CN110450768A - A kind of small-sized fixed-wing unmanned plane brake anti-skid control method of low cost - Google Patents
A kind of small-sized fixed-wing unmanned plane brake anti-skid control method of low cost Download PDFInfo
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- CN110450768A CN110450768A CN201910745009.8A CN201910745009A CN110450768A CN 110450768 A CN110450768 A CN 110450768A CN 201910745009 A CN201910745009 A CN 201910745009A CN 110450768 A CN110450768 A CN 110450768A
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- unmanned plane
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
- B64C25/44—Actuating mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of small-sized fixed-wing unmanned plane brake anti-skid control methods of low cost, comprising the following steps: 1) condition that need to meet when the starting of setting brake non-slip mechanism；2) when meeting step (1) described condition, the anti-skidding monitoring of starting brake；3) by anti-skidding monitoring of braking, unmanned plane is monitored in the speed of ground handling and the wheel speed of unmanned plane wheel, and judges whether the wheel of unmanned plane skids；4) when confirmation unmanned plane skids, using the segmentation brake strategy and anti-sliding control strategy set, brake anti-sliding control is carried out to unmanned plane；5) when unmanned plane no longer skids, normal strategy execution is pressed in brake pressure control, closes brake non-slip mechanism.The present invention can make the inexpensive fixed-wing unmanned plane for not installing anti-skid brake system (ABS) additional realize brake antiskid function, improve braking efficiency and safety；It can be applied in the anti-skidding system of brake of the lesser small-sized fixed-wing unmanned plane of quality, not complicated system equipment, cost is relatively low.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, in particular to a kind of small-sized fixed-wing unmanned plane brake of low cost are anti-
Sliding control method.
Background technique
For fixed-wing small drone during alightinging run, wheel will receive interior of aircraft and external unstable factor
It influences and has skidded phenomenon, this phenomenon can reduce braking efficiency, influence unmanned plane safety, need a kind of fixed-wing miniature self-service
Machine brake anti-skid control method.Large size civil aircraft and someone's military secret usually realize the anti-skidding function that brakes by anti-skid brake system (ABS) at present
Can, this anti-skid brake system (ABS) is not only at high cost, and system configuration is complicated, and weight is larger, can not be suitable for low cost and low weight
Small-sized fixed-wing unmanned plane.It is limited to cost and weight demands, the brake non-slip mechanism of existing small-sized fixed-wing unmanned plane
Judged completely by operator, it is very high to operator's requirement, it is not able to satisfy traditional antiskid function demand, or even will affect nothing
Man-machine braking efficiency and safety.
Summary of the invention
The purpose of the present invention is to provide a kind of relatively simple, cost is relatively low, improves antiskid brake function, and be suitable for small
The brake anti-skid control method of type fixed-wing unmanned plane.
The present invention is achieved through the following technical solutions: a kind of low cost small-sized fixed-wing unmanned plane brake anti-sliding control side
Method, comprising the following steps:
(1) condition that need to meet when the starting of setting brake non-slip mechanism；
(2) when meeting step (1) described condition, the anti-skidding monitoring of starting brake；
(3) by anti-skidding monitoring of braking, unmanned plane is monitored in the speed of ground handling and the wheel speed of unmanned plane wheel, and judges nothing
Whether man-machine wheel skids；
(4) it when confirmation unmanned plane skids, using the segmentation brake strategy and anti-sliding control strategy set, stops to unmanned plane
Vehicle anti-sliding control；
(5) when unmanned plane no longer skids, normal strategy execution is pressed in brake pressure control, closes brake non-slip mechanism.
The working principle of the technical scheme is as follows real using the mode that segmentation brake strategy and brake anti-sliding control strategy combine
Now brake antiskid function.Segmentation brake strategy limits braking amount under unmanned plane friction speed, and speed is higher to be allowed using braking amount
It is lower, with the wheel slippage problems that the lower brake torque of solution high speed is excessive and occurs.The anti-sliding control strategy that brakes is solid by resolving
Determine wing unmanned plane wheel sliding velocity and judge wheel slipping state, machine is controlled according to wheel slipping state and current drone status
Wheel brake amount realizes antiskid function, and increases brake antiskid function escape mechanism, can brake anti-skidding but also take into account braking efficiency.
In order to which method of the invention is better achieved, further, the starting brake non-slip mechanism in the step (1) is needed
The condition to be met are as follows:
(1.1) unmanned plane status is to turn to alighting run after 3s or when unmanned plane suspension is taken off；
(1.2) speed on ground of unmanned plane is in 40km/h between 200km/h；
(1.3) the wheel spin-up transducer fault-free of unmanned plane and electric control brake valve fault-free；
(1.4) ground control station allows to start brake non-slip mechanism.
In order to which method of the invention is better achieved, further, in the step (3), judge that the wheel of unmanned plane is
The process of no skidding are as follows:
(3.1) the ground handling speed of unmanned plane and the wheel speed of unmanned plane wheel are monitored；
(3.2) wheel speed that unmanned plane wheel is subtracted using the ground handling speed of unmanned plane, calculates the sliding of unmanned plane wheel
Speed；
(3.3) every 10 ~ 20 microsecond calculates the sliding velocity of a unmanned plane wheel, continuously the sliding velocity of unmanned plane wheel three times
When greater than 30km/h, then judge that the wheel of unmanned plane skids.
In order to which method of the invention is better achieved, further, the segmentation in the step (4) is braked tactful are as follows:
(A) when the ground handling speed of unmanned plane is not less than 200km/h, braking amount is set pressure；
(B) when the ground handling speed of unmanned plane is when 150km/h is between 200km/h, braking amount 7%；
(C) when the ground handling speed of unmanned plane in 120km/h between 150km/h, braking amount 12%
(D) when the ground handling speed of unmanned plane in 80km/h between 120km/h, braking amount 25%；
(E) when the ground handling speed of unmanned plane is not more than 80km/h, braking amount 35%.
In order to which method of the invention is better achieved, further, the braking amount of the set pressure in the step (A) is
3~5%。
In order to which method of the invention is better achieved, further, the anti-sliding control strategy in the step (4) includes:
(a) the wheel unilateral side slipping state of unmanned plane continues 0.6s, then antiskid function is exited in unilateral side, continues to determine whether after 0.5s
It skids；
(b) anti-skidding dispose of wheel two sides alternating of unmanned plane continues 2s, then exits brake non-slip mechanism, if the left and right sides is later
Satisfaction exits skidding criterion, then reactivates brake non-slip mechanism.
In order to which method of the invention is better achieved, further, in the step (4) further including that brake is anti-skidding exits machine
System, i.e., the unilateral 2s that continues do not meet disengaging skidding criterion also, are then permanently set as non-slipping state.
In order to which method of the invention is better achieved, further, the weight of the small-sized fixed-wing unmanned plane is 500 ~
600kg。
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
(1) by the present invention in that realizing the anti-skidding function of brake with the mode that segmentation brake strategy and brake anti-sliding control strategy combine
Can, the inexpensive fixed-wing unmanned plane that can make not install additional anti-skid brake system (ABS) realizes brake antiskid function, according to actually detected, mentions
The braking efficiency for having risen small-sized fixed-wing unmanned plane 20 ~ 40% extends the use longevity of the small-sized brake of fixed-wing unmanned plane and wheel
Life greatly improves the safety during small-sized fixed-wing unmanned plane manipulation；
(2) the present invention provides detailed detection data and experimental data, can be applied to the lesser small-sized fixed-wing of quality without
In the anti-skidding system of man-machine brake, not complicated system equipment, cost is relatively low, provides for small-sized fixed-wing unmanned aerial vehicle (UAV) control
Specific brake prevention policies are suitable for wide popularization and application.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other features of the invention,
Objects and advantages will become apparent:
Fig. 1 is the anti-sliding control machine functional block diagram that brakes in the present invention；
Fig. 2 is the work flow diagram of the method for the invention；
The tactful line chart of segmentation brake in the present invention of the position Fig. 3.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It is also possible to be connected directly, is also possible to indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
Embodiment 1:
The present embodiment provides a kind of small-sized fixed-wing unmanned plane brake anti-skid control method of low cost, which is directed to
Small-sized fixed-wing unmanned plane quality be 500 ~ 600kg.This method uses segmentation brake strategy and brake anti-sliding control strategy
In conjunction with mode realize brake antiskid function, concrete principle is as shown in Figure 1.Segmentation brake strategy limits under unmanned plane friction speed
Braking amount, speed is higher to be allowed lower using braking amount, and to solve that the lower brake torque of high speed is excessive, the wheel skidding that occurs is asked
Topic.Brake anti-sliding control strategy judges wheel slipping state by resolving fixed-wing unmanned plane wheel sliding velocity, according to wheel
Slipping state and current drone status control wheel braking amount realize antiskid function, and increase brake antiskid function and exit machine
System can brake anti-skidding but also take into account braking efficiency.
This method realizes that process is as follows:
When the following conditions meet, brake antiskid function is effective:
(a) mission phase: turn to land and slide
After race 3s or stop to take off；
(b) 40km/h < aircraft ground velocity < 200km/h；
(c) wheel spin-up transducer fault-free and electric control brake valve fault-free；
(d) ground control station allows using antiskid function.
When meeting above-mentioned condition, anti-skidding monitoring of braking is enabled, process is as shown in Figure 1, specific as follows:
(1) solver wheel slip speed；
Wheel sliding velocity=unmanned plane ground velocity-wheel wheel speed
(2) determine whether wheel skids；
Criterion: continuous 3 clap wheel sliding velocity > 30km/h；Every clap is 10 ~ 20 microseconds.
(3) after wheel skids, left and right brake pressure is set as set pressure, while the anti-skidding guard mode of wheel being set to
" in use " enables segmentation brake strategy, as shown in Figure 3；
(4) after wheel skids, determine whether wheel is detached from slipping state；
Criterion: continuous 3 clap wheel sliding velocity < 30km/h；Every clap is 10 ~ 20 microseconds.
(5) after wheel is detached from slipping state, normal strategy execution is pressed in brake pressure control, while by the anti-skidding protection shape of wheel
State is set to " unused "；
(6) unilateral slipping state continues 0.6s, then antiskid function is exited in unilateral side, continues to determine whether to skid after 0.5s；
(7) alternating anti-skidding dispose in two sides continues 2s, then exits antiskid function, sentences if being all satisfied at left and right sides of later and exiting skidding
According to then reactivating antiskid function；
(8) the unilateral 2s that continues does not meet disengaging skidding criterion also, then being permanently set as non-slipping state, (note: the strategy is to prevent
After wheel skids, may because of wheel speed sensor fault, measuring wheel speed always≤5km/h, lead to not restore from slipping state).
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments by being detached under the principle of the present invention and objective, of the invention
Range is defined by the claims and their equivalents.
Claims (8)
- The anti-skid control method 1. a kind of small-sized fixed-wing unmanned plane of low cost brakes, which comprises the following steps:(1) condition that need to meet when the starting of setting brake non-slip mechanism；(2) when meeting step (1) described condition, the anti-skidding monitoring of starting brake；(3) by anti-skidding monitoring of braking, unmanned plane is monitored in the speed of ground handling and the wheel speed of unmanned plane wheel, and judges nothing Whether man-machine wheel skids；(4) it when confirmation unmanned plane skids, using the segmentation brake strategy and anti-sliding control strategy set, stops to unmanned plane Vehicle anti-sliding control；(5) when unmanned plane no longer skids, normal strategy execution is pressed in brake pressure control, closes brake non-slip mechanism.
- The anti-skid control method 2. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 1 brakes, feature exist In the condition that the starting brake non-slip mechanism in the step (1) needs to meet are as follows:(1.1) unmanned plane status is to turn to alighting run after 3s or when unmanned plane suspension is taken off；(1.2) speed on ground of unmanned plane is in 40km/h between 200km/h；(1.3) the wheel spin-up transducer fault-free of unmanned plane and electric control brake valve fault-free；(1.4) ground control station allows to start brake non-slip mechanism.
- The anti-skid control method 3. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 1 or 2 brakes, feature It is, in the step (3), judges the process whether wheel of unmanned plane skids are as follows:(3.1) the ground handling speed of unmanned plane and the wheel speed of unmanned plane wheel are monitored；(3.2) wheel speed that unmanned plane wheel is subtracted using the ground handling speed of unmanned plane, calculates the sliding of unmanned plane wheel Speed；(3.3) every 10 ~ 20 microsecond calculates the sliding velocity of a unmanned plane wheel, continuously the sliding velocity of unmanned plane wheel three times When greater than 30km/h, then judge that the wheel of unmanned plane skids.
- The anti-skid control method 4. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 1 or 2 brakes, feature It is, the segmentation in the step (4) is braked tactful are as follows:(A) when the ground handling speed of unmanned plane is not less than 200km/h, braking amount is set pressure；(B) when the ground handling speed of unmanned plane is when 150km/h is between 200km/h, braking amount 7%；(C) when the ground handling speed of unmanned plane in 120km/h between 150km/h, braking amount 12%(D) when the ground handling speed of unmanned plane in 80km/h between 120km/h, braking amount 25%；(E) when the ground handling speed of unmanned plane is not more than 80km/h, braking amount 35%.
- The anti-skid control method 5. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 4 brakes, feature exist In the braking amount of the set pressure in the step (A) is 3 ~ 5%.
- The anti-skid control method 6. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 1 or 2 brakes, feature It is, the anti-sliding control strategy in the step (4) includes:(a) the wheel unilateral side slipping state of unmanned plane continues 0.6s, then antiskid function is exited in unilateral side, continues to determine whether after 0.5s It skids；(b) anti-skidding dispose of wheel two sides alternating of unmanned plane continues 2s, then exits brake non-slip mechanism, if the left and right sides is later Satisfaction exits skidding criterion, then reactivates brake non-slip mechanism.
- The anti-skid control method 7. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 6 brakes, feature exist In, it further include anti-skidding escape mechanism of braking in the step (4), i.e., it is unilateral to continue 2s and do not meet also to be detached from skidding criterion, then forever It is set as non-slipping state long.
- The anti-skid control method 8. the small-sized fixed-wing unmanned plane of a kind of low cost according to claim 1 or 2 brakes, feature It is, the weight of the small-sized fixed-wing unmanned plane is 500 ~ 600kg.
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Cited By (1)
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| CN113324761A (en) * | 2020-02-28 | 2021-08-31 | 苏州宝时得电动工具有限公司 | Electric tool, wheel slip determination system and method |
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