CN110667832A - Gradient control method for vertical pitching attitude of sixteen-rotor aircraft - Google Patents
Gradient control method for vertical pitching attitude of sixteen-rotor aircraft Download PDFInfo
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- CN110667832A CN110667832A CN201910945998.5A CN201910945998A CN110667832A CN 110667832 A CN110667832 A CN 110667832A CN 201910945998 A CN201910945998 A CN 201910945998A CN 110667832 A CN110667832 A CN 110667832A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
Abstract
The invention relates to a gradient control method for the vertical pitching attitude of a sixteen-rotor aircraft, which judges the error of the pitching attitude of a controlled object, and then controls the coefficients of throttle control quantity, upper layer attitude control quantity and lower layer attitude control quantity to adjust the attitude control quantity of a pitching channel, thereby ensuring that the response margin of the pitching attitude is enhanced under the condition of a large angle, and ensuring that the attitude of the aircraft is quickly and stably recovered. The control problem of pitching attitude stability of a large-size and large-load or manned sixteen-rotor aircraft in a vertical takeoff stage is solved.
Description
Technical Field
The invention relates to the technical field of rotor crafts, in particular to a gradient control method for the vertical and pitching postures of a sixteen-rotor craft.
Background
Currently, most rotorcraft configurations are four, six, or eight rotors. The adopted control method is mainly a simple control method aiming at small load, four rotors or eight rotors. When the inner ring attitude control is carried out on a rotor craft which is large in size and load or needs to carry people, the existing small load control technology cannot meet the requirements.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a gradient control method for the vertical and pitching postures of a sixteen-rotor aircraft. The control problem of pitching attitude stability of a large-size and large-load or manned sixteen-rotor aircraft in a vertical takeoff stage can be solved. The practical control method with high reliability, self-adaption and large load is provided for the large-volume and large-load or manned sixteen-rotor aircraft.
Technical scheme
A gradient control method for the vertical pitching attitude of a sixteen-rotor aircraft is characterized in that the sixteen-rotor aircraft executes a vertical takeoff instruction from the ground; in the takeoff stage, executing a pitching attitude gradient control strategy; the method comprises the following steps:
step 1: when the pitch attitude of the controlled object has a small amplitude error | delta theta | less than 3 degrees, the adaptive gradient control coefficients respectively take k1＝0.5，k2＝0.5，k3＝0；
Pitch channel attitude control: de ═ k1*Du+k2*Dw1+k3*Dw2。
Wherein D isuFor throttle control, Dw1For upper layer attitude control quantity, Dw2The lower layer attitude control quantity;
at the moment, 8 upper-layer rotors execute inner ring attitude control, and 8 lower-layer rotors execute vertical starting power control;
step 2: when the angle is less than 5 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.25，k30.25; at this time, the upper 8 rotors perform inner ring attitude control,the lower 8 rotors perform balance control of vertical starting power and inner ring attitude;
and step 3: when the angle is less than 8 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.04，k30.46. At the moment, 8 upper-layer rotors execute inner ring attitude control, and 8 lower-layer rotors execute inner ring attitude priority control;
and 4, step 4: when the angle of | delta theta | ≧ 8 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0，k30.5. At this time, 8 rotors on the upper layer execute inner ring attitude control, and 8 rotors on the lower layer execute inner ring attitude control.
Advantageous effects
The invention provides a gradient control method for the vertical pitching attitude of a sixteen-rotor manned aircraft, which is used for testing the real aircraft of the sixteen-rotor manned aircraft, and can still smoothly take off to reach a preset hovering height under the interference of 8m/s gust when an external field takes off vertically; under the condition of 200kg of load and 25-degree pitching attitude maneuver, the aircraft can still quickly recover the stable state, and the robustness is strong. The control method provided by the invention can meet the requirement of the pitching attitude control of the high-load multi-rotor aircraft. The method is convenient to use and high in reliability, and has wide application prospect in the technical field of large-size, large-load or manned multi-rotor aircrafts.
Drawings
FIG. 1 schematic view of a sixteen-rotor manned vehicle
FIG. 2 is a flow chart of a method for gradient control of the vertical pitch attitude of a sixteen-rotor aircraft
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
as shown in fig. 1, this type of manned rotorcraft includes sixteen motors, eight arms, a cockpit, seats, landing gear, an airplane control machine, other airborne equipment, and the like. The flight control method is specifically realized by taking a flight control computer carried by the aircraft as a carrier of the flight control method through an internal embedded program.
This patent adopts coaxial anti-oar to sixteen rotors, and upper and lower two-layer rotational speed opposite direction, adjacent screw turns to the opposite condition.
The flow of the implementation mode is shown in fig. 2, and specifically comprises the following steps:
the method comprises the following steps: starting to execute a vertical takeoff instruction from the ground by a sixteen-rotor aircraft; and in the takeoff phase, executing a pitching attitude gradient control strategy.
Step two: when the pitch attitude of the controlled object has a small amplitude error | delta theta | less than 3 degrees, the adaptive gradient control coefficients respectively take k1＝0.5，k2＝0.5，k3＝0。
Pitch channel attitude control: de ═ k1*Du+k2*Dw1+k3*Dw2。
At this time, the upper 8 rotors execute inner ring attitude control, and the lower 8 rotors execute vertical starting power control.
Step three: when the angle is less than 5 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.25，k30.25. At this time, 8 rotors on the upper layer execute inner ring attitude control, and 8 rotors on the lower layer execute vertical starting power and inner ring attitude balance control.
Step four: when the angle is less than 8 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.04，k30.46. At this time, the upper 8 rotors execute inner ring attitude control, and the lower 8 rotors execute inner ring attitude priority control.
Step five: when the angle of | delta theta | ≧ 8 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0，k30.5. At this time, 8 rotors on the upper layer execute inner ring attitude control, and 8 rotors on the lower layer execute inner ring attitude control.
Step six: and the pitch attitude response margin is enhanced under the condition of a large angle, so that the attitude of the aircraft is quickly and stably recovered.
Through the real aircraft test of the sixteen-rotor manned aircraft, when an external field takes off vertically, the aircraft can still take off smoothly under the gust interference of 8m/s to reach a preset hovering height; under the condition of 200kg of load and 25-degree pitching attitude maneuver, the aircraft can still quickly recover the stable state, and the robustness is strong. The control method provided by the invention can meet the requirement of the pitching attitude control of the high-load multi-rotor aircraft.
In conclusion, the gradient control method for the vertical and pitching postures of the sixteen-rotor aircraft, provided by the invention, is convenient to apply and high in reliability, and has wide application prospects in the technical field of large-size and large-load or manned multi-rotor aircraft.
Claims (1)
1. A gradient control method for the vertical pitching attitude of a sixteen-rotor aircraft is characterized in that the sixteen-rotor aircraft executes a vertical takeoff instruction from the ground; in the takeoff stage, executing a pitching attitude gradient control strategy, and comprising the following steps:
step 1: when the pitch attitude of the controlled object has a small amplitude error | delta theta | less than 3 degrees, the adaptive gradient control coefficients respectively take k1＝0.5，k2＝0.5，k3＝0；
Pitch channel attitude control: de ═ k1*Du+k2*Dw1+k3*Dw2。
Wherein D isuFor throttle control, Dw1For upper layer attitude control quantity, Dw2The lower layer attitude control quantity;
at the moment, 8 upper-layer rotors execute inner ring attitude control, and 8 lower-layer rotors execute vertical starting power control;
step 2: when the angle is less than 5 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.25，k30.25; at the moment, 8 upper-layer rotors execute inner ring attitude control, and 8 lower-layer rotors execute vertical starting power and inner ring attitude balance control;
and step 3: when the angle is less than 8 degrees, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0.04，k30.46. At the moment, 8 upper-layer rotors execute inner ring attitude control, and 8 lower-layer rotors execute inner ring attitude priority control;
and 4, step 4: when | Δ θWhen | ≧ 8 °, the adaptive gradient control coefficient respectively takes k1＝0.5，k2＝0，k30.5. At this time, 8 rotors on the upper layer execute inner ring attitude control, and 8 rotors on the lower layer execute inner ring attitude control.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634412A (en) * | 2020-05-27 | 2020-09-08 | 西安爱生技术集团公司 | Attitude two-stage fault-tolerant control method for sixteen-rotor aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3506219A (en) * | 1966-12-13 | 1970-04-14 | Sud Aviat Soc Nationale De Con | Helicopter steering and propelling device |
| US4171115A (en) * | 1977-12-12 | 1979-10-16 | Sperry Rand Corporation | Stability augmentation system for relaxed static stability aircraft |
| CN107207087A (en) * | 2014-11-11 | 2017-09-26 | 亚马逊科技公司 | The unmanned vehicle configuration of extension flight |
| CN104590557A (en) * | 2015-02-05 | 2015-05-06 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Flight control method and device of multi-rotor and fixed wing composite aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111634412A (en) * | 2020-05-27 | 2020-09-08 | 西安爱生技术集团公司 | Attitude two-stage fault-tolerant control method for sixteen-rotor aircraft |
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