CN110989641B - Taking-off and landing control method for ship-based vertical taking-off and landing reconnaissance jet unmanned aerial vehicle - Google Patents
Taking-off and landing control method for ship-based vertical taking-off and landing reconnaissance jet unmanned aerial vehicle Download PDFInfo
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- CN110989641B CN110989641B CN201911072139.6A CN201911072139A CN110989641B CN 110989641 B CN110989641 B CN 110989641B CN 201911072139 A CN201911072139 A CN 201911072139A CN 110989641 B CN110989641 B CN 110989641B
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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 ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method, which comprises two parts of automatic take-off and automatic carrier landing, wherein the automatic take-off comprises the following processes: a take-off preparation, a vertical take-off stage and a conversion stage; the automatic landing includes four phases, namely: transition point stage, route adjustment stage, conversion stage and landing stage. Solves the problems of insufficient range and slower speed of the existing carrier-based multi-rotor unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of aerospace science, and relates to a ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method.
Background
The vertical take-off and landing composite wing unmanned aerial vehicle has the great advantages of small take-off and landing space, higher carrying capacity, short take-off and landing time and the like, and is suitable for guard and naval species with smaller deck area; in the use process of the unmanned plane, three main states of a multi-rotor mode, a fixed-wing mode and mode transition are existed. The flight modes are classified according to properties into MR type and FW type (MR: multiRotor, FW: fixedWing fixed wing). The unmanned aerial vehicle in the take-off and landing stage adopts an MR mode, and adjusts the flight attitude of the aircraft by means of the output power of motors of four ducts, so that the purpose of vertical take-off and landing is achieved; the output of the multi-rotor power channel of the unmanned aerial vehicle is 0 in the cruising stage, the thrust is output by the throttle of the fixed-wing power channel, and the starting moment is generated by the deflection of the control surface to adjust the attitude of the aircraft.
Disclosure of Invention
The invention aims to provide a ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method, which solves the problems of insufficient range and slower speed of the existing ship-based multi-rotor unmanned aerial vehicle.
The technical scheme adopted by the invention is that the ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method specifically comprises the following steps:
the automatic take-off comprises two parts of automatic take-off and automatic carrier landing, wherein the automatic take-off comprises the following processes: a take-off preparation, a vertical take-off stage and a conversion stage;
the automatic landing includes four phases, namely: transition point stage, route adjustment stage, conversion stage and landing stage.
The invention is also characterized in that:
the specific process of the vertical take-off stage is as follows:
the aircraft enters an MR attitude remote control mode, the aircraft continuously adjusts the attitude through pitching, rolling and yawing 3 channels, and the aircraft can enter a take-off conversion stage after reaching a proper altitude.
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 throttle returns to the neutral position to maintain a high maintenance state; gradually increasing the throttle of the fixed wing to 90%, and keeping the current altitude along the current course by the unmanned aerial vehicle to accelerate at the moment; in the acceleration process, the multi-rotor system automatically reduces the accelerator according to the speed so as to achieve longitudinal lift balance; when the complaint reaches the transition threshold, the multi-rotor power system is turned off and the transition is completed with the aircraft core in FW mode.
The specific process of the transition point stage is as follows:
after entering the landing stage control, if the current height is consistent with the landing route height, the aircraft will not enter a transition point to adjust the height and directly go to a landing route entry point; if the current flying height is higher than the landing route height, the aircraft keeps the current height going to the transition point, and after reaching the transition point, the aircraft spirals to reduce the height to the landing route height and then enters the landing route entry point; if the current height is lower than the landing route height, the aircraft immediately ascends and descends to climb to the landing route height in the process of going to the transition point, if the aircraft climbs to the landing route height when reaching the transition point, the aircraft directly enters the landing route entry point, otherwise, the aircraft spirals to climb to the landing route after climbing to the transition point.
The specific process of the route adjustment stage is as follows:
when the flying height meets the landing route height, the aircraft turns and adjusts the course after entering the point radius range, and the airspeed is prepared for the switching stage.
The specific process of the conversion stage is as follows:
the last waypoint of the landing route is a mode conversion point, and when the aircraft enters the range of the waypoint radius of the landing conversion point at a preset height and speed, the mode conversion is performed: the multi-rotor power system is started, the fixed-wing power is stopped, and the aircraft decelerates and enters a multi-rotor homing landing stage; according to the different performances of the aircrafts, the required deceleration distance for converting and decelerating until the aircrafts can hover completely is different, and the required conversion distance is suggested to be set as the waypoint radius of the landing conversion point, so that the position of the landing point can be just reached when the aircrafts are completely decelerated and can hover as far as possible.
The specific process of the landing stage is as follows:
after entering a multi-rotor homing landing stage, the aircraft automatically flies to the upper part of a landing point and hovers for 3s, and then landing is executed; above 15m from the ground will descend at 1.5m/s, in the range of 15m to 5m from the ground, will gradually slow down to 0.5m/s in gradient, below 5m from the ground will descend at 0.5 m/s. And (3) automatically stopping all power output after the safety falling is detected until the power source falls to the ground, entering a mode to be flown, and finishing the falling.
The beneficial effects of the invention are as follows: the invention adopts a mode of switching a plurality of modes, and combines the advantage of no lifting distance limitation of the gyroplane with the advantage of high navigational speed of the fixed wing. All mode 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 ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method, which comprises two parts of automatic take-off and automatic landing, and specifically comprises the following steps:
step 1, automatic take-off;
step 1.1, take-off preparation: the steering engine and the fixed wing power do not execute output action, and PWM No. 1-4 channels output minimum pulse width (the multi-rotor 4 motor enters an idle mode). The stability augmentation or flying action can not be executed, and the steering engine and the fixed wing power system have no output.
The control surface is controlled to be at a median value; the multi-rotor throttle is at an unloading value; the fixed wing throttle is at a minimum;
step 1.2, vertical take-off phase: the aircraft enters an MR attitude remote control mode, the aircraft continuously adjusts the attitude through pitching, rolling and yawing 3 channels, and the aircraft can enter a take-off conversion stage after reaching a proper altitude.
The power of multiple rotors is gradually increased, the fixed wing accelerator is at the lowest position, and the posture of the unmanned aerial vehicle is adjusted through differential output of 4 rotor motors. Gradually rise to a given height.
Step 1.3, conversion stage: under the condition of hovering, the aircraft nose orientation is adjusted, and the multi-rotor throttle returns to the neutral position to maintain the height maintaining state. Gradually increasing the throttle of the fixed wing to more than 90%, and keeping the current altitude along the current course for accelerating the unmanned aerial vehicle; the multi-rotor system automatically reduces the accelerator according to the speed in the acceleration process so as to achieve the longitudinal lift balance. When the complaint reaches the transition threshold, the multi-rotor power system is turned off and the transition is completed with the aircraft core in FW mode.
The heading is differentially regulated by four motors of a plurality of rotor wings, then the fixed-wing accelerator is gradually increased by maintaining the fixed-height, the speed of the unmanned aerial vehicle is increased, and the power of the rotor wings is gradually reduced for maintaining the longitudinal lift balance.
Step 2, automatically landing;
the hybrid wing landing route must be 6 waypoints. The whole landing route is mainly divided into four stages: transition point stage, route adjustment stage, conversion stage and landing stage.
Transition point stage:
after entering the landing stage control, if the current height is consistent with the landing route height, the aircraft will not enter a transition point (waypoints 2 and 3) to adjust the height and directly go to the landing route entry point; if the current flying height is higher than the landing route height, the aircraft keeps the current height going to a transition point, and after reaching the transition point, the aircraft spirals to reduce the height to the landing route height and then enters a landing route entry point (waypoint 4); if the current height is lower than the landing route height, the aircraft immediately ascends and descends to climb to the landing route height in the process of going to the transition point, if the aircraft climbs to the landing route height when reaching the transition point, the aircraft directly enters the landing route entry point, otherwise, the aircraft spirals to climb to the landing route after climbing to the transition point.
(2) Course adjustment stage
When the flying height meets the landing route height, the aircraft turns and adjusts the course after entering the point radius range, and the airspeed is prepared for the switching stage.
(3) Conversion phase
The last waypoint of the landing route is a mode conversion point, and when the aircraft enters the range of the waypoint radius of the landing conversion point at a preset height and speed, the mode conversion is performed: the multi-rotor power system will start and the fixed-wing power will stop, the aircraft decelerates and enters the multi-rotor homing landing phase. According to the different performances of the aircrafts, the required deceleration distance for converting and decelerating until the aircrafts can hover completely is different, and the required conversion distance is suggested to be set as the waypoint radius of the landing conversion point, so that the position of the landing point can be just reached when the aircrafts are completely decelerated and can hover as far as possible.
(4) Landing stage
After entering a multi-rotor homing landing stage, the aircraft automatically flies to the upper part of a landing point and hovers for 3s (can be set), and then landing is executed; above 15m from the ground will descend at 1.5m/s (settable), in the range of 15m to 5m from the ground, the gradient will gradually slow down to 0.5m/s (settable), below 5m from the ground will descend at 0.5m/s (settable). And (3) after the landing is detected to be safe (about 3 s), automatically stopping all power output, entering a mode to be flown, and finishing landing.
In the landing process of the mode, GNSS signal support is needed, the multi-rotor wing can return to the flying spot and then execute landing, the multi-rotor wing is landed at the flying spot, if the large wind interference occurs in the landing process, the position correction can be carried out, and if the GNSS signal is lost in the landing process, the multi-rotor wing is switched into the MR horizontal landing mode to continuously complete automatic landing. After the device falls to the ground and automatically detects stable landing, the power output is automatically stopped, and the device enters a mode to be flown.
Claims (1)
1. The ship-based vertical take-off and landing reconnaissance jet unmanned aerial vehicle take-off and landing control method is characterized by comprising the following steps of: the automatic take-off comprises two parts of automatic take-off and automatic landing, wherein the automatic take-off comprises the following processes: a take-off preparation, a vertical take-off stage and a conversion stage;
the automatic landing includes four phases, namely: a transition point stage, an airliner stage, a conversion stage and a landing stage;
the specific process of the vertical take-off stage is as follows:
the aircraft enters an MR attitude remote control mode, the aircraft continuously adjusts the attitude through pitching, rolling and yawing 3 channels, and the aircraft can enter a take-off conversion stage after reaching a proper altitude;
the specific process of the take-off conversion stage is as follows:
under the condition of hovering, the aircraft nose orientation of the aircraft is adjusted, and the multi-rotor throttle returns to the neutral position to maintain a high maintenance state; gradually increasing the throttle of the fixed wing to 90%, and keeping the current altitude along the current course by the unmanned aerial vehicle to accelerate at the moment; in the acceleration process, the multi-rotor system automatically reduces the accelerator according to the speed so as to achieve longitudinal lift balance; when the airspeed reaches a switching threshold, the multi-rotor power system is closed, the aircraft enters into an FW mode, and switching is completed;
the specific process of the transition point stage is as follows:
after entering the landing stage control, if the current height is consistent with the landing route height, the aircraft will not enter a transition point to adjust the height and directly go to a landing route entry point; if the current flying height is higher than the landing route height, the aircraft keeps the current height going to the transition point, and after reaching the transition point, the aircraft spirals to reduce the height to the landing route height and then enters the landing route entry point; if the current height is lower than the landing route height, the aircraft can immediately ascend and descend to climb to the landing route height in the process of going to the transition point, if the aircraft climbs to the landing route height when reaching the transition point, the aircraft directly enters the landing route entry point, otherwise, the aircraft spirals to climb to the landing route after climbing to the transition point;
the specific process of the route adjustment stage is as follows:
when the flying height meets the landing route height, the aircraft turns and adjusts the course and airspeed after entering the point radius range, so as to prepare for landing conversion stage;
the specific process of the landing transition stage is as follows:
the last waypoint of the landing route is a mode conversion point, and when the aircraft enters the range of the waypoint radius of the landing conversion point at a preset height and speed, the mode conversion is performed: the multi-rotor power system is started, the fixed-wing power is stopped, and the aircraft decelerates and enters a multi-rotor homing landing stage; according to different performances of the aircrafts, converting and decelerating until the required deceleration distance is different, and suggesting that the required conversion distance is set as the waypoint radius of the landing conversion point, so as to ensure that the position of the landing point can be just reached when the aircrafts complete deceleration and can hover;
the specific process of the landing stage is as follows:
after entering a multi-rotor homing landing stage, the aircraft automatically flies to the upper part of a landing point and hovers for 3s, and then landing is executed; the ground is lowered by 1.5m/s above 15m, the ground is gradually decelerated to 0.5m/s at a gradient within a range of 15m to 5m, the ground is lowered by 0.5m/s below 5m, the power output is automatically stopped after the safe falling is detected, the power output enters a mode to be flown, and the falling is completed.
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| CN112099520B (en) * | 2020-09-25 | 2023-05-05 | 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 |
| CN112306077B (en) * | 2020-11-06 | 2022-11-08 | 广州极飞科技股份有限公司 | Flight control method and device, aircraft and storage medium |
| CN113238574B (en) * | 2021-05-08 | 2022-12-13 | 一飞(海南)科技有限公司 | Cluster performance unmanned aerial vehicle landing detection control method, system, terminal and application |
| CN113176785B (en) * | 2021-05-21 | 2022-11-22 | 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 |
| CN116088563B (en) * | 2022-12-02 | 2024-09-06 | 安徽送变电工程有限公司 | Landing control method for vertical lifting fixed wing |
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