CN110398977A - A kind of unmanned plane aileron deceleration system and method - Google Patents
A kind of unmanned plane aileron deceleration system and method Download PDFInfo
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- CN110398977A CN110398977A CN201810379589.9A CN201810379589A CN110398977A CN 110398977 A CN110398977 A CN 110398977A CN 201810379589 A CN201810379589 A CN 201810379589A CN 110398977 A CN110398977 A CN 110398977A
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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
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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
- G05D1/10—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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Abstract
The present invention discloses a kind of unmanned plane aileron deceleration system and method, after unmanned plane enters the deceleration sliding race stage, issues the instruction of aileron drift angle by aileron instruction generator；The aileron movement instruction that the instruction of aileron drift angle has coupled the aileron movement instruction of aileron deceleration system and flight control system control UAV Attitude issues；Including following two classes situation: normal condition: instruction that aileron instruction generator sends out aileron drift angle preset；Case of emergency: aileron instruction generator sends out the instruction of aileron sail angle；After Aileron control system receives the instruction of aileron drift angle, control aileron movement to designated state.Preset aileron drift angle instruction are as follows: the different aileron drift angle of different speed fragmentation values.The present invention is suitable for various unmanned aerial vehicle platform, and versatility is stronger, and programmed logic is clear, strong operability, it is easy to accomplish, at low cost, slowing effect is significant, can effectively reduce sliding race time and ground run distance, reduce risk.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to a method for decelerating an aircraft.
Background
In the prior art, most unmanned aerial vehicles are controlled to land in a manner that the unmanned aerial vehicles are autonomously controlled by a flight control computer to complete deceleration and stop after landing; at present, the deceleration measure or deceleration system generally adopted by the unmanned aerial vehicle is the following equipment or the combination of the following equipment: a speed-reducing umbrella, a brake and a speed-reducing plate; the current deceleration system has simple deceleration measures and less redundancy, and the deceleration effect of a certain deceleration device is greatly reduced when the deceleration device cannot be used, so that the deceleration time is prolonged, the deceleration distance is prolonged, and the landing safety is influenced; the aileron deceleration system is additionally provided with deceleration equipment on the basis of the conventional deceleration system, so that the deceleration capacity of the unmanned aerial vehicle is improved, the redundancy of deceleration measures is increased, and the landing safety is improved; meanwhile, the system can also be applied to the stop takeoff program of the unmanned aerial vehicle, increases the pneumatic resistance, effectively improves the deceleration capacity of the unmanned aerial vehicle, and ensures the stop takeoff safety of the unmanned aerial vehicle. In addition, the aileron deceleration system can carry out emergency operation aiming at the abnormal deceleration condition occurring in the landing process or the takeoff stopping process of the unmanned aerial vehicle, and deflects the control surface of the aileron to the maximum state, thereby obtaining the maximum aerodynamic resistance, fully excavating the resistance-increasing deceleration capacity of the aileron and reducing the risk in the emergency condition. At present, no case of landing run-off deceleration by using an aileron deceleration system exists, and no report about the design of the aileron deceleration system is seen.
Disclosure of Invention
The invention aims at the blank of the current field of developing an aileron speed reduction system, and enriches the speed reduction means of the unmanned aerial vehicle, improves the speed reduction capability, increases the redundancy of the speed reduction capability and improves the safety of the unmanned aerial vehicle under the abnormal speed reduction condition by using the ailerons of the unmanned aerial vehicle in the landing running process or the take-off suspension process.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle aileron deceleration system is characterized by comprising an aileron instruction generator, an aileron deceleration system, a flight control system, a sensor system and an aileron control system; wherein,
the aileron control system controls the steering engine to realize aileron deflection according to the aileron deflection angle instruction;
the sensor system is used for detecting the state information of the unmanned aerial vehicle;
the flight control system sends out a control instruction for controlling the unmanned aerial vehicle according to the state information of the sensor system;
the aileron deceleration system sends an aileron deflection instruction after the unmanned aerial vehicle is grounded so as to realize resistance-increasing deceleration;
the aileron command generator sends out an aileron deflection angle command, and the aileron deflection angle command couples an aileron deflection command of an aileron deceleration system and an aileron deflection command sent out by a flight control system for controlling the posture of the unmanned aerial vehicle.
An unmanned aerial vehicle aileron deceleration method comprises the following steps:
s1 the flight control system judges whether the unmanned aerial vehicle system enters the deceleration running stage:
s11, judging whether the unmanned aerial vehicle is grounded according to the information provided by the sensor system, thereby determining the grounding state of the unmanned aerial vehicle, and judging whether the unmanned aerial vehicle enters a landing and running stage according to the judgment instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s12, judging whether the unmanned aerial vehicle enters a deceleration running stage according to whether the flight control system sends a takeoff stopping instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s2, after the unmanned aerial vehicle enters the deceleration running stage, an aileron command generator sends out an aileron deflection angle command; the aileron deflection angle instruction couples an aileron deflection instruction of an aileron deceleration system and an aileron deflection instruction sent by a flight control system for controlling the attitude of the unmanned aerial vehicle; these include the following two types of situations:
s21 normal case: the aileron command generator sends a preset aileron deflection angle command;
s22 emergency situation: the aileron command generator sends an aileron maximum deflection angle command;
s3 the aileron steering system receives the aileron deflection command and controls the aileron to deflect to a designated state.
In step S21, the aileron command generator sends a preset aileron deflection angle command that: setting the speed stage number n and the speed segmentation value V of the unmanned aerial vehicle1、V2……VnThe values are successively decreased, thereby setting corresponding, different aileron declination angles.
The preset aileron deflection angle instruction is as follows: as the speed of the drone decreases, the aileron declination angle gradually increases.
In the emergency situation in step S22, when the deceleration systems such as the parachute, the brake, and the speed reduction plate of the unmanned aerial vehicle fail, the flight control system determines that the unmanned aerial vehicle is abnormally decelerated, and the aileron command generator directly sends out the command of the maximum deflection angle of the aileron.
The invention is suitable for various unmanned aerial vehicle platforms, has strong universality, clear program logic, strong operability, easy realization, low cost and obvious deceleration effect, and can effectively reduce the running time and distance and reduce the risk.
Drawings
FIG. 1 is a flow chart of the system of the present invention.
FIG. 2 is a flow chart of an aileron command generator in a normal deceleration system.
FIG. 3 is a flow chart of the aileron command generator coupling.
Detailed Description
In order to further explain the above implementation modes, the invention is further explained below by referring to the drawings and the embodiments.
Example 1
An unmanned aerial vehicle aileron deceleration system comprises an aileron command generator, an aileron deceleration system, a flight control system, a sensor system and an aileron control system; the aileron control system controls the steering engine to realize aileron deflection according to the instruction; the sensor system is used for detecting the state information of the unmanned aerial vehicle; the flight control system sends out a control instruction for controlling the unmanned aerial vehicle according to the state information of the sensor system; the aileron deceleration system sends an aileron deflection instruction after the unmanned aerial vehicle is grounded so as to realize resistance-increasing deceleration; the aileron command generator sends out an aileron deflection angle command, and the aileron deflection angle command couples an aileron deflection command of an aileron deceleration system and an aileron deflection command sent out by a flight control system for controlling the posture of the unmanned aerial vehicle.
Example 2
An unmanned aerial vehicle aileron deceleration method comprises the following steps:
s1 the flight control system judges whether the unmanned aerial vehicle system enters the deceleration running stage:
s11, judging whether the unmanned aerial vehicle is grounded according to the information provided by the sensor system, thereby determining the grounding state of the unmanned aerial vehicle, and judging whether the unmanned aerial vehicle enters a landing and running stage according to the judgment instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s12, judging whether the unmanned aerial vehicle enters a deceleration running stage according to whether the flight control system sends a takeoff stopping instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s2, after the unmanned aerial vehicle enters the deceleration running stage, an aileron command generator sends out an aileron deflection angle command; the aileron deflection angle instruction couples an aileron deflection instruction of an aileron deceleration system and an aileron deflection instruction sent by a flight control system for controlling the attitude of the unmanned aerial vehicle; these include the following two types of situations:
s21 normal case: the aileron command generator sends a preset aileron deflection angle command;
s22 emergency situation: the aileron command generator sends an aileron maximum deflection angle command;
s3 the aileron steering system receives the aileron deflection command and controls the aileron to deflect to a designated state.
Example 3
A flight control system judges that an unmanned aerial vehicle system enters a deceleration sliding stage, an aileron command generator sends an aileron deflection angle command, and the aileron command generator sends a preset aileron deflection angle command as follows: speed of unmanned aerial vehicleNumber of steps n and corresponding velocity segment value V1、V2……VnThe speed values are sequentially reduced, and different speed segment values correspond to different aileron deflection angles; and after receiving the aileron deflection command, the aileron control system controls the aileron to deflect to a specified state. One selection of a preset aileron declination command is: as the speed of the drone decreases, the aileron declination angle gradually increases.
Example 3
A flight control system judges that an unmanned aerial vehicle system enters a deceleration sliding stage, and the emergency situation is that when deceleration systems such as an unmanned aerial vehicle speed reducing parachute, a brake and a speed reducing plate fail, the flight control system judges that the unmanned aerial vehicle decelerates abnormally, and an aileron instruction generator directly sends an aileron maximum deflection angle instruction; and after receiving the aileron deflection command, the aileron control system controls the aileron to deflect to a specified state.
Example 4
FIG. 1 depicts the relationship of information transmission flow of the present invention, and the control computer takes the judgment instruction as the basis and the aileron instruction generation as the control means to finally achieve the purposes of aileron deflection, increase of aerodynamic resistance and increase of deceleration capacity. Wherein:
the judgment instruction comprises two parts:
a) and the ground signal is used for judging the ground state of the airplane according to the wheel load data or the wheel speed data of the main wheel of the unmanned aerial vehicle acquired by the sensor system in the landing and grounding process of the unmanned aerial vehicle, and meanwhile, judging whether the airplane is grounded according to the ground signal for several seconds after the airplane is shifted to a course alignment stage. If the aircraft meets the condition, the aircraft can be determined to be grounded, and a subsequent procedure can be executed; if not, the program is exited.
b) And (3) stopping the takeoff instruction, wherein in the sliding process of the unmanned aerial vehicle, no matter the unmanned aerial vehicle autonomously determines to stop the takeoff according to the minimum flying list or manually stops the takeoff, and after the control computer sends the takeoff stopping instruction, the aileron resistance-increasing deceleration program can be executed.
And when the last layer of judgment instruction is true, the aileron instruction generator can generate an aileron control instruction to operate the aileron according to the set control strategy and the aileron instruction for coupling and controlling the attitude of the unmanned aerial vehicle.
a) Under normal conditions, unmanned aerial vehicle drogue, brake, the air brake normal stability of operation, aileron command generator sends the aileron declination instruction according to presetting the procedure, and the declination number of degrees is synthesized by steering wheel performance and speed reduction effect and decides.
b) Under the emergency situation, when deceleration systems such as a parachute, a brake and a speed reduction plate of the unmanned aerial vehicle fail, after the flight control system judges that the unmanned aerial vehicle decelerates abnormally, the aileron command generator directly sends out an aileron maximum deflection angle command, and the aileron deflection limit value of the unmanned aerial vehicle determines the command.
And the aileron control system controls the steering engine according to the instruction to realize aileron deflection and achieve the purpose of resistance increasing and speed reducing.
Example 5
Fig. 2 shows a flow chart of the aileron command generator under normal conditions. The aileron command generator generates the command according to the meter speed sensor information VbAnd generating corresponding aileron deflection angle commands according to different gauge speed stages. Based on the steering engine performance and the deceleration effect of the unmanned aerial vehicle, reasonable meter speed stage number n and meter speed stage value V are set1、V2……VnThe values are sequentially reduced, so that different aileron deflection angles are generated, the effect that the aileron deflection angles are gradually increased along with the reduction of the meter speed is achieved, and the aim of maximizing the aerodynamic resistance is fulfilled.
Meter speed V acquired along with meter speed sensorbReducing, the aileron command generator receives the meter speed information VbComparison VbAnd the table speed segment value Vi(i=1、2……n)。
If Vb<ViIf the continuous 5 beats are satisfied, the next stage is entered to judge Vb<Vi+1;
If the condition is not met, generating a corresponding aileron deflection angle instruction;
by analogy, the aileron command generator generates aileron deflection angle commands corresponding to different gauge speed stages, and the aileron deflection angle values corresponding to the different gauge speed stages can refer to the division rules of the following table.
Aileron deflection angle values at different gauge speed stages
| Speed stage | Aileron declination angle delta |
| Vn-1 <Vb<Vn | δmax(maximum aileron declination angle) |
| … | … |
| Vi-1 <Vb<Vi | i*δmax /n |
| … | … |
| Vb<V1 | δmax/n |
Example 6
FIG. 3 shows a flow chart of the aileron command generator coupling. After the unmanned aerial vehicle enters a deceleration sliding stage, according to flight parameter data fed back by the unmanned aerial vehicle in real time, the aileron command generator is coupled with an aileron deflection signal generated by an aileron deceleration system and an aileron deflection signal of the attitude of the unmanned aerial vehicle controlled by a flight control computer, and finally an aileron deflection angle command is generated to control the aileron deflection so as to realize the deceleration of the unmanned aerial vehicle.
Claims (5)
1. An unmanned aerial vehicle aileron deceleration system is characterized by comprising an aileron instruction generator, an aileron deceleration system, a flight control system, a sensor system and an aileron control system; wherein,
the aileron control system controls the steering engine to realize aileron deflection according to the aileron deflection angle instruction;
the sensor system is used for detecting the state information of the unmanned aerial vehicle;
the flight control system sends out an instruction for controlling the unmanned aerial vehicle according to the state information of the sensor system;
the aileron deceleration system sends an aileron deflection instruction after the unmanned aerial vehicle is grounded so as to realize resistance-increasing deceleration;
the aileron command generator sends out an aileron deflection angle command, and the aileron deflection angle command couples an aileron deflection command of an aileron deceleration system and an aileron deflection command sent out by a flight control system for controlling the posture of the unmanned aerial vehicle.
2. An unmanned aerial vehicle aileron deceleration method comprises the following steps:
s1 the flight control system judges whether the unmanned aerial vehicle system enters the deceleration running stage:
s11, judging whether the unmanned aerial vehicle is grounded according to the information provided by the sensor system, thereby determining the grounding state of the unmanned aerial vehicle, and judging whether the unmanned aerial vehicle enters a landing and running stage according to the judgment instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s12, judging whether the unmanned aerial vehicle enters a deceleration running stage according to whether the flight control system sends a takeoff stopping instruction; if the unmanned aerial vehicle enters the landing and running stage, performing subsequent operation, otherwise, judging whether the unmanned aerial vehicle enters the deceleration and running stage again;
s2, after the unmanned aerial vehicle enters the deceleration running stage, an aileron command generator sends out an aileron deflection angle command; the aileron deflection angle instruction couples an aileron deflection instruction of an aileron deceleration system and an aileron deflection instruction sent by a flight control system for controlling the attitude of the unmanned aerial vehicle; these include the following two types of situations:
s21 normal case: the aileron command generator sends a preset aileron deflection angle command;
s22 emergency situation: the aileron command generator sends an aileron maximum deflection angle command;
s3 the aileron steering system receives the aileron deflection angle command and controls the aileron to deflect to a designated state.
3. The method of claim 2, wherein the command generator generates the preset command for the flapwise deflection angle at step S21 as follows: setting the speed stage number n and the speed segmentation value V of the unmanned aerial vehicle1、V2……VnThe values are successively decreased, thereby setting corresponding, different aileron declination angles.
4. The method of decelerating an aileron of an unmanned aerial vehicle as claimed in claim 3, wherein the predetermined aileron yaw angle command is: as the speed of the drone decreases, the aileron declination angle gradually increases.
5. The method for decelerating the ailerons of an unmanned aerial vehicle as claimed in claim 2, wherein the emergency condition in step S22 is that when the deceleration system of the parachute, the brake, the speed reduction plate, etc. of the unmanned aerial vehicle fails, and the flight control system determines that the deceleration of the unmanned aerial vehicle is abnormal, the aileron command generator directly sends out the maximum deflection angle command of the aileron.
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| CN201810379589.9A CN110398977A (en) | 2018-04-25 | 2018-04-25 | A kind of unmanned plane aileron deceleration system and method |
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| CN201810379589.9A CN110398977A (en) | 2018-04-25 | 2018-04-25 | A kind of unmanned plane aileron deceleration system and method |
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Cited By (2)
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| CN113204186A (en) * | 2021-03-31 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Safe power supply method for throwing of unmanned aerial vehicle drag parachute |
| CN114560095A (en) * | 2022-03-18 | 2022-05-31 | 西安京东天鸿科技有限公司 | Unmanned aerial vehicle landing method and device |
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Application publication date: 20191101 |