CN110989640A - Flight control method, aircraft and flight system - Google Patents
Flight control method, aircraft and flight system Download PDFInfo
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- CN110989640A CN110989640A CN201911019662.2A CN201911019662A CN110989640A CN 110989640 A CN110989640 A CN 110989640A CN 201911019662 A CN201911019662 A CN 201911019662A CN 110989640 A CN110989640 A CN 110989640A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a flight control method, an aircraft and a flight system, wherein the flight control method is applied to the aircraft and comprises the steps of constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model; periodically acquiring attitude parameters of the aircraft and a first control instruction sent by terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate; acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction; acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and the third control instruction; acquiring a current power distribution instruction according to the attitude angle rate, the current virtual control quantity instruction and the fourth control instruction; and controlling the power assembly according to the current power distribution instruction and the power distribution model to adjust the flight attitude of the aircraft.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a flight control method, an aircraft and a flight system.
Background
Rotor craft has light, small and exquisite simple structure and nimble flight control mode, has very strong adaptability to complicated topography and narrow and small space, and the wide application is in each field such as disaster rescue, electric power inspection, express delivery transportation in recent years.
The flight control system of the rotor craft is a complex nonlinear system with multivariable, strong coupling and instability, and realizes various flight attitudes, ascending and descending of the craft by changing the rotating speed and the rotating direction of a motor.
However, the conventional flight control method has low control accuracy and poor stability and disturbance rejection performance, and therefore, the technical problem to be solved by the technical staff in the art is how to provide a flight control method with high control accuracy and strong stability and disturbance rejection performance.
Disclosure of Invention
The invention provides a flight control method, an aircraft and a flight system, and aims to provide a flight control method with high control precision and strong stability and disturbance resistance.
In order to achieve the above object, the present invention provides a flight control method applied to an aircraft, where the aircraft is in communication connection with a terminal device, and the aircraft is provided with a power assembly, and the method includes:
constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model;
periodically acquiring attitude parameters of the aircraft and a first control instruction sent by the terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate;
acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction;
acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period;
acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period;
and controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
Preferably, the first control instruction is an expected attitude angle instruction, and the obtaining a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction includes:
acquiring a first parameter matrix estimation value through online parameter identification according to the attitude angle dynamic model and the attitude parameters;
acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
Preferably, the obtaining a current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and a third control instruction includes:
acquiring parameter estimation values through online parameter identification according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
Preferably, the obtaining a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction includes:
acquiring a power distribution matrix estimation value through online parameter identification according to the attitude angular rate and the fourth control instruction;
and acquiring a current power distribution instruction according to the estimated value of the power distribution matrix and the current virtual control quantity instruction.
Preferably, the aircraft is provided with a power assembly, and the control of the aircraft flight according to the current power distribution instruction and the power distribution model comprises:
generating a pulse width modulation command according to the current power distribution command and the power distribution model;
and controlling the output of the power assembly according to the pulse width modulation command so as to control the flight attitude of the aircraft.
In order to achieve the above object, the present invention further provides an aircraft, wherein the aircraft is connected to a terminal device in a communication manner, and the aircraft comprises:
the model building module is used for building an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model;
the acquiring module is used for periodically acquiring attitude parameters of the aircraft and a first control instruction sent by the terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate;
the first identification module is used for acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction;
the second identification module is used for acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period;
the third identification module is used for acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period;
and the flight control module is used for controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
Preferably, the first control instruction is a desired attitude angle instruction, and the first recognition module is further configured to:
acquiring a first parameter matrix estimation value according to the attitude angle dynamic model and the attitude parameters;
acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
Preferably, the second control instruction is a desired attitude angular rate control instruction, and the second recognition module is further configured to:
acquiring parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
In order to achieve the above object, the present invention further provides an aircraft, wherein the aircraft is connected to a terminal device in a communication manner, and the aircraft comprises:
a body;
the machine arm is connected with the machine body;
the power assembly is arranged on the horn and used for providing flying power for the aircraft;
a memory for storing a computer-executable flight control program; and
and the processor is used for calling the executable flight control program stored in the memory so as to execute the flight control method.
In order to achieve the above object, the present invention further provides a flight system, where the flight system includes an aircraft and a terminal device communicatively connected to the aircraft, and the aircraft includes:
a body;
the machine arm is connected with the machine body;
the power assembly is arranged on the horn and used for providing flying power for the aircraft;
a memory for storing a computer-executable flight control program; and
and the processor is used for calling the executable flight control program stored in the memory so as to execute the flight control method.
Compared with the prior art, the flight control method, the aircraft and the flight system provided by the invention have the following advantages:
the flight control method is applied to an aircraft, the aircraft is in communication connection with a terminal device, the aircraft is provided with a power assembly, the flight control method comprises the steps of constructing an attitude power model and a power distribution model of the aircraft, wherein the attitude power model comprises an attitude angle power model and an attitude angle rate power model, and periodically obtaining attitude parameters of the aircraft and a first control instruction sent by the terminal device, wherein the attitude parameters comprise an attitude angle and an attitude angle rate. And acquiring a second control instruction through online parameter identification by utilizing the attitude angle dynamic model, the attitude parameter and the first control instruction. And identifying and acquiring a current virtual control quantity instruction through an online parameter by using the acquired second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period. And identifying and acquiring a current power distribution instruction through an online parameter by utilizing the acquired attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period. And finally, controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
A plurality of estimated values are obtained by utilizing a plurality of times of online parameter identification, so that the actual values of all parameters in the open-loop model are comprehensively approximated, and the obtained estimated values and the power distribution model are utilized to control the change of the flight attitude of the aircraft, so that the aircraft has higher control longitude and better control stability and disturbance resistance.
Drawings
FIG. 1 is a schematic structural diagram of a flight system framework provided by the present invention;
FIG. 2 is a flow chart of a flight control method provided by the present invention;
FIG. 3 is a detailed flowchart of step S103 in FIG. 2;
FIG. 4 is a schematic view of a flight control system for an aircraft;
FIG. 5 is a detailed flowchart of step S104 in FIG. 2;
FIG. 6 is a detailed flowchart of step S105 in FIG. 2;
FIG. 7 is a block diagram schematic of an aircraft provided by the present invention;
fig. 8 is a block diagram of an aircraft according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a flight control method, an aircraft and a flight system, wherein the flight control method is applied to the aircraft, the aircraft is in communication connection with a terminal device, the aircraft is provided with a power assembly, the flight control method constructs an attitude power model and a power distribution model of the aircraft, the attitude power model comprises an attitude angle power model and an attitude angle rate power model, and periodically obtains attitude parameters of the aircraft and a first control instruction sent by the terminal device, wherein the attitude parameters comprise an attitude angle and an attitude angle rate. And acquiring a second control instruction through online parameter identification by utilizing the attitude angle dynamic model, the attitude parameter and the first control instruction. And identifying and acquiring a current virtual control quantity instruction through an online parameter by using the acquired second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period. And identifying and acquiring a current power distribution instruction through an online parameter by utilizing the acquired attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period. And finally, controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
A plurality of estimated values are obtained by utilizing a plurality of times of online parameter identification so as to comprehensively approximate the actual values of all parameters in the open-loop model, and the obtained estimated values and the power distribution model are utilized to control the change of the flight attitude of the aircraft, so that the aircraft has higher control longitude and better control stability and disturbance resistance.
Referring to fig. 1, fig. 1 is a flight system 100 provided by the present invention, where the flight system 100 includes an aircraft 10 and a terminal device 20 in communication connection with the aircraft 10, where the terminal device 20 is configured to send a flight control instruction to the aircraft 10, so that after receiving the flight control instruction, the aircraft 10 executes a corresponding flight operation according to the flight control instruction, and the terminal device 20 may be a remote control device, a smart phone, a tablet computer, or a notebook computer.
Specifically, the aircraft 10 includes a fuselage 101, an arm 102, a power assembly 103, a control assembly 104, and a sensor assembly 105. Wherein, the horn 102 is connected with the fuselage 101, and the power assembly 103 is arranged on the horn 102 for providing flight power for the aircraft 10. The sensor assembly 105 is electrically connected to the control assembly 104, and is configured to acquire sensing data of various aircraft 10 and send the acquired sensing data to the control assembly 104, where the sensing data includes any one or a combination of multiple of flight attitude parameters, flight speed, flight acceleration, or flight altitude. The control component 104 can timely acquire the flight state of the aircraft 10 according to the acquired sensing data so as to control the action of the control power component 103 electrically connected with the control component, thereby realizing the flight control of the aircraft 10. The controller assembly 104 includes a processor 106, and an attitude angle controller 1041, an attitude angle controller 1042, and a power distribution controller 1043 electrically connected to the processor 106.
Referring to fig. 2, fig. 2 is a flight control method applied to an aircraft 10, the method including:
step S101: and constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model.
Constructing attitude dynamic models and power distribution models of the aircraft 10, wherein the attitude dynamic models comprise attitude angle dynamic models
And attitude angular rate dynamic model
Illustratively, the attitude dynamics model of the aircraft 10 is constructed as:
wherein A is1Is a first parameter matrix, A2Is a second parameter matrix, B is a third parameter matrix, and the attitude angle X1Is shown in the formula (1)
Is the integral of the attitude angle X1Including roll angle
A pitch angle theta and a yaw angle psi; x2Is the attitude angular rate X of the aircraft 102Including roll rate ωxPitch angle rate omegayAnd yaw rate omegazU is a three-channel virtual control quantity instruction, d is a model uncertainty and an external interference term, namely an interference parameter, and each variable in the above formula (1) is as follows:
is provided with a firstParameter matrix A1A second parameter matrix A2And the third parameter matrix B is respectively:
constructing a power distribution model v:
where M is a power distribution matrix.
If the power module 104 of the aircraft 10 has n motors, then there are:
wherein A is1、A2B, M were all unknown amounts.
Step S102: and periodically acquiring attitude parameters of the aircraft and a first control instruction sent by the terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate.
With the period of T as a period, the control sensor assembly 105 periodically obtains an attitude parameter X of the aircraft 10 and periodically receives a first control instruction sent by the terminal device 20, where the attitude parameter X includes an attitude angle X1And attitude angular rate X2。
Step S103: and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
Referring to fig. 3, in some embodiments, the first control command is a desired attitude angle command, and step S103 includes:
step S1031: acquiring a first parameter matrix estimation value through online parameter identification according to the attitude angle dynamic model and the attitude parameters;
step S1032: acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
step S1033: and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
The aircraft 10 obtains a second control instruction according to the obtained attitude angle control error, the first parameter matrix estimation value and the preset parameter matrix, so as to control the aircraft to perform further attitude adjustment according to the second control instruction.
Referring to FIG. 4, exemplary roll angles
Pitch angle theta, yaw angle psi, roll rate omegaxPitch angle rate omegayAnd yaw rate omegazThe iso-attitude parameters may be periodically acquired by the sensor assembly 105.
Known attitude angle dynamic model
Comprises the following steps:
dynamic model of the attitude angle
Discretization processing, and obtaining a single-channel discretization form:
when i is 1, the compound is a compound,
X2i＝ωx(ii) a Wherein when i is 2, X1i＝θ，X2i＝ωy(ii) a Wherein when i is 3, X1i＝ψ，X2i＝ωzAnd T is the sampling time.
Is provided with h1i(k)＝X2i(k) Attitude angle X1Measured value z1i(k)＝X1i(k+1)-X1i(k) Then, the processor 106 can use the preset formula (7) to perform online parameter identification to obtain the parameter θ1iEstimated value of (k +1)
Namely:
the above formula can estimate the parameters
When i is 1, 2, 3 …, the following parameters can be obtained:
therefore, the processor 106 can obtain the first parameter matrix a in real time through the equations (3) and (8)1Is estimated value of
When the user needs to control the aircraft 10 to perform attitude adjustment, the user sends a command X of a desired attitude angle to the aircraft 10 through the control terminal device 201cPeriodically, the aircraft 10 acquires the expected attitude angle command X sent by the terminal device 201cAnd according to the desired angle command X1cA corresponding desired attitude angle is obtained using the desired attitude angle and the attitude angle X of the aircraft 10 obtained via the sensor assembly 1051Differencing to obtain an attitude angle control error △ X1。
wherein xi is a preset damping matrix, WnIs a preset bandwidth matrix.
Step S104: and acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction in a previous period.
Referring to fig. 5, in some embodiments, the second control command is a desired attitude angular rate control command, and the step S104 includes:
step S1041: acquiring parameter estimation values through online parameter identification according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
step S1042: acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
step S1043: and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
The aircraft 10 is based on the attitude angular rate dynamic model
The attitude angular rate X acquired by the sensor assembly 102And the third control instruction obtains the parameter estimation value through online parameter identification, wherein the parameter estimation value comprises a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value, the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction in a previous period, and when the aircraft 10 is just started and flies after receiving the first control instruction sent by the terminal device 10, the third instruction is the preset virtual instruction. When the aircraft 10 receives the terminal device 10 on the way of flightWhen the first control instruction is sent out, the third instruction is a virtual control quantity instruction of the previous cycle.
The aircraft 10 obtains the attitude angular rate X according to the obtained attitude2And desired attitude angular rate control command X2c obtaining attitude angular rate control error △ X2c, controlling the error △ X according to the attitude angular rate2c, acquiring the current virtual control quantity command by the parameter estimation value gamma so as to periodically update the current virtual control quantity command according to the virtual control command of the previous period.
Illustratively, an attitude angular rate dynamical model is known, as shown in FIG. 4
Comprises the following steps:
the attitude angular rate dynamic model
Discretization processing, and obtaining a single-channel discretization form:
X2i(k+1)＝(1+Ta2i(k))X2i(k)+Tbi(k)ui(k)+Tdi(k) (10)
wherein when i is 1, X2i＝ωx(ii) a Wherein when i is 2, X2i＝ωy(ii) a Wherein when i is 3, X2i＝ωzAnd T is the sampling time.
Is provided with h2i(k)＝[X2i(k)，ui(k)，1]Angular velocity of attitude X2Measured value of (z)2i(k+1)＝X2i(k+1)，θ2i(k+1)＝[1+Ta2i(k+1)，Tbi(k+1)，Tdi(k+1)]TThen the processor 106 utilizes the obtained attitude angular rate X2And a third control instruction, and adopting a preset formula (10) to carry out online parameter identification to obtain a parameter theta2iEstimated value of (k +1)
Namely:
wherein I is an identity matrix, and parameters can be obtained by formulas (10) and (11)
Then further obtain the parameter a2i(k+1)，bi(k+1)，di(k +1) corresponding estimated value
Namely:
obtaining a parameter estimation value gamma, wherein the parameter estimation value gamma comprises a second parameter matrix A2Is estimated value of
Estimated value of third parameter matrix B
And an estimate of the disturbance parameter d
The aircraft 10 obtains a corresponding expected attitude angular rate according to the expected attitude angular rate control instruction, and utilizes the expected attitude angular rate and the attitude angular rate X obtained by the aircraft 10 through the sensor assembly 1052Differencing to obtain an attitude angular rate control error △ X2。
The attitude angular rate controller 1042 of the control assembly 104 obtains an attitude angular rate control error △ X2And a parameter estimation value gamma, and obtaining a current virtual control quantity instruction u through a preset control equation as shown in a formula (13)k+1Wherein the preset control equation is as follows:
step S105: and acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period.
Referring to fig. 6, in some embodiments, step S105 includes:
step S1051: acquiring a power distribution matrix estimation value through online parameter identification according to the attitude angular rate and the fourth control instruction;
step S1052: and acquiring a current power distribution instruction according to the estimated value of the power distribution matrix and the current virtual control quantity instruction.
The aircraft 10 obtains the attitude angular rate X according to the obtained attitude1And a fourth control command is used for acquiring a power distribution matrix estimation value through online parameter identification, wherein the fourth control command is a preset power distribution command or a power distribution command of a previous period. When the aircraft 10 is just started and flies upon receiving the first control instruction issued by the terminal device 10, the fourth instruction is a preset power distribution instruction. When the aircraft 10 receives the first control instruction issued by the terminal device 10 while in flight, the fourth instruction is a power distribution instruction of the previous cycle.
The aircraft 10 obtains the current power distribution instruction according to the power distribution matrix estimated value and the current virtual control quantity instruction, so as to update the current power distribution instruction periodically according to the power distribution instruction of the previous period.
As shown in FIG. 4, illustratively, the attitude angular rate dynamical model
Comprises the following steps:
due to the comparison with Bu, A2X2And d is small, it can be discarded to get an approximate model:
the known power distribution model v is:
from equations (4), (14) it can be seen that:
the single-channel discrete form of the above equation (15) is:
wherein M isi(k)＝[mi1mi2… min]Is provided with
h3i(k)＝v(k)，
The processor 106 utilizes the obtained attitude angular rate X2And a fourth control instruction, and sampling a preset formula (17) to carry out online parameter identification to obtain theta3iEstimated value of (k +1)
The above equation (17) is calculated to obtain
The power distribution matrix M can be obtainediEstimated value of (k +1)
Namely, the power distribution matrix estimated value is obtained
Step S106: and controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
In some embodiments, step S106 includes:
generating a pulse width modulation command according to the current power distribution command and the power distribution model;
and controlling the output of the power assembly according to the pulse width modulation command so as to control the flight attitude of the aircraft.
As shown in fig. 4, for example, the aircraft 10 controls the power supplement module 1044 provided in the aircraft 10 according to the current power distribution command and the power distribution model to generate a pulse width modulation command, i.e., a PWM control command, so as to control the output of the power assembly 103 of the aircraft 10 according to the PWM control command, thereby controlling the flight attitude of the aircraft 10.
Referring to fig. 7, in some embodiments, the aircraft 10 further includes a memory 107 and a bus 108. The sensor assembly 105, power assembly 103, and memory 107 are electrically coupled to the processor 106 via the bus 108.
The memory 107 includes at least one type of readable storage medium, which includes flash memory, hard disk, multi-media card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 107 may in some embodiments be an internal storage unit of the aircraft 10, illustratively a hard disk of the aircraft 10. The memory 107 may also be an external storage device of the aircraft 10 in other embodiments, illustratively a plug-in hard drive provided on the aircraft 10, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like.
The memory 107 may be used not only to store application software installed in the aircraft 10 and various types of data, illustratively the code of a computer readable program or the like, such as a magnetometer calibration program, i.e. the memory 107 may serve as a storage medium.
The processor 106 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and the processor 106 may call program codes stored in the memory 107 or process data to implement the flight control method described above.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium is a computer-readable storage medium, and the storage medium stores an executable computing program, where the executable computing program, when executed, implements the flight control method described above.
Referring to fig. 8, the present invention further provides an aircraft 30, where the aircraft 30 is communicatively connected to a terminal device, and the aircraft 30 includes:
the model building module 301 is configured to build an attitude dynamic model and a power distribution model of the aircraft, where the attitude dynamic model includes an attitude angle dynamic model and an attitude angle rate dynamic model;
an obtaining module 302, configured to periodically obtain an attitude parameter of the aircraft and a first control instruction sent by the terminal device, where the attitude parameter includes an attitude angle and an attitude angle rate;
the first identification module 303 is configured to obtain a second control instruction according to the attitude angle dynamic model, the attitude parameter, and the first control instruction;
a second identification module 304, configured to obtain a current virtual control quantity instruction according to the second control instruction, the attitude angular rate, and a third control instruction, where the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period;
a third identifying module 305, configured to obtain a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction, and a fourth control instruction, where the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period; and
and a flight control module 306, configured to control the power assembly according to the current power distribution instruction and the power distribution model to adjust a flight attitude of the aircraft.
In some embodiments, the first control instruction is a desired attitude angle instruction, and the first recognition module 303 is further configured to:
acquiring a first parameter matrix estimation value according to the attitude angle dynamic model and the attitude parameters;
acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
In some embodiments, the second control instruction is a desired attitude angular rate control instruction, and the second recognition module 304 is further configured to:
acquiring parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
In some embodiments, the third recognition module 305 is further configured to:
acquiring a power distribution matrix estimation value through online parameter identification according to the attitude angular rate and the fourth control instruction;
and acquiring a current power distribution instruction according to the estimated value of the power distribution matrix and the current virtual control quantity instruction.
In some embodiments, the flight control module 306 is further configured to:
generating a pulse width modulation command according to the current power distribution command and the power distribution model;
and controlling the output of the power assembly according to the pulse width modulation command so as to control the flight attitude of the aircraft.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations that may be applied to the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A flight control method is applied to an aircraft which is in communication connection with a terminal device, and is provided with a power assembly, and is characterized by comprising the following steps:
constructing an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model;
periodically acquiring attitude parameters of the aircraft and a first control instruction sent by the terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate;
acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction;
acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period;
acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period;
and controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
2. The method of claim 1, wherein the first control command is a desired attitude angle command, and wherein the obtaining a second control command based on the attitude angle dynamical model, the attitude parameter, and the first control command comprises:
acquiring a first parameter matrix estimation value through online parameter identification according to the attitude angle dynamic model and the attitude parameters;
acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
3. The method of claim 2, wherein the second control command is a desired attitude angular rate control command, and the obtaining a current virtual control quantity command according to the second control command, the attitude angular rate, and a third control command comprises:
acquiring parameter estimation values through online parameter identification according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
4. The method of claim 3, wherein said obtaining a current power split command from said attitude angular rate, said current virtual control quantity command, and a fourth control command comprises:
acquiring a power distribution matrix estimation value through online parameter identification according to the attitude angular rate and the fourth control instruction;
and acquiring a current power distribution instruction according to the estimated value of the power distribution matrix and the current virtual control quantity instruction.
5. The method of claim 4, wherein the aircraft is provided with a power pack, and wherein controlling the aircraft to fly according to the current power distribution command and the power distribution model comprises:
generating a pulse width modulation command according to the current power distribution command and the power distribution model;
and controlling the output of the power assembly according to the pulse width modulation command so as to control the flight attitude of the aircraft.
6. An aircraft, the aircraft being in communicative connection with a terminal device, the aircraft comprising:
the model building module is used for building an attitude dynamic model and a power distribution model of the aircraft, wherein the attitude dynamic model comprises an attitude angle dynamic model and an attitude angle rate dynamic model;
the acquiring module is used for periodically acquiring attitude parameters of the aircraft and a first control instruction sent by the terminal equipment, wherein the attitude parameters comprise an attitude angle and an attitude angle rate;
the first identification module is used for acquiring a second control instruction according to the attitude angle dynamic model, the attitude parameter and the first control instruction;
the second identification module is used for acquiring a current virtual control quantity instruction according to the second control instruction, the attitude angular rate and a third control instruction, wherein the third control instruction is a preset virtual control quantity instruction or a virtual control quantity instruction of a previous period;
the third identification module is used for acquiring a current power distribution instruction according to the attitude angular rate, the current virtual control quantity instruction and a fourth control instruction, wherein the fourth control instruction is a preset power distribution instruction or a power distribution instruction of a previous period;
and the flight control module is used for controlling the power assembly according to the current power distribution instruction and the power distribution model so as to adjust the flight attitude of the aircraft.
7. The aircraft of claim 6, wherein the first control instruction is a desired attitude angle instruction, the first recognition module further to:
acquiring a first parameter matrix estimation value according to the attitude angle dynamic model and the attitude parameters;
acquiring an attitude angle control error according to the expected attitude angle instruction and the attitude angle;
and acquiring the second control instruction according to the attitude angle control error, the first parameter matrix estimation value and a preset parameter matrix.
8. The aircraft of claim 7, wherein the second control instruction is a desired attitude angular rate control instruction, the second recognition module further to:
acquiring parameter estimation values according to the attitude angular rate dynamic model, the attitude angular rate and the third control instruction, wherein the parameter estimation values comprise a second parameter matrix estimation value, a third parameter matrix estimation value and an interference parameter estimation value;
acquiring an attitude angle rate control error according to the attitude angle rate and the expected attitude angle rate control instruction;
and acquiring a current virtual control quantity instruction according to the attitude angular rate control error and the parameter estimation value.
9. An aircraft, the aircraft being in communicative connection with a terminal device, the aircraft comprising:
a body;
the machine arm is connected with the machine body;
the power assembly is arranged on the horn and used for providing flying power for the aircraft;
a memory for storing a computer-executable flight control program; and
a processor for invoking an executable flight control program stored in the memory to perform a flight control method as claimed in any one of claims 1 to 5.
10. A flight system, the flight system including an aircraft and a terminal device communicatively coupled to the aircraft, the aircraft comprising:
a body;
the machine arm is connected with the machine body;
the power assembly is arranged on the horn and used for providing flying power for the aircraft;
a memory for storing a computer-executable flight control program; and
a processor for invoking an executable flight control program stored in the memory to perform a flight control method as claimed in any one of claims 1 to 5.
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| CN110989640B (en) | 2022-07-08 |
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