CN109720553A - A kind of fixed-wing unmanned plane, control method and medium with VTOL function - Google Patents
A kind of fixed-wing unmanned plane, control method and medium with VTOL function Download PDFInfo
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Abstract
The invention discloses a kind of fixed-wing unmanned plane, control method and media with VTOL function, wherein, control method includes: to control the propeller of unmanned plane in planning course line and after triggering instruction of taking off and rotated with more rotor modes, so that the unmanned plane is vertically climbed；Judge whether the unmanned plane reaches the first preset condition；If the unmanned plane reaches first preset condition, controls first rotor and verted based on the progress transition of the first pre-set velocity；Judge whether the tilt angle of first rotor reaches predetermined angle；If the tilt angle of first rotor reaches the predetermined angle, when the control unmanned plane reaches default air speed, the unmanned plane is controlled with fixed-wing mode flight.The present invention solves control problem complicated in mode transition procedure, enables the steady implementation pattern conversion of unmanned plane, in conjunction with and played the VTOL advantage of more rotors and the efficient cruise advantage of fixed-wing.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of fixed-wing unmanned plane with VTOL function,
Control method and medium.
Background technique
In unmanned plane field, fixed-wing unmanned plane and multi-rotor unmanned aerial vehicle can be divided by wing classification, it is two kinds of
Unmanned plane mutual advantage and disadvantage.
Multi-rotor unmanned aerial vehicle relies primarily on the lift that multiple rotors generate to balance the gravity of aircraft itself generation, passes through
Change the revolving speed of each rotor to control attitude of flight vehicle.Generally, multi-rotor unmanned aerial vehicle may be implemented to hover, or default
Speed interval in flown with arbitrary speed.
Fixed-wing unmanned plane relies primarily on the thrust of propeller or turbogenerator generation as power, and lift is main
Relative motion from wing and air.Generally, fixed-wing unmanned plane must generate certain relative velocity ability with air
Realize flight.Fixed-wing unmanned plane is compared with multi-rotor unmanned aerial vehicle, with flying speed is fast, carrying capacity is big, course continuation mileage is long
The features such as, it is generally applied to need the empty occasion, such as high-voltage line line walking, freeway surveillance and control etc. stopped stagnant for a long time.
Fixed-wing unmanned plane for landing place have high requirement, and the large area operation efficiency of multi-rotor unmanned aerial vehicle compared with
It is low.
In order to overcome above-mentioned difficulties, the prior art proposes composite wing type, by more rotors in conjunction with fixed-wing.However, passing
System composite wing is two kinds of unmanned planes and its simple combination for controlling program, and unmanned plane all carries when flight in both modes
A large amount of useless weight causes efficiency lower if carrying is only used for the rotor of landing and is only used for the rotor of airline operation, and
And the not remarkable fluency in mode transition procedure, it is easy to drop.
Summary of the invention
The main purpose of the present invention is to provide a kind of control method of fixed-wing unmanned plane with VTOL function,
Unmanned plane and medium, it is intended to solve in the prior art that existing composite wing transfer efficiency is low, the slack technology of mode transition procedure
Problem.
To achieve the above object, the present invention provides a kind of controlling party of fixed-wing unmanned plane with VTOL function
Method, the control method of the fixed-wing unmanned plane with VTOL function the following steps are included:
In planning course line and after triggering instruction of taking off, controls the propeller of unmanned plane and rotated with more rotor modes, so that institute
It states unmanned plane vertically to be climbed, wherein the propeller includes two be set in front of the fixed-wing of the unmanned plane
One rotor；
Judge whether the unmanned plane reaches the first preset condition；
If the unmanned plane reaches first preset condition, control first rotor be based on the first pre-set velocity into
Row transition is verted；
Judge whether the tilt angle of first rotor reaches predetermined angle；
If the tilt angle of first rotor reaches the predetermined angle, reach default sky controlling the unmanned plane
When fast, the unmanned plane is controlled with fixed-wing mode flight.
Optionally, the propeller further includes two the second rotors for being set to the fixed-wing rear, the control institute
Stating the step of the first rotor is verted based on the progress transition of the first pre-set velocity includes:
It controls first rotor to be verted based on the first pre-set velocity from vertical direction to horizontal direction, and described first
Rotor controls second rotor and slows down during verting；
When the tilt angle of first rotor reaches the predetermined angle, controls second rotor and stop rotating.
Optionally, described when the control unmanned plane reaches default air speed, the unmanned plane is controlled with fixed-wing mode
The step of flight includes:
Current air speed is obtained in real time by the pitot meter of the unmanned plane；
Judge whether the current air speed reaches the default air speed；
It is quickly verted if so, control first rotor is based on the second pre-set velocity；
When the tilt angle of first rotor reaches horizontal direction angle, the unmanned plane is controlled with fixed-wing mode
Flight.
Optionally, it is described judge the step of whether current air speed reaches the default air speed after, further includes:
If it is not, then keeping the tilt angle of first rotor, controls the current air speed and accelerate, and continue to execute and pass through
The pitot meter of the unmanned plane obtains the step of current air speed in real time.
Optionally, the control unmanned plane is described to have VTOL with after the step of fixed-wing mode flight
The control method of the fixed-wing unmanned plane of function further include:
When determining that the unmanned plane reaches the second preset condition, control first rotor be based on third pre-set velocity by
Horizontal direction is verted to vertical direction；
When the current flight speed of the unmanned plane is reduced to pre-set flight speed, the unmanned plane is controlled by fixed-wing
Pattern switching at most rotor mode flies；
Judge whether the unmanned plane drops to the first preset height of default landing point range；
It is slowed down if so, controlling the unmanned plane with more rotor modes.
Optionally, described when the current flight speed of the unmanned plane is reduced to pre-set flight speed, control the nothing
It is man-machine by fixed-wing pattern switching at most rotor mode flight the step of include:
Control the second rotor idling；
Obtain the current flight speed, wherein the current flight speed is that first rotor is inclined by horizontal direction
Go to the flying speed of unmanned plane when vertical direction；
The current flight distance of the unmanned plane is calculated based on the flying speed and the default rate of deceleration；
The current flight distance reach pre-set flight apart from when, control the unmanned plane by fixed-wing pattern switching extremely
More rotor mode flights.
Optionally, second preset condition is to enter default landing point range；It is described to reach in the judgement unmanned plane
When the second preset condition, controls first rotor and be based on the step of third pre-set velocity is verted from horizontal direction to vertical direction
Include:
Judge whether the unmanned plane enters the default landing point range；
If so, determining the corresponding contrary wind approach gate of default landing point range based on wind direction；
First rotor, which is controlled, based on the contrary wind approach gate is based on third pre-set velocity from horizontal direction to Vertical Square
To verting.
Optionally, it is described judge the unmanned plane whether enter the default landing point range the step of after, the tool
There is the control method of the fixed-wing unmanned plane of VTOL function further include:
If the unmanned plane does not enter default landing point range, judge whether the upright projection of the unmanned plane is in institute
In the upright projection for stating default landing point range；
The default landing point range corresponding is down to if so, controlling the unmanned plane and screwing off with fixed-wing mode dial
Two preset heights, and when the unmanned plane present level reaches second preset height, it executes determining default based on wind direction
Land point range corresponding contrary wind approach gate the step of.
In addition, to achieve the above object, the present invention also provides a kind of fixed-wing unmanned plane with VTOL function, institutes
The fixed-wing unmanned plane with VTOL function is stated to include: memory, processor and be stored on the memory and can be
The control program of the fixed-wing unmanned plane with VTOL function run on the processor, it is described that there is VTOL function
It is realized when the control program of the fixed-wing unmanned plane of energy is executed by the processor described in any item with vertical among the above
The step of dropping the control method of the fixed-wing unmanned plane of function.
In addition, to achieve the above object, the present invention also provides a kind of medium, being stored on the medium with VTOL
The control program of the control program of the fixed-wing unmanned plane of function, the fixed-wing unmanned plane with VTOL function is located
Manage the step that the control method of described in any item fixed-wing unmanned planes with VTOL function among the above is realized when device executes
Suddenly.
In the present invention, in ramp-up period, climbed with more rotor modes；Reaching the first preset condition, is such as reaching and set
Fixed height, or receive when manually controlling instruction, two the first rotors being set in front of fixed-wing of control vert, until
Tilt angle reaches predetermined angle, realizes that transition is verted, by two the first rotors from the vertical mistake verted toward horizontal direction
Cheng Zhong provides the roll axis control of fixed-wing mode, realizes inclination, to control yaw axis, provide the control of pitch axis；It is reaching
To after predetermined angle, with fixed-wing mode flight, the conversion of more rotor modes to fixed-wing mode is realized.The present invention passes through control
Two the first rotors are verted toward horizontal direction to predetermined angle from vertical, are solved control problem complicated in conversion process, are made
Unmanned plane can steady implementation pattern conversion, in conjunction with and played the VTOL advantage of more rotors and efficiently patrolling for fixed-wing
Boat advantage；Also, two the first rotors and winged control program are capable of providing the differential control of vector under fixed-wing offline mode, make
The control ability obtained under fixed-wing mode is stronger, effectively improves stability.
Detailed description of the invention
Fig. 1 is the unmanned plane hardware structural diagram that the embodiment of the present invention is related to；
Fig. 2 is that the process of the control method first embodiment for the fixed-wing unmanned plane that the present invention has VTOL function is shown
It is intended to；
Fig. 3 is that the process of the control method second embodiment for the fixed-wing unmanned plane that the present invention has VTOL function is shown
It is intended to；
Fig. 4 is that the process of the control method 3rd embodiment for the fixed-wing unmanned plane that the present invention has VTOL function is shown
It is intended to；
Fig. 5 is that the process of the control method fourth embodiment for the fixed-wing unmanned plane that the present invention has VTOL function is shown
It is intended to；
Fig. 6 is that the process of the 5th embodiment of control method for the fixed-wing unmanned plane that the present invention has VTOL function is shown
It is intended to.
The object of the invention is realized, the embodiments will be further described with reference to the accompanying drawings for functional characteristics and advantage.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the unmanned plane structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
As shown in Figure 1, the unmanned plane may include: processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, unmanned plane can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, sound
Frequency circuit, WiFi module etc..Certainly, unmanned plane can also configure gyroscope, barometer, hygrometer, thermometer, infrared ray sensing
The other sensors such as device, details are not described herein.
It will be understood by those skilled in the art that unmanned plane structure shown in Fig. 1 does not constitute the restriction to unmanned plane, it can
To include perhaps combining certain components or different component layouts than illustrating more or fewer components.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, the control program of Subscriber Interface Module SIM and the fixed-wing unmanned plane with VTOL function.
In unmanned plane shown in Fig. 1, network interface 1004 be mainly used for connect background server, with background server into
Row data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And it handles
Device 1001 can be used for calling the control program of the fixed-wing unmanned plane with VTOL function stored in memory 1005,
And execute following operation:
In planning course line and after triggering instruction of taking off, controls the propeller of unmanned plane and rotated with more rotor modes, so that institute
It states unmanned plane vertically to be climbed, wherein the propeller includes two be set in front of the fixed-wing of the unmanned plane
One rotor；
Judge whether the unmanned plane reaches the first preset condition；
If the unmanned plane reaches first preset condition, control first rotor be based on the first pre-set velocity into
Row transition is verted；
Judge whether the tilt angle of first rotor reaches predetermined angle；
If the tilt angle of first rotor reaches the predetermined angle, reach default sky controlling the unmanned plane
When fast, the unmanned plane is controlled with fixed-wing mode flight.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
It controls first rotor to be verted based on the first pre-set velocity from vertical direction to horizontal direction, and described first
Rotor controls second rotor and slows down during verting；
When the tilt angle of first rotor reaches the predetermined angle, controls second rotor and stop rotating.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
Current air speed is obtained in real time by the pitot meter of the unmanned plane；
Judge whether the current air speed reaches the default air speed；
It is quickly verted if so, control first rotor is based on the second pre-set velocity；
When the tilt angle of first rotor reaches horizontal direction angle, the unmanned plane is controlled with fixed-wing mode
Flight.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
If it is not, then keeping the tilt angle of first rotor, controls the current air speed and accelerate, and continue to execute and pass through
The pitot meter of the unmanned plane obtains the step of current air speed in real time.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
When determining that the unmanned plane reaches the second preset condition, control first rotor be based on third pre-set velocity by
Horizontal direction is verted to vertical direction；
When the current flight speed of the unmanned plane is reduced to pre-set flight speed, the unmanned plane is controlled by fixed-wing
Pattern switching at most rotor mode flies；
Judge whether the unmanned plane drops to the first preset height of default landing point range；
It is slowed down if so, controlling the unmanned plane with more rotor modes.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
Control the second rotor idling；
Obtain the current flight speed, wherein the current flight speed is that first rotor is inclined by horizontal direction
Go to the flying speed of unmanned plane when vertical direction；
The current flight distance of the unmanned plane is calculated based on the flying speed and the default rate of deceleration；
The current flight distance reach pre-set flight apart from when, control the unmanned plane by fixed-wing pattern switching extremely
More rotor mode flights.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
Judge whether the unmanned plane enters the default landing point range；
If so, determining the corresponding contrary wind approach gate of default landing point range based on wind direction；
First rotor, which is controlled, based on the contrary wind approach gate is based on third pre-set velocity from horizontal direction to Vertical Square
To verting.
Further, processor 1001 can call the fixed-wing with VTOL function stored in memory 1005
The control program of unmanned plane also executes following operation:
If the unmanned plane does not enter default landing point range, judge whether the upright projection of the unmanned plane is in institute
In the upright projection for stating default landing point range；
The default landing point range corresponding is down to if so, controlling the unmanned plane and screwing off with fixed-wing mode dial
Two preset heights, and when the unmanned plane present level reaches second preset height, it executes determining default based on wind direction
Land point range corresponding contrary wind approach gate the step of.
It is the control method first embodiment for the fixed-wing unmanned plane that the present invention has VTOL function referring to Fig. 2, Fig. 2
Flow diagram, in the first embodiment, the control method of fixed-wing unmanned plane with VTOL function includes:
Step S10 is controlled the propeller of unmanned plane and is revolved with more rotor modes in planning course line and after triggering instruction of taking off
Turn, so that the unmanned plane is vertically climbed, wherein the propeller includes in front of the fixed-wing for being set to the unmanned plane
Two the first rotors.
The unmanned plane of this case is technical grade unmanned plane, and unmanned plane is equipped with fixed-wing, sets that there are two first in front of fixed-wing
Rotor, and rear is set there are two the second rotor.Also, two the first rotors can be from vertical direction to horizontal direction toward leaning forward
Turn, and two the second rotors are only in plumbness, rotate in the horizontal plane.
Plan that course line includes planning landing position, flight time, distance etc., in planning course line and after triggering instruction of taking off,
Two the first rotors and two the second rotors are in vertical direction, rotate in the horizontal plane, by the way of more rotor modes,
Unmanned plane is driven vertically to climb.More rotor modes of this case, i.e. quadrotor mode are balanced by the lift that four rotors generate
The gravity that unmanned plane itself generates vertically climbs to realize.
Using more rotor modes, conveniently takes off, be not limited to take-off venue.
Step S20, judges whether the unmanned plane reaches the first preset condition.
In the present embodiment, after unmanned plane takes off, judge whether unmanned plane reaches the first preset condition.First preset condition
Including the setting height that unmanned function is climbed, or work as unmanned plane in a manual mode, receives control instruction change and fly
The flight directive of row state.
By taking the first preset condition is setting height as an example, unmanned plane is real-time by altimeter (barometer) in take-off process
Obtain present level of the unmanned plane apart from ground.Also, present level and setting height are compared, reached in present level
When setting height, that is, it can determine that the unmanned plane reaches the first preset condition；If present level is less than setting height, nothing is controlled
It is man-machine persistently to be climbed with more rotor states.
Step S30 controls first rotor and is based on first in advance if the unmanned plane reaches first preset condition
It verts if speed carries out transition.
In the present embodiment, is determining that unmanned plane reaches the first preset condition, when such as reaching setting height, then controlling described the
One rotor is based on the progress transition of the first pre-set velocity and verts.Fixed-wing height control the speed of TECS (total energy amount control system) with
Highly, gross energy control is the method with energy hole and distribution, by speed control and height control (tangential acceleration and vertical
To flight-path angle) it is decoupled, gross energy is controlled with throttle, controls the energy between kinetic energy and potential energy with elevator (pitch angle)
Amount conversion.During transition is verted, as the height that unmanned plane climbs increases, the participation of TECS is gradually reduced, increases ground
Speed, so that fixed-wing control weight increases.Also, during transition is verted, two the first rotors are from vertical direction to level side
To verting, when reaching predetermined angle, completes transition and vert.
Step S40, judges whether the tilt angle of first rotor reaches predetermined angle.
In the present embodiment, during transition is verted, two the first rotors of control are verted from vertical direction to horizontal direction,
Until tilt angle reaches predetermined angle.If predetermined angle is 65 degree.Vert at 0 degree 65 degree during, vert rank for transition
Section gradually reduces the participation of TECS, increases ground velocity as the height that unmanned plane climbs increases, so that fixed-wing control weight increases
Add.
It is verted the stage by transition, effective protection unmanned plane housing construction intensity is converted to fixed-wing in more rotor modes
Keep posture steady in mode process.
Step S50 reaches if the tilt angle of first rotor reaches the predetermined angle controlling the unmanned plane
When to default air speed, the unmanned plane is controlled with fixed-wing mode flight.
In the present embodiment, after two the first rotors vert to predetermined angle, two the first rotors keep predetermined angles
Heeling condition, if the not up to default air speed of the current air speed of unmanned plane, the propeller for controlling unmanned plane accelerates, so that unmanned plane
Itself accelerates, and when reaching default air speed, is flown using fixed-wing mode.
In the present invention, in ramp-up period, climbed with more rotor modes；Reaching the first preset condition, is such as reaching and set
Fixed height, or receive when manually controlling instruction, two the first rotors being set in front of fixed-wing of control vert, until
Tilt angle reaches predetermined angle, realizes that transition is verted, by two the first rotors from the vertical mistake verted toward horizontal direction
Cheng Zhong provides the roll axis control of fixed-wing mode, realizes inclination, to control yaw axis, provide the control of pitch axis；It is reaching
To after predetermined angle, with fixed-wing mode flight, the conversion of more rotor modes to fixed-wing mode is realized.The present invention passes through control
Two the first rotors are verted toward horizontal direction to predetermined angle from vertical, are solved control problem complicated in conversion process, are made
Unmanned plane can steady implementation pattern conversion, in conjunction with and played the VTOL advantage of more rotors and efficiently patrolling for fixed-wing
Boat advantage；Also, two the first rotors and winged control program are capable of providing the differential control of vector under fixed-wing offline mode, make
The control ability obtained under fixed-wing mode is stronger, effectively improves stability.
Further, step S30 includes:
It controls first rotor to be verted based on the first pre-set velocity from vertical direction to horizontal direction, and described first
Rotor controls second rotor and slows down during verting；
When the tilt angle of first rotor reaches the predetermined angle, controls second rotor and stop rotating.
In the present embodiment, transition is verted specifically: control first rotor is based on the first pre-set velocity by vertical direction
It verts to horizontal direction, and controls second rotor during first rotor verts and slow down；In first rotation
When the tilt angle of the wing reaches the predetermined angle, controls second rotor and stop rotating.
During transition is verted, if predetermined angle is 65 degree, then transition, which is verted, verts for 0 degree to 65 degree of process.?
During this, two the first rotors of control vert forward according to the first pre-set velocity, at this point, the height with unmanned plane apart from ground
Spend increasing, the participation that fixed-wing height controls TECS (total energy amount control system) reduces, and increases the ground velocity of unmanned plane, revolve more
The control weight of wing mode reduces, and therefore, when the first rotor is tilted to default predetermined angle, the second rotor of control stops rotation
Turn, and the control weight of fixed-wing increases, to realize the switching of more rotor modes to fixed-wing mode.It is verted rank by transition
Section, effective protection unmanned plane housing construction intensity are converted in fixed-wing mode process in more rotor modes and keep flight attitude
Steadily.
Based on first embodiment, the present invention also proposes the control method of the fixed-wing unmanned plane with VTOL function
Second embodiment, as shown in figure 3, step S50 further include:
Step S501 obtains current air speed by the pitot meter of the unmanned plane in real time.
In the Handpiece Location of unmanned plane, it is provided with pitot meter, is risen for detecting the air speed of unmanned plane, also, in unmanned plane
After flying, the current air speed of pitot meter real-time detection unmanned plane, and current air speed is uploaded to the control centre of unmanned plane in real time.
Step S502, judges whether the current air speed reaches the default air speed；
The control centre of unmanned plane is stored with default air speed, and such as default air speed is set as 20m/s, increases in current air speed
When 20m/s, it can determine that current air speed reaches default air speed.
Step S503 is quickly verted if so, control first rotor is based on the second pre-set velocity；
When determining that current air speed reaches default air speed, into quickly verting the stage, at this point, two the first rotor bases of control
It quickly verts in the second pre-set velocity, is verted by predetermined angle to horizontal direction angle.
For example, predetermined angle is 65 degree, enter quickly vert the stage when, it is default fast with second to control two the first rotors
Degree quickly verts, and passes directly to the angle of horizontal direction from 65 degree of angles, i.e., verts from vert 0 degree of stage of transition to 65
Degree, then vert to 65 degree of stage of quickly verting to 90 degree, two the first rotor inclining by vertical direction to horizontal direction of completion
Turn.
Step S504, when the tilt angle of first rotor reaches horizontal direction angle, control the unmanned plane with
Fixed-wing mode flight.
It in the present embodiment, verts in two the first rotors to horizontal direction, graduallyes relax control fixed-wing flight roll angle limit
System decontrols roll angle limitation after reaching preset time completely, to realize smooth flight with fixed-wing mode.
Due to verting in the first rotor to horizontal direction, a period is set, fixed-wing flight rolling is graduallyed relax control
Angle is restricted to decontrol limitation completely, effectively prevent from when being switched to fixed-wing mode flight unmanned plane overshoot, to guarantee winged
Row posture is steady.
Further, after the step of step S502, the control of the fixed-wing unmanned plane with VTOL function
Method further include:
Step S505 controls the current air speed and accelerates if it is not, then keeping the tilt angle of first rotor, and after
It is continuous to execute step S501.
After determining that the first rotor reaches predetermined angle, if the not up to default air speed of current air speed, controls two first
Rotor keeps the heeling condition of predetermined angle, and the propeller for controlling unmanned plane accelerates, so that unmanned plane itself accelerates, and current empty
Speed is obtained by pitot meter.
Based on second embodiment, the present invention also proposes the control method of the fixed-wing unmanned plane with VTOL function
3rd embodiment, as shown in figure 4, the control method of the fixed-wing unmanned plane with VTOL function is also after step S504
Include:
It is pre- based on third to control first rotor when determining that the unmanned plane reaches the second preset condition by step S60
If speed is verted from horizontal direction to vertical direction.
In the present embodiment, the second preset condition be can be into landing point range, detect that unmanned plane enters level point
When range, two the first rotors of control are started gradually to vert to vertical direction from horizontal direction, are prepared in order to do decline.If
When unmanned plane being needed to land, and detect that unmanned plane does not enter landing point range, at this point, in unmanned plane during flying to the point range that lands
When, judge that the unmanned plane is located at whether the default present level for landing point range is greater than the default landing point range
Second preset height, if so, with the decline of fixed-wing mode, and using the default level point as the center of circle, according to setting radius disk
It screws off and drops to second preset height, and execute and calculate the step of wind direction obtains contrary wind approach gate.
Step S61 controls the unmanned plane when the current flight speed of the unmanned plane is reduced to pre-set flight speed
It is flown by fixed-wing pattern switching at most rotor mode.
During the first rotor is verted by horizontal direction to vertical direction, slided to level point, specifically: control institute
State the second rotor idling；Obtain the current flight speed, wherein the current flight speed is first rotor by level
The flying speed of direction unmanned plane when verting to vertical direction；Current flight speed based on the unmanned plane and default subtract
The current flight distance of unmanned plane described in rate calculations, the current flying distance are the fingers that unmanned plane is switched to more rotor modes
Mark, i.e., from convert, if unmanned plane during flying apart from reach pre-set flight apart from when, be switched to the fixed point mould of more rotor modes
Formula, since conversion to before switching more rotor modes, since there is also the flight of fixed-wing control programs to participate, because
This, in the process, as speed reduces, fixed-wing control process control weight is fewer and fewer, and unmanned plane approximation is with fixed-wing
Mode is contour to slide.
Therefore, in above process, fixed-wing height control TECS speed and height, ground velocity reduce, fixed-wing control
It reduces again, more rotor weights increase.
Step S62, judges whether the unmanned plane drops to the first preset height of default landing point range；
Step S63 is slowed down if so, controlling the unmanned plane with more rotor modes.
After unmanned plane drops to certain altitude in default landing point range, such as the first preset height, due to from the ground
It is closer to, then more rotor modes is needed to slow down, avoid overshooting；When not dropping to the first preset height, it can keep and revolve
Wing mode steadily declines.
When surface (such as first preset height) of the unmanned slide to default level point, declined with more rotor modes,
At this point, being avoided by wind and from deviating from the position using more rotor fixed point modes, to take off and decline by more rotors, landing is convenient, and
Do not limit place.
Further, it is based on 3rd embodiment, proposes the fixed-wing unmanned plane with VTOL function of the invention
The fourth embodiment of control method, referring to Fig. 5, step S61 includes:
Step S610 controls the second rotor idling；
Assuming that the second preset condition be enter default landing point range, then, drop to the second preset height in unmanned plane
Afterwards, at this time, it may be necessary to which offline mode is gradually converted to more rotor modes by fixed-wing mode, since two the first rotor needs incline
Origin-location is gone to, i.e., is verted by horizontal direction to vertical direction, therefore, it is necessary to first control two the second rotor idling, is being inclined
When turning to complete, the first rotor of rotation and the second rotor are further accelerated, in order to the decline of more rotor modes.
Step S611 obtains the current flight speed, wherein the current flight speed is first rotor by water
Square to unmanned plane described when verting to vertical direction flying speed；
Current flight distance is the index that unmanned plane is switched to more rotor modes, i.e., since conversion, unmanned plane during flying away from
If being switched to the fixed point mode of more rotor modes from when reaching with a distance from pre-set flight, to the more rotor moulds of switching since conversion
Before formula, since there is also the flight of fixed-wing control programs to participate, in the process, as speed reduces, Gu
Determine the wing control process control weight it is fewer and fewer, unmanned plane approximation is slided so that fixed-wing mode is contour.
Step S612 calculates the current flight distance of the unmanned plane based on the flying speed and the default rate of deceleration；
Step S613, the current flight distance reach pre-set flight apart from when, control the unmanned plane by fixed-wing
Pattern switching at most rotor mode flies.
Two the first rotors are directly tilted to vertical direction when converting beginning with third pre-set velocity, although the
The motor of one rotor has been tilted to vertically, and since the speed of aircraft is also relatively high, the control of unmanned plane is controlled with fixed-wing
Based on.If directlying adopt the control mode of more rotors in this stage, it is likely that lose control of unmanned plane during flying posture, and cause
Unmanned plane rolls in the sky, or even disintegrates.
Therefore, when the current flight speed of the unmanned plane is reduced to pre-set flight speed, current flight distance reaches
Pre-set flight distance controls the unmanned plane and is flown by fixed-wing pattern switching at most rotor mode, and that improves stall protection can
By property.
Further, it is based on 3rd embodiment, proposes that the present invention has the control of fixed-wing unmanned plane of VTOL function
5th embodiment of method processed, as shown in fig. 6, step S60 includes:
Step S600, judges whether the unmanned plane enters the default landing point range；
Whether unmanned plane enters the judgement of default landing point range, can obtain unmanned plane current location information by GPS,
By the location information of comparison storage and the default landing point range of control centre, can determine whether to enter default level point model
It encloses.
Step S601, if so, determining the corresponding contrary wind approach gate of default landing point range based on wind direction；
After determining that unmanned plane enters in default landing point range, illustrate that unmanned plane can land at this time, preferably use
Technology of the aircraft of the prior art marching into the arena against the wind is dropped against the wind based on the determining default corresponding contrary wind approach gate of point range that lands of wind direction
Falling can borrow the resistance of wind to reduce the speed of unmanned plane as early as possible, have better stability and safety.
Step S602 controls first rotor based on the contrary wind approach gate and is based on third pre-set velocity by horizontal direction
It verts to vertical direction.
After obtaining contrary wind approach gate, two the first rotors of control vert to vertical direction, to realize by fixed-wing mould
Formula is transformed into more rotor modes, in order to the decline of more rotor modes.
Further, after step S600, the method also includes:
Step S603 judges the upright projection of the unmanned plane if the unmanned plane does not enter default landing point range
Whether in the default upright projection for landing point range；
Step S604 is down to the default level point model if so, controlling the unmanned plane and screwing off with fixed-wing mode dial
Corresponding second preset height is enclosed, and when the unmanned plane present level reaches second preset height, executes step
S601。
In the present embodiment, in unmanned plane airline operation, using fixed-wing mode, need to land in unmanned plane
When, it is first determined whether entering default landing point range, by judging whether the upright projection of the unmanned plane is in described pre-
If landing in the upright projection of point range, if so, determine that unmanned plane is in the position for being higher than default landing point range, at this point,
It is faster than more rotor mode speed, and time saving power saving with the decline of fixed-wing mode, using the default level point as the center of circle, according to setting
Determine radius and spiral to drop to second preset height, and executes step S601.It is default to drop to second by fixed-wing mode
Highly, it saves time, power saving, if dropping to the first preset height with quadrotor mode, it is too big to will lead to power consumption, and decrease speed
Far below fixed-wing mode.
In addition, the embodiment of the present invention also proposes a kind of medium, consolidating with VTOL function is stored on the medium
Determine the control program of wing unmanned plane, the control program of the fixed-wing unmanned plane with VTOL function is executed by processor
Shi Shixian has the step of control method of fixed-wing unmanned plane of VTOL function as described above.
The control method of the specific embodiment of present media and the above-mentioned fixed-wing unmanned plane with VTOL function
Each embodiment it is essentially identical, this will not be repeated here.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that appliance arrangement (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of control method of the fixed-wing unmanned plane with VTOL function, which is characterized in that described that there is vertical rise
Drop function fixed-wing unmanned plane control method the following steps are included:
In planning course line and after triggering instruction of taking off, controls the propeller of unmanned plane and rotated with more rotor modes, so that the nothing
It is man-machine vertically to be climbed, wherein the propeller includes two first rotations being set in front of the fixed-wing of the unmanned plane
The wing；
Judge whether the unmanned plane reaches the first preset condition；
If the unmanned plane reaches first preset condition, controls first rotor and carried out based on the first pre-set velocity
It crosses and verts；
Judge whether the tilt angle of first rotor reaches predetermined angle；
If the tilt angle of first rotor reaches the predetermined angle, reach default air speed controlling the unmanned plane
When, the unmanned plane is controlled with fixed-wing mode flight.
2. the control method of the fixed-wing unmanned plane with VTOL function as described in claim 1, which is characterized in that institute
Stating propeller further includes two the second rotors for being set to the fixed-wing rear, and control first rotor is based on first
Pre-set velocity carries out transition the step of verting and includes:
It controls first rotor to be verted based on the first pre-set velocity from vertical direction to horizontal direction, and in first rotor
Second rotor is controlled during verting to slow down；
When the tilt angle of first rotor reaches the predetermined angle, controls second rotor and stop rotating.
3. the control method of the fixed-wing unmanned plane with VTOL function as described in claim 1, which is characterized in that institute
It states when the control unmanned plane reaches default air speed, controlling the unmanned plane with the step of fixed-wing mode flight includes:
Current air speed is obtained in real time by the pitot meter of the unmanned plane；
Judge whether the current air speed reaches the default air speed；
It is quickly verted if so, control first rotor is based on the second pre-set velocity；
When the tilt angle of first rotor reaches horizontal direction angle, controls the unmanned plane and flown with fixed-wing mode
Row.
4. the control method of the fixed-wing unmanned plane with VTOL function as claimed in claim 3, which is characterized in that institute
It states after judging the step of whether current air speed reaches the default air speed, the fixed-wing with VTOL function
The control method of unmanned plane further include:
If it is not, then keeping the tilt angle of first rotor, controls the current air speed and accelerate, and continue to execute by described
The pitot meter of unmanned plane obtains the step of current air speed in real time.
5. the control method of the fixed-wing unmanned plane with VTOL function according to any one of claims 1 to 4,
It is characterized in that, the control unmanned plane is described with VTOL function with after the step of fixed-wing mode flight
The control method of fixed-wing unmanned plane further include:
When determining that the unmanned plane reaches the second preset condition, controls first rotor and be based on third pre-set velocity by level
It verts to vertical direction in direction；
When the current flight speed of the unmanned plane is reduced to pre-set flight speed, the unmanned plane is controlled by fixed-wing mode
Switch to more rotor mode flights；
Judge whether the unmanned plane drops to the first preset height of default landing point range；
It is slowed down if so, controlling the unmanned plane with more rotor modes.
6. the control method of the fixed-wing unmanned plane with VTOL function as claimed in claim 5, which is characterized in that institute
It states when the current flight speed of the unmanned plane is reduced to pre-set flight speed, controls the unmanned plane and cut by fixed-wing mode
The step of shifting to more rotor mode flights include:
Control the second rotor idling；
Obtain the current flight speed, wherein the current flight speed be first rotor by horizontal direction vert to
The flying speed of unmanned plane when vertical direction；
The current flight distance of the unmanned plane is calculated based on the flying speed and the default rate of deceleration；
The current flight distance reach pre-set flight apart from when, control the unmanned plane and at most revolved by fixed-wing pattern switching
Wing mode flight.
7. the control method of the fixed-wing unmanned plane with VTOL function as claimed in claim 5, which is characterized in that institute
The second preset condition is stated to enter default landing point range；It is described when determining that the unmanned plane reaches the second preset condition, control
Making the step of first rotor is verted based on third pre-set velocity from horizontal direction to vertical direction includes:
Judge whether the unmanned plane enters the default landing point range；
If so, determining the corresponding contrary wind approach gate of default landing point range based on wind direction；
First rotor is controlled based on the contrary wind approach gate to be inclined based on third pre-set velocity from horizontal direction to vertical direction
Turn.
8. the control method of the fixed-wing unmanned plane with VTOL function as claimed in claim 7, which is characterized in that institute
It states after judging the step of whether unmanned plane enters the default landing point range, the consolidating with VTOL function
Determine the control method of wing unmanned plane further include:
If the unmanned plane does not enter default landing point range, judge whether the upright projection of the unmanned plane is in described pre-
If landing in the upright projection of point range；
The default landing point range corresponding second is down in advance if so, controlling the unmanned plane and screwing off with fixed-wing mode dial
If height, and when the unmanned plane present level reaches second preset height, it executes and default landing is determined based on wind direction
The step of point range corresponding contrary wind approach gate.
9. a kind of fixed-wing unmanned plane with VTOL function, which is characterized in that the consolidating with VTOL function
Determine wing unmanned plane to include: memory, processor and be stored on the memory and what can be run on the processor has
The control program of the fixed-wing unmanned plane of VTOL function, the control of the fixed-wing unmanned plane with VTOL function
Such as the fixation described in any item of the claim 1 to 8 with VTOL function is realized when program is executed by the processor
The step of control method of wing unmanned plane.
10. a kind of medium, which is characterized in that be stored with the control of the fixed-wing unmanned plane with VTOL function on the medium
It realizes when the control program of processing procedure sequence, the fixed-wing unmanned plane with VTOL function is executed by processor as right is wanted
There is the step of control method of fixed-wing unmanned plane of VTOL function described in asking any one of 1 to 8.
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