CN110780682A - Course attitude control method of aircraft - Google Patents
Course attitude control method of aircraft Download PDFInfo
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- CN110780682A CN110780682A CN201911284969.5A CN201911284969A CN110780682A CN 110780682 A CN110780682 A CN 110780682A CN 201911284969 A CN201911284969 A CN 201911284969A CN 110780682 A CN110780682 A CN 110780682A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000036039 immunity Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
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- 230000009467 reduction Effects 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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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- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention discloses a course attitude control method of an aircraft, which adopts a strapdown inertial navigation component to measure the position, the speed and the course attitude signal of the aircraft and transmit the signals to a navigation control management center; closing the output of the course angle and angle control loop of the aircraft in a multi-rotor mode, setting the target speed of the course angle and angle speed control loop to be zero, and correcting the dynamic course angle and angle speed error to enable the course angle and angle speed of the aircraft to be in a stable state; the navigation control management center inputs the flight state quantity into a preset course attitude control system to obtain a differential control quantity; the navigation control management center outputs navigation information to correct the strapdown inertial navigation device according to the navigation information of the aircraft output by the strapdown inertial navigation device; meanwhile, according to a control distribution strategy, distributing differential control quantity to a power system to realize course attitude control of the aircraft; the problem of the aircraft that exists among the prior art interference immunity is poor when flight form switches is solved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a course attitude control method of an aircraft.
Background
The automatic control of the multiple rotors plays a leading role before the actual airspeed reaches the airspeed required by the designated level flight in the course of flight with changed course, the automatic control of the multiple rotors is that the roll, the pitch and the course of the multiple rotors are all in the mode of automatic correction control at the moment, because of the aerodynamic characteristic of the fixed-wing body part, when the body is acted by crosswind, the body generates a moment which enables the nose to twist to the windward direction, and because the aircraft has the locking function of the course, in order to keep the original course of the aircraft, the control system can always adjust and output a correction quantity resisting the moment to maintain the original flight course angle, and simultaneously, in the course of flight change, the attitude control capability of the multiple rotors can be weakened due to the tilting change of the front-mounted motor. Therefore, under the conditions that the automatic control of the multiple rotors plays a leading role and the attitude control capability of the multiple rotors is weakened by tilting of the front motor, course unlocking of the aircraft is easily caused by flight form switching, and even the adverse effect that the whole attitude control is dispersed and out of control is caused.
The attitude control of the aircraft is mainly used for meeting the strict ignition working condition of the air suction type stamping engine. During the attitude adjusting process, the aircraft simultaneously needs to complete the actions of air inlet opening, fuel injection, engine ignition and the like. The hypersonic aircraft is more and more widely applied in various current applications, and various power coefficients of the hypersonic aircraft are greatly changed along with different working states of an engine, so that a controlled object has strong uncertainty. Due to the hypersonic flow characteristic of the aircraft, the aerodynamic characteristic of the aircraft is strongly coupled with the attitude angle, and the aerodynamic modeling is complex and is difficult to be directly used for system analysis and controller design.
Disclosure of Invention
The invention aims to provide a course attitude control method of an aircraft, which solves the problem of poor anti-interference performance of the aircraft during flight form switching in the prior art.
The invention adopts the technical scheme that a course attitude control method of an aircraft is implemented according to the following steps:
step 1, measuring position, speed and course attitude signals of an aircraft by adopting a strapdown inertial navigation component and transmitting the signals to a navigation control management center; closing the output of the course angle and angle control loop of the aircraft in a multi-rotor mode, setting the target speed of the course angle and angle speed control loop to be zero, and correcting the dynamic course angle and angle speed error to enable the course angle and angle speed of the aircraft to be in a stable state;
step 2, the navigation control management center inputs the flight state quantity into a preset course attitude control system to obtain a differential control quantity;
step 3, the navigation control management center outputs navigation information to correct the strapdown inertial navigation device according to the navigation information of the aircraft output by the strapdown inertial navigation device; and meanwhile, distributing the differential control quantity to a power system according to a control distribution strategy to realize course attitude control of the aircraft.
The technical scheme of the invention is also characterized in that:
the strapdown inertial navigation device comprises an angular rate gyroscope and an accelerometer which are both fixedly connected on the aircraft.
The differential control amount is a power difference between the first power system and the second power system.
And generating course difference dynamic moment by the dynamic difference to enable the aircraft to generate course motion.
The navigation control management center is mainly used for collecting, transmitting, integrating, filtering, correlating and synthesizing information.
The invention has the beneficial effects that:
the course attitude control method of the aircraft effectively avoids course unlocking of the aircraft when flight form switching is carried out under the conditions that automatic control of multiple rotors plays a leading role and the attitude control capability of the multiple rotors is weakened by tilting of the front motor, and effectively prevents the bad effect that the whole attitude control is dispersed and out of control.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention relates to a course attitude control method of an aircraft, which is implemented according to the following steps:
step 1, measuring position, speed and course attitude signals of an aircraft by adopting a strapdown inertial navigation component and transmitting the signals to a navigation control management center; closing the output of the course angle and angle control loop of the aircraft in a multi-rotor mode, setting the target speed of the course angle and angle speed control loop to be zero, and correcting the dynamic course angle and angle speed error to enable the course angle and angle speed of the aircraft to be in a stable state;
step 2, the navigation control management center inputs the flight state quantity into a preset course attitude control system to obtain a differential control quantity;
step 3, the navigation control management center outputs navigation information to correct the strapdown inertial navigation device according to the navigation information of the aircraft output by the strapdown inertial navigation device; and meanwhile, distributing the differential control quantity to a power system according to a control distribution strategy to realize course attitude control of the aircraft.
Preferably, the strapdown inertial navigation unit comprises an angular rate gyroscope and an accelerometer, both of which are fixed to the aircraft.
The advantage is that the volume, weight and cost of the whole system are greatly reduced, usually the gyroscope and accelerometer only occupy 1/7 of the navigation platform; the inertial instrument is convenient to install, maintain and replace; the inertial instrument can give axial linear acceleration and angular velocity, and the information is required by a control system; strapdown systems may provide more navigation and guidance information than desktop systems.
Preferably, the differential control amount is a power difference between the first power system and the second power system. And generating course difference dynamic moment by the dynamic difference to enable the aircraft to generate course motion.
The control distribution strategy is used for distributing differential control quantity to the first power system and the second power system, when the aircraft deflects to a first direction, distributing power increasing quantity to the first power system and power reducing quantity to the second power system, and the difference between the power increasing quantity and the power reducing quantity is the differential control quantity; and when the aircraft deflects to the second direction, distributing the power reduction amount to the first power system and the power increase amount to the second power system, wherein the difference between the power increase amount and the power reduction amount is a differential control amount.
Preferably, the navigation control management center is mainly used for collecting, transmitting, integrating, filtering, correlating and synthesizing information.
The course attitude control method of the aircraft has the advantages that:
the course attitude control method of the aircraft effectively avoids course unlocking of the aircraft when flight form switching is carried out under the conditions that automatic control of multiple rotors plays a leading role and the attitude control capability of the multiple rotors is weakened by tilting of the front motor, and effectively prevents the bad effect that the whole attitude control is dispersed and out of control.
Claims (5)
1. A course attitude control method of an aircraft is characterized by comprising the following steps:
step 1, measuring position, speed and course attitude signals of an aircraft by adopting a strapdown inertial navigation component and transmitting the signals to a navigation control management center; closing the output of the course angle and angle control loop of the aircraft in a multi-rotor mode, setting the target speed of the course angle and angle speed control loop to be zero, and correcting the dynamic course angle and angle speed error to enable the course angle and angle speed of the aircraft to be in a stable state;
step 2, the navigation control management center inputs the flight state quantity into a preset course attitude control system to obtain a differential control quantity;
step 3, the navigation control management center outputs navigation information to correct the strapdown inertial navigation device according to the navigation information of the aircraft output by the strapdown inertial navigation device; and meanwhile, distributing the differential control quantity to a power system according to a control distribution strategy to realize course attitude control of the aircraft.
2. The method of claim 1, wherein the strapdown inertial navigation module comprises an angular rate gyroscope and an accelerometer, and the angular rate gyroscope and the accelerometer are both fixedly attached to the vehicle.
3. The method of claim 1, wherein the differential control is a power difference between the first power system and the second power system in step 2.
4. The method as claimed in claim 3, wherein the dynamic difference generates a differential dynamic torque to cause the vehicle to make a heading movement.
5. The method as claimed in claim 1, wherein the navigation control management center is configured to collect, transmit, integrate, filter, correlate, and synthesize information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911284969.5A CN110780682A (en) | 2019-12-13 | 2019-12-13 | Course attitude control method of aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911284969.5A CN110780682A (en) | 2019-12-13 | 2019-12-13 | Course attitude control method of aircraft |
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| Publication Number | Publication Date |
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| CN110780682A true CN110780682A (en) | 2020-02-11 |
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| CN201911284969.5A Pending CN110780682A (en) | 2019-12-13 | 2019-12-13 | Course attitude control method of aircraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313252A (en) * | 2021-12-16 | 2022-04-12 | 广州极飞科技股份有限公司 | Unmanned equipment control method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102235862A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Strapdown inertial navigation device based on micro mechanical gyroscopes |
| CN105547289A (en) * | 2015-12-16 | 2016-05-04 | 南京信息工程大学 | Underwater vehicle combined navigation system and navigation information fusion method |
| ES2573152A1 (en) * | 2014-12-04 | 2016-06-06 | Fundación Andaluza Para El Desarrollo Aeroespacial | Control system of unmanned rotary wing aircraft for vertical landing on moving surfaces by pre-feeding forces in the control system, perfected (Machine-translation by Google Translate, not legally binding) |
| CN108107902A (en) * | 2017-12-20 | 2018-06-01 | 成都纵横自动化技术有限公司 | Horizontal course attitude control method and relevant apparatus |
| CN110554710A (en) * | 2019-09-25 | 2019-12-10 | 深圳市飞鱼星科技有限公司 | course control method of aircraft |
-
2019
- 2019-12-13 CN CN201911284969.5A patent/CN110780682A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102235862A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Strapdown inertial navigation device based on micro mechanical gyroscopes |
| ES2573152A1 (en) * | 2014-12-04 | 2016-06-06 | Fundación Andaluza Para El Desarrollo Aeroespacial | Control system of unmanned rotary wing aircraft for vertical landing on moving surfaces by pre-feeding forces in the control system, perfected (Machine-translation by Google Translate, not legally binding) |
| CN105547289A (en) * | 2015-12-16 | 2016-05-04 | 南京信息工程大学 | Underwater vehicle combined navigation system and navigation information fusion method |
| CN108107902A (en) * | 2017-12-20 | 2018-06-01 | 成都纵横自动化技术有限公司 | Horizontal course attitude control method and relevant apparatus |
| CN110554710A (en) * | 2019-09-25 | 2019-12-10 | 深圳市飞鱼星科技有限公司 | course control method of aircraft |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313252A (en) * | 2021-12-16 | 2022-04-12 | 广州极飞科技股份有限公司 | Unmanned equipment control method and device |
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Application publication date: 20200211 |
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