CN110254731A - A kind of disconnected paddle guard method and device based on six rotorcraft - Google Patents
A kind of disconnected paddle guard method and device based on six rotorcraft Download PDFInfo
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- CN110254731A CN110254731A CN201910553930.2A CN201910553930A CN110254731A CN 110254731 A CN110254731 A CN 110254731A CN 201910553930 A CN201910553930 A CN 201910553930A CN 110254731 A CN110254731 A CN 110254731A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000000295 fuel oil Substances 0.000 claims abstract description 29
- 230000009187 flying Effects 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000008450 motivation Effects 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 4
- 230000015556 catabolic process Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract 1
- 239000000446 fuel Substances 0.000 description 6
- 206010003549 asthenia Diseases 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
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- 206010000369 Accident Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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- 238000002485 combustion reaction Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
A kind of disconnected paddle guard method and device based on six rotorcraft provided by the present application; by the revolving speed for monitoring each engine of six rotorcraft; the revolving speed of any one engine not within a preset range in the case where; illustrate the engine failure; it then controls six rotorcraft and enters disconnected paddle protected mode; wherein; under disconnected paddle protected mode; execute at least one of following control process: the revolving speed for controlling the diagonal engine of sick engine is consistent with the revolving speed of sick engine, and sick engine is the engine of revolving speed not within a preset range；Reduce the fuel oil output of each engine；Engine brake is controlled, so that six rotorcraft is slowed down with predetermined acceleration；Reduce the flying height of six rotorcraft.In some engine breakdown, the flight attitude and flight safety of maintenance six rotorcraft are realized by executing above-mentioned control process.
Description
Technical field
This application involves unmanned aerial vehicle (UAV) control technical field more particularly to a kind of disconnected paddle protection sides based on six rotorcraft
Method and device.
Background technique
With the rapid development of aircraft industry, electronic six rotorcraft is compared, fuel engines directly drives six rotors and flies
Row device has the significant advantage of heavy-duty, long endurance, so that fuel engines directly drives six rotorcraft and obtained widely answering
With.
Currently, fuel oil driving six rotorcraft is to realize stabilized flight by 6 engine governed speed controls, when a certain
Engine breakdown causes pulling force to lack, to influence flight appearance if single cylinder or stalling or turn up are less than desired revolving speed
State and flight safety.
Accordingly, it is desirable to provide a series of processing methods, to maintain fuel engines directly to drive the flight appearance of six rotorcraft
State and flight safety.
Summary of the invention
The disconnected paddle guard method and device that this application provides a kind of based on six rotorcraft, it is therefore intended that solve to work as certain
In the case where one engine breakdown, the problem of influencing the flight attitude and flight safety of six rotorcraft.
To achieve the goals above, this application provides following technical schemes:
A kind of disconnected paddle guard method based on six rotorcraft, comprising:
Monitor the revolving speed of each engine of the six rotorcraft；
The revolving speed of any one engine not within a preset range in the case where, control the six rotorcraft and enter
Disconnected paddle protected mode；
Wherein, under the disconnected paddle protected mode, at least one of following control process is executed:
The revolving speed for controlling the diagonal engine of sick engine is consistent with the revolving speed of the sick engine, the failure hair
Motivation is the revolving speed not engine in the preset range；
Reduce the fuel oil output of each engine；
Engine brake is controlled, so that the six rotorcraft is slowed down with predetermined acceleration；
Reduce the flying height of the six rotorcraft.
Preferably, the revolving speed one of the revolving speed of the diagonal engine of the control sick engine and the sick engine
It causes, specifically:
The load-carrying of six rotorcraft described in the magnitude estimation exported according to the fuel oil of current each engine；
In the case where the load-carrying of the six rotorcraft is more than default load-carrying, the diagonal of the sick engine is controlled
The revolving speed of engine is consistent with the revolving speed of the sick engine.
Further, the control process further include:
After the revolving speed of the diagonal engine of the control sick engine is consistent with the revolving speed of the sick engine,
Motivation of adjustment allocation matrix is the power output matrix for being adapted to four axis configurations.
Further, the control process further include:
After the flying height for reducing the six rotorcraft, the six rotorcraft and ground away from
In the case where being less than pre-determined distance, each engine cut-off is controlled；
Alternatively, the control process further include:
In the case where the six rotorcraft is less than the pre-determined distance at a distance from ground, each engine is controlled
Parking.
Further, the control process further include:
Before each engine cut-off of control, restore in the revolving speed of the sick engine to the preset range
In the case that the duration of interior numerical value is more than preset duration, the disconnected paddle protected mode is exited.
A kind of disconnected paddle protective device based on six rotorcraft, comprising:
Monitoring module, the revolving speed of each engine for monitoring the six rotorcraft；
Control module, for the revolving speed of any one engine not within a preset range in the case where, control described six
Rotor craft enters disconnected paddle protected mode；
Wherein, under the disconnected paddle protected mode, the control module includes at least one following control unit:
Rotary speed controling unit, for controlling the revolving speed of the diagonal engine of sick engine and turning for the sick engine
Fast consistent, the sick engine is the revolving speed not engine in the preset range；
Fuel oil output control unit, the fuel oil for reducing each engine export；
Speed reduction control unit, for controlling engine brake, so that the six rotorcraft is subtracted with predetermined acceleration
Speed；
Height control unit, for reducing the flying height of the six rotorcraft.
Preferably, the rotary speed controling unit is used for:
The load-carrying of six rotorcraft described in the magnitude estimation exported according to the fuel oil of current each engine；
In the case where the load-carrying of the six rotorcraft is more than default load-carrying, the diagonal of the sick engine is controlled
The revolving speed of engine is consistent with the revolving speed of the sick engine.
Further, the control module further include:
Configuration control unit, the revolving speed for the diagonal engine in the control sick engine start with the failure
After the revolving speed of machine is consistent, motivation of adjustment allocation matrix is the power output matrix for being adapted to four axis configurations.
Further, the control module further include: parking toll unit；
The parking toll unit, for after the flying height for reducing the six rotorcraft, described
In the case that six rotorcraft is less than pre-determined distance at a distance from ground, each engine cut-off is controlled；
Or the parking toll unit, for being less than the pre-determined distance at a distance from ground in the six rotorcraft
In the case where, control each engine cut-off.
Further, the control module further include:
Control unit is exited, is used for before each engine cut-off of control, in the revolving speed of the sick engine
Restore in the case where being more than preset duration to the duration of the numerical value in the preset range, exits the disconnected paddle protected mode.
Disconnected paddle guard method and device described herein based on six rotorcraft, by monitoring six rotorcraft
Each engine revolving speed, the revolving speed of any one engine not within a preset range in the case where, illustrate the engine
Failure then controls six rotorcraft and enters disconnected paddle protected mode, wherein under disconnected paddle protected mode, executes following at least one
Item control process: the revolving speed for controlling the diagonal engine of sick engine is consistent with the revolving speed of sick engine, sick engine
For the engine of revolving speed not within a preset range, to adjust the flight attitude of six rotorcraft；Reduce the combustion of each engine
Oil output, reserves extra power preferentially to adjust the flight attitude of six rotorcraft, guarantees the fuselage of six rotorcraft
Level falls, and can effectively reduce loss；Engine brake is controlled, so that six rotorcraft is subtracted with predetermined acceleration
Speed, horizontal velocity, which will lead to foot prop and scrape ground object, when six rotorcraft being avoided to land causes to turn on one's side, and guarantees that six rotors fly
The flight safety of row device；The flying height of six rotorcraft, control six rotorcraft landing are reduced, in order to avoid cause flight thing
Therefore it is further ensured that the flight safety of six rotorcraft.
The application is in some engine breakdown, by the diagonal engine for executing above-mentioned control sick engine
Revolving speed it is consistent with the revolving speed of sick engine and reduce the output of the fuel oil of each engine and carried out to adjust six rotorcraft
Flight attitude；It executes above-mentioned control engine brake and reduces the flying height of six rotorcraft to guarantee six rotorcraft
Flight safety, thus realize maintain six rotorcraft flight attitude and flight safety purpose.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of disconnected paddle guard method flow chart based on six rotorcraft disclosed in the embodiment of the present application；
Fig. 2 is the structural schematic diagram of six rotorcraft disclosed in the embodiment of the present application；
Fig. 3 is a kind of disconnected paddle protective device structure chart based on six rotorcraft disclosed in the embodiment of the present application.
Specific embodiment
A kind of disconnected paddle guard method and device based on six rotorcraft provided by the present application is applied to fuel oil driving six
Rotor craft, wherein a fuel engines is configured on each wing of six rotorcraft, it is direct by fuel engines
It is driven.
The purpose of the application is: when a certain engine breakdown, such as single cylinder or stalling or turn up are before the due date
It hopes revolving speed, when pulling force being caused to lack, fuel engines is maintained directly to drive the flight attitude and flight safety of six rotorcraft.
It should be noted that fuel oil driving six rotorcraft is merely illustrative, method described in the embodiment of the present application and dress
It sets, can also be applied to be driven by electricity six rotorcraft.
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
A kind of disconnected paddle guard method based on six rotorcraft provided by the embodiments of the present application, as shown in Figure 1, specific packet
Include following steps:
S101: the revolving speed of each engine of six rotorcraft is monitored.
S102: the revolving speed of any one engine not within a preset range in the case where, control six rotorcraft into
Enter disconnected paddle protected mode.
Preset range is to carry out probabilistic determination according to the revolving speed of real-time measurement and desired revolving speed to determine, specifically, sentencing
Disconnected foundation is 3 σ criterion, and 3 σ criterion are also known as Pauta criterion, right by first assuming that one group of detection data contains only random error
It carries out calculation processing and obtains standard deviation, determines that obtained pre-set interval is default model described above by predetermined probabilities
It encloses, it is believed that all errors more than this preset range, it is determined that it is not belonging to random error but gross error, i.e. probability number
Distribution value almost all concentrates in (+3 σ of μ -3 σ, μ) range, if the revolving speed of a certain engine exceeds this preset range and exception
Certain time (being usually set to 1s), it may be considered that exception occurs in the engine power.It should be noted that exceeding
A possibility that this range, is only less than 0.3%.
In the embodiment of the present application, the engine speed data that a large amount of regular flight conditions can be chosen, according to revolving speed number
According to probabilistic model is established, to determine desired value μ and standard deviation sigma.It should be noted that how according to rotary speed data to establish probability mould
Type determines that desired value μ and standard deviation sigma belong to the prior art, not further herein to be limited.
Wherein, under disconnected paddle protected mode, at least one of following control process is executed:
S103: the revolving speed for controlling the diagonal engine of sick engine is consistent with the revolving speed of sick engine, failure hair
Motivation is the engine of revolving speed not within a preset range.
It should be noted that in the embodiment of the present application, the revolving speed of the diagonal engine of above-mentioned control sick engine with
The revolving speed of sick engine is consistent, is specifically as follows:
According to the load-carrying of the magnitude estimation six rotorcraft of the fuel oil output of current each engine.
When fuel oil driving six rotorcraft is in general load-carrying flight, the power surplus of each axis is more, sends out when certain
Motivation adynamia, then two engines in side integrally accelerate compensation adynamia therefore posture can be made to be able to maintain that surely
It is fixed.And if consider the worst situation, when fuel oil driving six rotorcraft is in full-load run, the power surplus of each axis compared with
Few, when two, the side of sick engine engine integrally accelerates to compensate adynamia, the engine not broken down can go out
Existing power saturation state then illustrates that the power of some axis reaches maximum once power saturation occurs, and no surplus carries out posture
Control, attitude of flight vehicle, which can shake, even to be dissipated, and therefore, can be estimated according to the size of the fuel oil output of current each engine
Calculate the load-carrying of six rotorcraft.
It should be noted that the load-carrying of six rotorcraft can be calculated by a variety of evaluation methods, and to six rotors
The evaluation method of the load-carrying of aircraft is the prior art, not further herein to be limited.
In the case where the load-carrying of six rotorcraft is more than default load-carrying, the diagonal engine of sick engine is controlled
Revolving speed is consistent with the revolving speed of sick engine.
Flight can be estimated roughly according to the size of the fuel oil output of current each engine in the embodiment of the present application
The load-carrying of device is not processed the diagonal engine of sick engine when load-carrying is less than or equal to default load-carrying；When load-carrying is big
When default load-carrying, then the diagonal engine and sick engine for controlling sick engine keep same rotational speed.
It should be noted that the revolving speed for monitoring any one engine not within a preset range when, illustrate that this starts
Machine failure can then directly control six rotorcraft and enter disconnected paddle protected mode, control the diagonal engine of sick engine
Revolving speed and the revolving speed of sick engine be consistent, to adjust the flight attitude of six rotorcraft.
In order to further realize the flight attitude for maintaining six rotorcraft, as shown in Figure 1, in control sick engine
After the revolving speed of diagonal engine is consistent with the revolving speed of sick engine, above-mentioned control process can also include:
S104: motivation of adjustment allocation matrix is the power output matrix for being adapted to four axis configurations.
As illustrated in fig. 2, it is assumed that No. 1 engine breaks down, and diagonal engine 4 and No. 1 holding same rotational speed, then
The arrangement of remaining four engines is irregular four axis configuration, which is unable to maintain that course-stability, in the embodiment of the present application,
It can be the power output matrix for being adapted to four axis configurations by attitude controller motivation of adjustment allocation matrix, control structure is abandoned navigating
To stabilization, whole power are used to maintain pitching and roll stabilization, while control parameter adjusts accordingly.
S105: reduce the fuel oil output of each engine.
Disconnected paddle failure occurs in some engine, during carrying out disconnected paddle protective effect, the weight of entire six rotorcraft
Measuring from original 6 engines receiving approximation becomes 4 engines, when load-carrying is big, it is easy to a few engine powers occur
The case where saturation, power saturation will affect pitching and rolling control.In order to adjust the flight attitude of six rotorcraft, the application
In embodiment, power can be monitored by dynamic mixer and be saturated and do saturated process, i.e., according to saturation size reduction appropriate
The fuel oil of each engine exports, that is, the basic throttle for reducing each engine reserves extra power preferentially to adjust posture
The flight attitude of six rotorcraft guarantees that the standard of fuselage of six rotorcraft falls, can effectively reduce loss.
S106: control engine brake, so that six rotorcraft is slowed down with predetermined acceleration.
When disconnected paddle failure occurs for some engine, general six rotorcraft is in sessions, at this point, due to six
The flying speed of rotor craft is not 0, and the foot prop that horizontal velocity will lead to six rotorcraft when landing scrapes ground object
It causes to turn on one's side, not can guarantee the flight safety of six rotorcraft, in practical applications, can be controlled and be sent out by position control ring
Motivation is slowly braked, so that six rotorcraft is slowed down with predetermined acceleration, the speed of six rotorcraft is dropped
To very little, avoids the foot prop that horizontal velocity will lead to six rotorcraft when landing from scraping ground object and cause to turn on one's side, guarantee six
The flight safety of rotor craft.
It should be noted that predetermined acceleration can be a fixed acceleration during above-mentioned brake deceleration, it can also be with
For multiple fixed acceleration.
S107: the flying height of six rotorcraft is reduced.
Disconnected paddle failure occurs in some engine to need if six rotorcraft is unable to maintain that normal operation
Land as early as possible after holding position.In the embodiment of the present application, it can pass through when six rotorcraft horizontal velocity drops to preset value
Height control ring starts to adjust six rotorcraft height, and control six rotorcraft landing guarantees in order to avoid causing aircraft accident
The flight safety of six rotorcraft.
In some engine event occurs for the disconnected paddle guard method provided by the embodiments of the present application based on six rotorcraft
It is consistent with the revolving speed of sick engine and subtract by executing the revolving speed of diagonal engine of above-mentioned control sick engine when barrier
The fuel oil output of small each engine carries out flight attitude to adjust six rotorcraft；Execute the brake of above-mentioned control engine with
And the flying height of six rotorcraft is reduced to guarantee the flight safety of six rotorcraft, maintain six rotors to fly to realize
The flight attitude and flight safety of row device.
In order to further realize the flight safety for maintaining six rotorcraft, as shown in Figure 1, reducing six rotorcraft
Flying height after, above-mentioned control process can also include:
S108: it in the case where six rotorcraft is less than pre-determined distance at a distance from ground, controls each engine and stops
Vehicle.
Or, as shown in Figure 1, above-mentioned control process can also include:
S109: it in the case where six rotorcraft is less than pre-determined distance at a distance from ground, controls each engine and stops
Vehicle.
Disconnected paddle failure occurs in some engine, during carrying out disconnected paddle protective effect, may result in six rotor flyings
Device declines automatically, when six rotorcraft exceeds human eye sighting distance, even if operator is alarmed by earth station finds power failure,
Also it is difficult making emergency processing at the first time, therefore, in the embodiment of the present application, in the flying height for reducing six rotorcraft
It later, can be by being arranged on six rotorcraft to land mine or, in the disconnected paddle protection control process of six rotorcraft
Up to measurement six rotorcraft at a distance from ground, the case where six rotorcraft is less than pre-determined distance at a distance from ground
Under, each engine cut-off is controlled, all engines is made to stop at once, the general pre-determined distance that is arranged is 0.5m, avoids forced landing
High-speed rotating propeller causes to injure to ground object when to ground.
In order to further realize the flight safety for maintaining six rotorcraft, as shown in Figure 1, stopping controlling each engine
Before vehicle, above-mentioned control process can also include:
S110: when the revolving speed of the sick engine restores to the duration of the numerical value in the preset range more than presetting
In the case where length, the disconnected paddle protected mode is exited.
Disconnected paddle failure occurs in some engine, during carrying out disconnected paddle protective effect, if sick engine revolving speed is extensive
The multiple duration to the numerical value in preset range is more than preset duration, then it is assumed that and the sick engine can work normally, at this point,
Need smoothly to exit disconnected paddle protected mode, it may be assumed that attitude controller restores normal control structure and parameter；The adjustment of height control ring
Aircraft hovering；The diagonal engine of sick engine is transitted linearly to the expectation revolving speed of normal controller output in 1 second；
After normal hovering was more than 5 seconds, automatically into course line mode, remaining job task is executed.It should be noted that after landing parking
Also disconnected paddle protected mode can be exited.
Method is described in detail in above-mentioned disclosed embodiments, diversified forms can be used for the present processes
Device realize, therefore, disclosed herein as well is a kind of devices, and specific embodiment is given below and is described in detail.
Fig. 3 is a kind of disconnected paddle protective device schematic diagram based on six rotorcraft provided by the embodiments of the present application.Such as Fig. 3
Shown, a kind of disconnected paddle protective device based on six rotorcraft provided by the embodiments of the present application includes: monitoring module 31 and control
Molding block 32, in which:
Monitoring module 31, the revolving speed of each engine for monitoring six rotorcraft.
Control module 32, for the revolving speed of any one engine not within a preset range in the case where, control six rotation
Rotor aircraft enters disconnected paddle protected mode.
Wherein, under above-mentioned disconnected paddle protected mode, which includes at least one following control unit: revolving speed control
Unit 321, fuel oil output control unit 322, speed reduction control unit 323 and height control unit 324 processed, in which:
Rotary speed controling unit 321 is used to control the revolving speed of the diagonal engine of sick engine and the revolving speed of sick engine
Unanimously, sick engine is the engine of revolving speed not within a preset range.
Specifically, above-mentioned rotary speed controling unit 321 is used for:
According to the load-carrying of the magnitude estimation six rotorcraft of the fuel oil output of current each engine.
In the case where the load-carrying of six rotorcraft is more than default load-carrying, the diagonal engine of sick engine is controlled
Revolving speed is consistent with the revolving speed of sick engine.
Fuel oil output control unit 322, the fuel oil for reducing each engine export.
Speed reduction control unit 323 is for controlling engine brake, so that six rotorcraft is slowed down with predetermined acceleration.
Height control unit 324 for reducing six rotorcraft flying height.
It should be noted that rotary speed controling unit is used to control the revolving speed of the diagonal engine of sick engine and failure is sent out
The revolving speed of motivation is consistent, and sick engine is the engine of revolving speed not within a preset range, to adjust flying for six rotorcraft
Row posture；Fuel oil output control unit is used to reduce the fuel oil output of each engine, reserves extra power preferentially to adjust
The flight attitude of six rotorcraft guarantees that the standard of fuselage of six rotorcraft falls, can effectively reduce loss；Slow down
Control unit, so that six rotorcraft is slowed down with predetermined acceleration, avoids six rotor flyings for controlling engine brake
Horizontal velocity, which will lead to foot prop and scrape ground object, when device lands causes to turn on one's side, and guarantees the flight safety of six rotorcraft；It is high
Control unit is spent for reducing the flying height of six rotorcraft, control six rotorcraft landing, in order to avoid cause flight thing
Therefore it is further ensured that the flight safety of six rotorcraft.
In order to further realize the flight attitude for maintaining six rotorcraft, above-mentioned control module 32 can also include: structure
Type control unit.
Configuration control unit is used for the revolving speed of revolving speed and sick engine in the diagonal engine of control sick engine
After consistent, motivation of adjustment allocation matrix is the power output matrix for being adapted to four axis configurations.
In order to further realize the flight safety for maintaining six rotorcraft, above-mentioned control module 32 can also include: to stop
Vehicle control unit.
Parking toll unit is used for after the flying height for reducing six rotorcraft, in six rotorcraft and ground
Distance be less than pre-determined distance in the case where, control each engine cut-off.
Or parking toll unit is for controlling in the case where six rotorcraft is less than pre-determined distance at a distance from ground
Each engine cut-off.
In order to further realize the flight safety for maintaining six rotorcraft, above-mentioned control module 32 can also include: to move back
Control unit out.
Control unit is exited for restoring in the revolving speed of sick engine to default before controlling each engine cut-off
In the case that the duration of numerical value in range is more than preset duration, disconnected paddle protected mode is exited.
If function described in the embodiment of the present application method is realized in the form of SFU software functional unit and as independent production
Product when selling or using, can store in a storage medium readable by a compute device.Based on this understanding, the application is real
The part for applying a part that contributes to existing technology or the technical solution can be embodied in the form of software products,
The software product is stored in a storage medium, including some instructions are used so that a calculating equipment (can be personal meter
Calculation machine, server, mobile computing device or network equipment etc.) execute each embodiment the method for the application whole or portion
Step by step.And storage medium above-mentioned include: USB flash disk, it is mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random
Access various Jie that can store program code such as memory (RAM, Random Access Memory), magnetic or disk
Matter.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of disconnected paddle guard method based on six rotorcraft characterized by comprising
Monitor the revolving speed of each engine of the six rotorcraft；
The revolving speed of any one engine not within a preset range in the case where, control the six rotorcraft and enter disconnected paddle
Protected mode；
Wherein, under the disconnected paddle protected mode, at least one of following control process is executed:
The revolving speed for controlling the diagonal engine of sick engine is consistent with the revolving speed of the sick engine, the sick engine
For the revolving speed not engine in the preset range；
Reduce the fuel oil output of each engine；
Engine brake is controlled, so that the six rotorcraft is slowed down with predetermined acceleration；
Reduce the flying height of the six rotorcraft.
2. disconnected paddle guard method according to claim 1, which is characterized in that the control sick engine diagonally starts
The revolving speed of machine is consistent with the revolving speed of the sick engine, specifically:
The load-carrying of six rotorcraft described in the magnitude estimation exported according to the fuel oil of current each engine；
In the case where the load-carrying of the six rotorcraft is more than default load-carrying, diagonally starting for the sick engine is controlled
The revolving speed of machine is consistent with the revolving speed of the sick engine.
3. disconnected paddle guard method according to claim 1 or 2, which is characterized in that the control process further include:
After the revolving speed of the diagonal engine of the control sick engine is consistent with the revolving speed of the sick engine, adjustment
Power allocation matrix is the power output matrix for being adapted to four axis configurations.
4. disconnected paddle guard method according to claim 1, which is characterized in that the control process further include:
It is small at a distance from ground in the six rotorcraft after the flying height for reducing the six rotorcraft
In the case where pre-determined distance, each engine cut-off is controlled；
Alternatively, the control process further include:
In the case where the six rotorcraft is less than the pre-determined distance at a distance from ground, controls each engine and stop
Vehicle.
5. disconnected paddle guard method according to claim 4, which is characterized in that the control process further include:
Before each engine cut-off of control, restore in the revolving speed of the sick engine to the preset range
In the case that the duration of numerical value is more than preset duration, the disconnected paddle protected mode is exited.
6. a kind of disconnected paddle protective device based on six rotorcraft characterized by comprising
Monitoring module, the revolving speed of each engine for monitoring the six rotorcraft；
Control module, for the revolving speed of any one engine not within a preset range in the case where, control six rotor
Aircraft enters disconnected paddle protected mode；
Wherein, under the disconnected paddle protected mode, the control module includes at least one following control unit:
Rotary speed controling unit, for controlling the revolving speed of the diagonal engine of sick engine and the revolving speed one of the sick engine
It causes, the sick engine is the revolving speed not engine in the preset range；
Fuel oil output control unit, the fuel oil for reducing each engine export；
Speed reduction control unit, for controlling engine brake, so that the six rotorcraft is slowed down with predetermined acceleration；
Height control unit, for reducing the flying height of the six rotorcraft.
7. disconnected paddle protective device according to claim 6, which is characterized in that the rotary speed controling unit is used for:
The load-carrying of six rotorcraft described in the magnitude estimation exported according to the fuel oil of current each engine；
In the case where the load-carrying of the six rotorcraft is more than default load-carrying, diagonally starting for the sick engine is controlled
The revolving speed of machine is consistent with the revolving speed of the sick engine.
8. disconnected paddle protective device according to claim 6 or 7, which is characterized in that the control module further include:
Configuration control unit, revolving speed and the sick engine for the diagonal engine in the control sick engine
After revolving speed is consistent, motivation of adjustment allocation matrix is the power output matrix for being adapted to four axis configurations.
9. disconnected paddle protective device according to claim 6, which is characterized in that the control module further include: parking toll
Unit；
The parking toll unit, for being revolved described six after the flying height for reducing the six rotorcraft
In the case that rotor aircraft is less than pre-determined distance at a distance from ground, each engine cut-off is controlled；
Or the parking toll unit, for being less than the feelings of the pre-determined distance at a distance from ground in the six rotorcraft
Under condition, each engine cut-off is controlled.
10. disconnected paddle guard method according to claim 9, which is characterized in that the control module further include:
Control unit is exited, for restoring before each engine cut-off of control in the revolving speed of the sick engine
In the case that the duration of numerical value in the preset range is more than preset duration, the disconnected paddle protected mode is exited.
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| CN110254731B (en) | 2020-12-25 |
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