, earth acquisition mode, absolute orientation mode, works normally mould at sun acquisition mode
Formula, contingency mode, position keep mode, attitude maneuver mode, orbit maneuver mode etc..
Further, each offline mode respectively includes several flying methods；Wherein, the sun acquisition mode packet
It includes and searches for around the Y-axis sun and searched for around the X-axis sun；The Direct to the sun mode includes Direct to the sun and cruises day；Describedly
Ball acquisition mode includes establishing inclined shaft and earth search；The earth directing mode includes that 2 axis absolute orientations and 3 axis are fixed over the ground
To；The normal mode of operation includes normal rounds control and the control of normal thrust device；The contingency mode includes emergency earth acquisition
With emergency sun acquisition；It includes that thing position keeps keeping with north-south position that the position, which keeps mode,；The rate damping mould
Formula includes pipeline exhaust and angular speed damping；The attitude maneuver mode includes that motor-driven and motor-driven end is kept；The track machine
Dynamic model formula includes motor-driven preparation, motor-driven and motor-driven end holding；Various flying methods can by the derivation of change of flight parameter value
New flying method is obtained, various flying methods, which reconfigure, can form new offline mode.
Further, the offline mode in the step (1) and rule include that offline mode word defines header file and flight
Mode word defines header file.
Unmanned plane during flying state control system code auxiliary generating method provided by the present invention has fully considered unmanned plane
There are similitude, the description of component mount message, offline mode switch logics to retouch for offline mode and flying method in Attitude and orbit control system
It states and the finiteness of source code ways of writing, track profile determines the versatility of algorithm and track profile control algolithm, to flying
Row state control system source code is completed to write after carrying out classifying and dividing using the method for machine learning, thereby reduces rail control
The development amount of system emulation source code improves the Universal and scalability of Attitude and orbit control system emulation source code.
Specific embodiment
The present invention is described in further detail below with reference to embodiment:
Unmanned plane during flying state control system code auxiliary generating method, comprising the following steps:
(1) result and nothing are chosen according to the offline mode of unmanned plane, unmanned plane during flying state control system component combination
Man-machine state of flight control system component mount message writes offline mode respectively and rule, mode are transferred and component mount message
Header file；The unmanned plane during flying state control system component includes sensor, executing agency and controller；
(2) sensor and track profile used according to unmanned plane determines algorithm, writes track profile and determines algorithm file；
(3) according to the executing agency of unmanned plane use and track profile control algolithm, track profile control algolithm text is write
Part；
(4) according to unmanned plane during flying pattern switching logic, offline mode switching control file is write；
(5) it is exported according to the input of the sensitive information of unmanned aerial vehicle (UAV) control device and control instruction, writes controller information transmission text
Part.
Number unmanned plane as described above is collected by the function of true unmanned plane, composition, structure, mode, program, operation
At the dynamic analog simulation system operated in software simulated space environment.
According to the combination of offline mode, unmanned plane during flying state control system component in unmanned plane during flying state control system
It chooses result and mount message writes header file, algorithm, track profile control algolithm, unmanned plane during flying mould are determined to track profile
Formula switch logic, unmanned aerial vehicle (UAV) control device sensitive information input and control instruction output carry out taxonomic revision, write number nobody
Machine state of flight control system source code, can shorten the development cycle of digital unmanned plane during flying state control system source code, mention
High development efficiency reduces development cost.
Further, sensor includes gyro, sun sensor, earth sensor, star sensor, magnetometer, acceleration
The multiple combinations of the components such as meter, global unmanned plane positioning system；Executing agency includes engine, thruster, flywheel, magnetic torque
The multiple combinations of the components such as device, control-moment gyro, accurate wheel.Further, the offline mode in the step (1) includes:
Rate damping mode, Direct to the sun mode, earth acquisition mode, absolute orientation mode, works normally mould at sun acquisition mode
Formula, contingency mode, position keep mode, attitude maneuver mode, orbit maneuver mode etc..
Further, each offline mode respectively includes several flying methods；Wherein, the sun acquisition mode packet
It includes and searches for around the Y-axis sun and searched for around the X-axis sun；The Direct to the sun mode includes Direct to the sun and cruises day；Describedly
Ball acquisition mode includes establishing inclined shaft and earth search；The earth directing mode includes that 2 axis absolute orientations and 3 axis are fixed over the ground
To；The normal mode of operation includes normal rounds control and the control of normal thrust device；The contingency mode includes emergency earth acquisition
With emergency sun acquisition；It includes that thing position keeps keeping with north-south position that the position, which keeps mode,；The rate damping mould
Formula includes pipeline exhaust and angular speed damping；The attitude maneuver mode includes that motor-driven and motor-driven end is kept；The track machine
Dynamic model formula includes motor-driven preparation, motor-driven and motor-driven end holding；Various flying methods can by the derivation of change of flight parameter value
New flying method is obtained, various flying methods, which reconfigure, can form new offline mode.
Further, the offline mode in the step (1) and rule include that offline mode word defines header file and flight
Mode word defines header file.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited to reality shown in this article
Example is applied, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that being led for this technology
For the those of ordinary skill in domain, several modifications and retouching without departing from the principles of the present invention also should be regarded as of the invention
Protection scope.
Claims (4)
1. unmanned plane during flying state control system code auxiliary generating method, which comprises the following steps:
(1) result and unmanned plane are chosen according to the offline mode of unmanned plane, unmanned plane during flying state control system component combination
State of flight control system component mount message writes offline mode respectively and rule, mode is transferred and rule is transferred；The nothing
Man-machine state of flight control system component includes sensor, executing agency and controller；
(2) sensor and track profile used according to unmanned plane determines algorithm, writes track profile and determines algorithm file；
(3) according to the executing agency of unmanned plane use and track profile control algolithm, track profile control algolithm file is write；
(4) according to unmanned plane during flying pattern switching logic, offline mode switching control file is write；
(5) it is exported according to the input of the sensitive information of unmanned aerial vehicle (UAV) control device and control instruction, writes controller information and transmit file.
2. unmanned plane during flying state control system code auxiliary generating method according to claim 1, which is characterized in that institute
Stating the offline mode in step (1) includes: rate damping mode, sun acquisition mode, Direct to the sun mode, earth acquisition mould
Formula, absolute orientation mode, normal mode of operation, contingency mode, position keep mode, attitude maneuver mode and track machine dynamic model
Formula.
3. unmanned plane during flying state control system code auxiliary generating method according to claim 2, which is characterized in that each
The offline mode respectively includes several flying methods；Wherein, the sun acquisition mode include around the Y-axis sun search for and around
The search of the X-axis sun；The Direct to the sun mode includes Direct to the sun and cruises day；The earth acquisition mode includes establishing tiltedly
Axis and earth search；The earth directing mode includes 2 axis absolute orientations and 3 axis absolute orientations；The normal mode of operation packet
Include normal rounds control and the control of normal thrust device；The contingency mode includes emergency earth acquisition and emergency sun acquisition；Institute's rheme
Setting holding mode includes that thing position keeps keeping with north-south position；The rate damping mode includes pipeline exhaust and angular speed
Damping；The attitude maneuver mode includes that motor-driven and motor-driven end is kept；The orbit maneuver mode includes motor-driven preparation, motor-driven
It is kept with motor-driven end；Various flying methods derive to obtain new flying method, various flights by change of flight parameter value
Mode reconfigures to form new offline mode.
4. unmanned plane during flying state control system code auxiliary generating method according to claim 1, feature is in described
Offline mode in step (1) defines header file including offline mode word with rule and flying method word defines header file.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811417613.XA CN109597421A (en) | 2018-11-26 | 2018-11-26 | Unmanned plane during flying state control system code auxiliary generating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811417613.XA CN109597421A (en) | 2018-11-26 | 2018-11-26 | Unmanned plane during flying state control system code auxiliary generating method |
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| CN109597421A true CN109597421A (en) | 2019-04-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596901A (en) * | 2020-05-19 | 2020-08-28 | 西安电子科技大学 | C + + code generation method of unmanned aerial vehicle flight control system based on module definition diagram |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596901A (en) * | 2020-05-19 | 2020-08-28 | 西安电子科技大学 | C + + code generation method of unmanned aerial vehicle flight control system based on module definition diagram |
| CN111596901B (en) * | 2020-05-19 | 2022-12-02 | 西安电子科技大学 | C + + code generation method of unmanned aerial vehicle flight control system based on module definition diagram |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190409 |
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| WW01 | Invention patent application withdrawn after publication |