CN110989641A - Ship-borne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle take-off and landing control method - Google Patents
Ship-borne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle take-off and landing control method Download PDFInfo
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- CN110989641A CN110989641A CN201911072139.6A CN201911072139A CN110989641A CN 110989641 A CN110989641 A CN 110989641A CN 201911072139 A CN201911072139 A CN 201911072139A CN 110989641 A CN110989641 A CN 110989641A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a take-off and landing control method for a ship-borne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle, which comprises an automatic take-off part and an automatic landing part, wherein the automatic take-off part comprises the following processes: taking-off preparation, a vertical taking-off stage and a conversion stage; the automatic landing comprises four stages, respectively: transition point stage, course adjusting stage, conversion stage and landing stage. The problems of insufficient range and slow navigational speed of the conventional carrier-borne multi-rotor unmanned aerial vehicle are solved.
Description
Technical Field
The invention belongs to the technical field of aerospace science, and relates to a take-off and landing control method for a ship-based vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle.
Background
The vertical take-off and landing composite wing unmanned aerial vehicle has the great advantages of small take-off and landing space, high carrying capacity, short take-off and landing time and the like, and is suitable for guard vessels with small deck area; in the use of this type of drone, there will be three main states of multi-rotor mode, fixed-wing mode and mode transition. The flight modes are distinguished by nature into an MR type and an FW type (MR: MultiRotor, FW: FixedWing fixed wing). In the taking-off and landing stages, the unmanned aerial vehicle adopts an MR mode, and the flying attitude of the unmanned aerial vehicle is adjusted by means of the output power of the motors of the four ducts, so that the purpose of vertical taking-off and landing is achieved; the multi-rotor power channel output of the unmanned aerial vehicle is 0 in the cruising stage, the thrust is output by depending on the accelerator of the fixed wing power channel, and the attitude of the airplane is adjusted by starting torque generated by deflection of a control surface.
Disclosure of Invention
The invention aims to provide a take-off and landing control method for a ship-based vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle, and solves the problems of insufficient range and slow speed of the conventional ship-based multi-rotor unmanned aerial vehicle.
The invention adopts the technical scheme that a ship-based vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle take-off and landing control method specifically comprises the following steps:
the automatic takeoff method comprises an automatic takeoff part and an automatic carrier landing part, wherein the automatic takeoff comprises the following processes: taking-off preparation, a vertical taking-off stage and a conversion stage;
the automatic landing comprises four stages, respectively: transition point stage, course adjusting stage, conversion stage and landing stage.
The invention is also characterized in that:
the specific process of the vertical takeoff stage is as follows:
the aircraft enters an MR attitude remote control mode, the attitude of the aircraft is continuously adjusted through pitching, rolling and yawing 3 channels, and the aircraft can enter a takeoff conversion stage after reaching a proper height.
The specific process of the conversion stage is as follows:
under the condition of hovering, the aircraft nose orientation of the aircraft is adjusted, and the multi-rotor accelerator returns to a neutral position to keep a height keeping state; gradually increasing the throttle of the fixed wing to 90%, and keeping the current height of the unmanned aerial vehicle along the current course for accelerating at the moment; in the acceleration process, the multi-rotor system can automatically reduce the accelerator according to the speed so as to achieve the balance of longitudinal lift force; when the complaint reaches the switching threshold value, the multi-rotor power system is closed, and the airplane is switched to the FW mode.
The specific process of the transition point stage is as follows:
after the control of the landing stage is carried out, if the current height is consistent with the height of the landing route, the aircraft does not enter a transition point to adjust the height and directly goes to the entry point of the landing route; if the current flight height is higher than the height of the landing route, the aircraft keeps the current height to go to a transition point, and then the aircraft is hovered to reduce the height to the height of the landing route and enters the entry point of the landing route after reaching the transition point; if the current height is lower than the height of the landing route, the aircraft can be lifted and climbed immediately in the process of going to the transition point, if the aircraft climbs to the height of the landing route when reaching the transition point, the aircraft directly enters the entry point of the landing route, otherwise, the aircraft can be hovered and climbed at the transition point, and the aircraft enters the landing route after climbing to the height.
The specific process of the course adjusting stage comprises the following steps:
and after the flight height meets the height of a landing route and the aircraft is in the radius range of the entry point, turning and adjusting the course and the airspeed to prepare for a conversion stage.
The specific process of the conversion stage is as follows:
the last waypoint of the descending route is a mode conversion point, and when the aircraft enters the waypoint radius range of the descending conversion point at a preset height and speed, mode conversion is carried out: the multi-rotor power system is started, the power of the fixed wing is stopped, and the aircraft decelerates and enters a multi-rotor homing landing stage; according to different performances of the aircraft, the required deceleration distance is different after the aircraft is converted and decelerated until the aircraft can be completely hovered, and the required conversion distance is set to be the waypoint radius of the landing conversion point, so that the aircraft can reach the landing point position when the aircraft is decelerated and can be suspended as far as possible.
The specific process of the falling stage is as follows:
after the aircraft enters a multi-rotor homing landing stage, the aircraft can automatically fly to the upper space of a landing point, and after hovering for 3 seconds, landing is executed; the distance between the ground and the ground is more than 15m, the descending is performed according to 1.5m/s, the distance between the ground and the ground is in the range of 15m to 5m, the gradient is gradually decelerated to 0.5m/s, and the distance between the ground and the ground is less than 5m, the descending is performed according to 0.5 m/s. And (4) stopping all power output automatically after the landing is detected to the ground and the safe landing, entering a to-be-flown mode and finishing the landing.
The invention has the beneficial effects that: the invention adopts a mode of switching multiple modes, and realizes the combination of the advantage of no take-off and landing distance limitation of the rotorcraft and the advantage of high navigational speed of the fixed wing. All modality switches can be operated and monitored by the ground station.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention relates to a take-off and landing control method for a ship-based vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle, which comprises an automatic take-off part and an automatic landing part, and specifically comprises the following steps:
step 1, taking off automatically;
step 1.1, taking-off preparation: the power of the steering engine and the fixed wing can not execute output action, and the PWM 1-4 channels output the minimum pulse width (the multi-rotor 4 motor enters an idle mode). Stability augmentation or flight action cannot be executed, and the steering engine and the fixed wing power system have no output.
The control surface control is at a median value; the multi-rotor throttle is at an unloaded value; the fixed wing throttle is at a minimum value;
step 1.2, vertical takeoff stage: the aircraft enters an MR attitude remote control mode, the attitude of the aircraft is continuously adjusted through pitching, rolling and yawing 3 channels, and the aircraft can enter a takeoff conversion stage after reaching a proper height.
The many rotor powers of gradual increase, the fixed wing throttle is in the extreme low position, through the differential output adjustment unmanned aerial vehicle gesture of 4 rotor motors. Gradually rising to the ground height.
Step 1.3, transition stage: and in the hovering condition, the aircraft nose orientation is adjusted, and the multi-rotor throttle returns to the neutral position to keep the height maintaining state. Gradually increasing the throttle of the fixed wing to more than 90%, and keeping the current height of the unmanned aerial vehicle along the current course for accelerating at the moment; during acceleration, the multi-rotor system automatically reduces the accelerator according to the speed to achieve the balance of the longitudinal lift force. When the complaint reaches the switching threshold value, the multi-rotor power system is closed, and the airplane is switched to the FW mode.
The course is adjusted to four motor differential of many rotors, later maintains the constant height, and the fixed wing throttle of progressively increasing, unmanned aerial vehicle speed increases, for maintaining the balanced rotor power that reduces gradually of longitudinal lift.
Step 2, automatic landing;
the hybrid landing route must be 6 waypoints. The whole landing route is mainly divided into four stages: transition point stage, course adjusting stage, conversion stage and landing stage.
A transition point stage:
after the control of the landing stage is carried out, if the current height is consistent with the height of the landing route, the aircraft does not enter a transition point (waypoints 2 and 3) to adjust the height and directly goes to the entry point of the landing route; if the current flight height is higher than the height of the landing route, the aircraft keeps the current height to go to a transition point, and then the aircraft is hovered to reduce the height to the height of the landing route and enters the entry point (route point 4) of the landing route after reaching the transition point; if the current height is lower than the height of the landing route, the aircraft can be lifted and climbed immediately in the process of going to the transition point, if the aircraft climbs to the height of the landing route when reaching the transition point, the aircraft directly enters the entry point of the landing route, otherwise, the aircraft can be hovered and climbed at the transition point, and the aircraft enters the landing route after climbing to the height.
(2) Phase of regulating route
And after the flight height meets the height of a landing route and the aircraft is in the radius range of the entry point, turning and adjusting the course and the airspeed to prepare for a conversion stage.
(3) Transition phase
The last waypoint of the descending route is a mode conversion point, and when the aircraft enters the waypoint radius range of the descending conversion point at a preset height and speed, mode conversion is carried out: the multi-rotor power system will start, the fixed wing power will stop, the aircraft decelerates and enters the multi-rotor homing and landing phase. According to different performances of the aircraft, the required deceleration distance is different after the aircraft is converted and decelerated until the aircraft can be completely hovered, and the required conversion distance is set to be the waypoint radius of the landing conversion point, so that the aircraft can reach the landing point position when the aircraft is decelerated and can be suspended as far as possible.
(4) Landing stage
After the aircraft enters a multi-rotor homing landing stage, the aircraft can automatically fly to the upper space of a landing point, and after hovering for 3s (which can be set), landing is executed; the distance between the ground and the ground is 15m or more, the descending is performed according to 1.5m/s (can be set), the distance between the ground and the ground is 15m to 5m, the gradient is gradually decelerated to 0.5m/s (can be set), and the distance between the ground and the ground is 5m or less, the descending is performed according to 0.5m/s (can be set). And (4) stopping all power output automatically until the landing is finished to the ground, and after the safe landing is detected (about 3s), entering a to-be-flown mode to finish the landing.
The landing process of the mode needs GNSS signal support, the multiple rotors can return to the flying point and then land, the most comprehensive landing can be carried out at the position of takeoff, if the landing process is disturbed by strong wind, the position correction can be carried out, and if the landing process is lost, the GNSS signal can be switched to the MR horizontal landing mode to continue to finish automatic landing. And after the landing is carried out to the ground and the stable landing is automatically detected, outputting the automatic stopping power, and entering a to-be-flown mode.
Claims (7)
1. A take-off and landing control method for a ship-based vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle is characterized by comprising the following steps: the automatic takeoff method comprises an automatic takeoff part and an automatic carrier landing part, wherein the automatic takeoff comprises the following processes: taking-off preparation, a vertical taking-off stage and a conversion stage;
the automatic landing comprises four stages, respectively: transition point stage, course adjusting stage, conversion stage and landing stage.
2. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the specific process of the vertical takeoff stage is as follows:
the aircraft enters an MR attitude remote control mode, the attitude of the aircraft is continuously adjusted through pitching, rolling and yawing 3 channels, and the aircraft can enter a takeoff conversion stage after reaching a proper height.
3. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the specific process of the conversion stage is as follows:
under the condition of hovering, the aircraft nose orientation of the aircraft is adjusted, and the multi-rotor accelerator returns to a neutral position to keep a height keeping state; gradually increasing the throttle of the fixed wing to 90%, and keeping the current height of the unmanned aerial vehicle along the current course for accelerating at the moment; in the acceleration process, the multi-rotor system can automatically reduce the accelerator according to the speed so as to achieve the balance of longitudinal lift force; when the complaint reaches the switching threshold value, the multi-rotor power system is closed, and the airplane is switched to the FW mode.
4. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the transition point stage comprises the following specific processes:
after the control of the landing stage is carried out, if the current height is consistent with the height of the landing route, the aircraft does not enter a transition point to adjust the height and directly goes to the entry point of the landing route; if the current flight height is higher than the height of the landing route, the aircraft keeps the current height to go to a transition point, and then the aircraft is hovered to reduce the height to the height of the landing route and enters the entry point of the landing route after reaching the transition point; if the current height is lower than the height of the landing route, the aircraft can be lifted and climbed immediately in the process of going to the transition point, if the aircraft climbs to the height of the landing route when reaching the transition point, the aircraft directly enters the entry point of the landing route, otherwise, the aircraft can be hovered and climbed at the transition point, and the aircraft enters the landing route after climbing to the height.
5. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the specific process of the course adjusting stage is as follows:
and after the flight height meets the height of a landing route and the aircraft is in the radius range of the entry point, turning and adjusting the course and the airspeed to prepare for a conversion stage.
6. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the specific process of the conversion stage is as follows:
the last waypoint of the descending route is a mode conversion point, and when the aircraft enters the waypoint radius range of the descending conversion point at a preset height and speed, mode conversion is carried out: the multi-rotor power system is started, the power of the fixed wing is stopped, and the aircraft decelerates and enters a multi-rotor homing landing stage; according to different performances of the aircraft, the required deceleration distance is different after the aircraft is converted and decelerated until the aircraft can be completely hovered, and the required conversion distance is set to be the waypoint radius of the landing conversion point, so that the aircraft can reach the landing point position when the aircraft is decelerated and can be suspended as far as possible.
7. The take-off and landing control method of the shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle according to claim 1, characterized in that: the specific process of the falling stage is as follows:
after the aircraft enters a multi-rotor homing landing stage, the aircraft can automatically fly to the upper space of a landing point, and after hovering for 3 seconds, landing is executed; the distance between the ground and the ground is more than 15m, the descending is performed according to 1.5m/s, the distance between the ground and the ground is in the range of 15m to 5m, the gradient is gradually decelerated to 0.5m/s, and the distance between the ground and the ground is less than 5m, the descending is performed according to 0.5 m/s. And (4) stopping all power output automatically after the landing is detected to the ground and the safe landing, entering a to-be-flown mode and finishing the landing.
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Cited By (5)
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| CN112099520A (en) * | 2020-09-25 | 2020-12-18 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
| CN112306077A (en) * | 2020-11-06 | 2021-02-02 | 广州极飞科技有限公司 | Flight control method and device, aircraft and storage medium |
| CN113176785A (en) * | 2021-05-21 | 2021-07-27 | 南京航空航天大学苏州研究院 | Automatic landing route design method for carrier-based vertical take-off and landing unmanned aerial vehicle |
| CN113238574A (en) * | 2021-05-08 | 2021-08-10 | 一飞(海南)科技有限公司 | Cluster performance unmanned aerial vehicle landing detection control method, system, terminal and application |
| CN116088563A (en) * | 2022-12-02 | 2023-05-09 | 安徽送变电工程有限公司 | Landing control method for vertical lifting fixed wing |
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