CN111273680A - Method for controlling maneuvering of rib bucket of flying wing layout unmanned aerial vehicle - Google Patents
Method for controlling maneuvering of rib bucket of flying wing layout unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a method for controlling the maneuvering of a rib bucket of an unmanned aerial vehicle with flying wing layout, which comprises the following steps: 1) determining a control method of the movement of the muscle bucket by analyzing dynamics of the movement process and determining that angular rate control is used as a main control quantity; 2) the control method mainly controls the pitch angle rate and the roll angle rate based on the robust servo control theory, protects the attack angle, suppresses the sideslip angle through rudder control in the maneuvering process, and confirms the maneuvering control law of the rib bucket. The invention comprises the following steps: designing a pitch angle rate control law based on attack angle protection to ensure that the attack angle is kept in a proper range in the maneuvering process of the rib bucket; the ailerons take the roll angle rate as the main control quantity, and solve the problem that the roll angle is singular when the pitch angle passes through +90 degrees and-90 degrees; the rudder is used for stability augmentation and sideslip angle control, and coupling torque and airspeed attenuation caused by sideslip of the engine body are avoided.
Description
Technical Field
The invention relates to the technical field of aviation flight control, in particular to a method for controlling the maneuvering of a rib bucket of an unmanned aerial vehicle with flying wing layout.
Background
Maneuver flight refers to flight action with flight state (speed, height and flight direction) changing rapidly along with time, and the muscle bucket maneuver flight refers to maneuver flight of 360 degrees with the track of the airplane approximately elliptical and the track direction changing in the vertical plane.
In the maneuvering process of the rib bucket, the direction of the machine head is required to track the direction of the upper airspeed vector, and the machine head are matched to ensure that air flows cannot be separated. If the rotation direction of the nose is too slow and cannot follow the airspeed vector direction, the attack angle is a negative value, and airflow separation causes huge disturbance to the unmanned aerial vehicle; if the aircraft nose direction of rotation is too fast, surpasss airspeed vector direction rapidly, and the angle of attack is too big this moment, and unmanned aerial vehicle airspeed sharply reduces, probably brings the danger of stall, consequently, needs select suitable longitudinal control law, guarantees that the angle of attack keeps in safety range among the muscle fill maneuvering process.
Disclosure of Invention
The invention aims to provide a control method for the rib bucket maneuvering of an unmanned aerial vehicle with flying wing layout, which avoids airspeed attenuation and moment coupling caused by a sideslip angle and ensures stability in the maneuvering process.
The invention is realized by the following technical scheme: a method for controlling the maneuvering of a rib bucket of an unmanned aerial vehicle with flying wing layout is characterized by comprising the following steps:
(1) determining a control method of the movement of the muscle bucket by analyzing dynamics of the movement process and determining that angular rate control is used as a main control quantity;
(2) the control method mainly controls the pitch angle rate and the roll angle rate based on the robust servo control theory, protects the attack angle, suppresses the sideslip angle through rudder control in the maneuvering process, and confirms the maneuvering control law of the rib bucket.
In order to better implement the present invention, further, the specific process of determining the control method of the fighting maneuver in step (1) is as follows: during the movement of the bucket, the pitch angle changes between-90 degrees and +90 degrees, but the pitch angle rate can be a fixed value, so that the pitch angle rate is selected as a control variable. At pitch angles through +90 and-90, which is a singular point for the roll angle signal, there is a jump. Therefore, when the rib bucket maneuvers, the roll angle signal is unavailable, and only the roll angle rate signal can be used.
In order to better implement the present invention, further, in the step (2), a specific method of the law of maneuvering of the pitching channel and the rolling channel by using the angular rate loop as a main control item includes:
the elevator channel adopts a controller combining a pitch angle damper and a pitch angle rate control based on a robust servo control theory, and an attack angle protection item is added to prevent the air flow separation caused by the mismatching of the machine head and airspeed deflection due to the too fast pulling-up of the machine head; the aileron channel adopts a controller combining a roll angle damper and roll angle rate control based on a robust servo control theory, and the roll angle rate is controlled to be 0 in a maneuvering process; the rudder channel is used for stability augmentation and sideslip angle control, and the control system is guaranteed to restrain sideslip angles in the maneuvering process of the rib bucket.
In order to better implement the present invention, the control law of the rib bucket maneuvering control law elevator channel is as follows:
qg＝qref+KΔαΔα
wherein, the pitch angle rate is given as a target value, the pitch angle rate is fed forward, and the protection term for the attack angle is specifically
① α is less than or equal to AlfL0, delta α is AlfL 0-AlfL 1;
② AlfL0 < α < AlfL1,. DELTA. α ═ α -AlfL 1;
③ AlfL1 is not less than α is not more than AlfH0, delta α is 0;
④ AlfH0 < α < AlfH1,. DELTA. α ═ α -AlfH 0;
⑤ α is AlfH1, Δ α is AlfH 1-AlfH 0.
Wherein AlfL0 and AlfL1 are angle of attack safety left boundaries, and AlfH0 and AlfH1 are angle of attack safety right boundaries; control parameter
For the pitch angle rate scale factor to be,
for the pitch angle rate scale factor to be,
integral coefficient of pitch angle rate, KΔαIs the proportional coefficient of attack angle protection.
In order to better implement the present invention, the control law of the flap channel of the bucket maneuver control law is as follows:
pg＝0
where p is the roll rate, pgSetting target value for roll angular rate, controlling parameters
As the roll rate scaling factor,
as the roll rate scaling factor,
roll rate integral coefficient.
In order to better implement the present invention, the control law of the rudder channel of the bucket maneuvering control law is further as follows:
βg＝0
wherein β is the sideslip angle, βgSetting a target value for the sideslip angle, r is the yaw rate, and controlling the parameters
Is a coefficient of proportionality for the sideslip angle,
is a yaw rate scaling factor,
is the proportionality coefficient of the sideslip angle,
roll slip angle integral coefficient.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) according to the invention, the pitch angle rate controller based on the attack angle protection is adopted, so that the aircraft nose direction tracks the upper airspeed vector direction in the maneuvering process of the rib bucket, and the aircraft is prevented from stalling after airflow separation;
(2) the invention adopts a roll angle rate control law based on a robust servo control theory, solves the problem that the roll angle is singular when the pitch angle passes through +90 degrees and-90 degrees, and meets the requirement of transverse robustness in the maneuvering process;
(3) the rudder of the invention combines stability augmentation and sideslip angle control, avoids airspeed attenuation and moment coupling caused by sideslip angle, and ensures stability in maneuvering process.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of various control loops in the present invention;
FIG. 2 is a graph showing the variation of roll angle, pitch angle rate and indicated airspeed in the present invention;
FIG. 3 is a schematic view of an elevator passage control structure according to the present invention
FIG. 4 is a schematic view of an attack angle protection module according to the present invention;
FIG. 5 is a schematic diagram of a feed forward pitch rate estimation in the present invention;
FIG. 6 is a schematic view of the aileron channel control structure of the present invention;
fig. 7 is a schematic diagram of a rudder passage control structure according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the embodiment provides a control method for the maneuvering of a rib bucket of an unmanned aerial vehicle with flying wing layout, which comprises the following steps:
the control method comprises a maneuvering control scheme of the rib bucket and a maneuvering control law, wherein the maneuvering control scheme of the rib bucket determines a maneuvering control scheme taking angular rate control as a main control quantity through dynamics analysis of a maneuvering process of the rib bucket; the maneuvering control law of the rib bucket takes pitch angle rate and roll angle rate control as main control items.
Specific control loops are shown in fig. 1 and comprise a pitch angle rate loop, a roll angle rate control loop and a slip angle control loop based on external angle protection.
The dynamic analysis of the movement process of the rib bucket is as follows:
in the rib bucket process, the longitudinal channel is a main control channel, and the transverse lateral channel mainly acts to ensure that the unmanned aerial vehicle does not roll. In the whole process of the rib bucket, the existing angular motion and the line motion of mass points exist. After the lateral variable is ignored, the variation trend of the pitch angle and the height variation rate can be expressed as:
wherein q is the pitch angle rate, phi is the roll angle,
is the derivative of the pitch angle and,
the derivative of height is, V is the true airspeed, γ is the climb angle, θ is the pitch angle, and α is the attack angle.
The whole process controls the angle of attack within a small range, so sin (theta- α) ≈ sin theta.
The change courses of the roll angle, the pitch angle rate and the indicated airspeed obtained by the formula (1) are shown in FIG. 2. It can be seen that the pitch angle varies from time to time between-90 and +90, but the pitch rate q may be a constant value, and therefore it is more appropriate to use the pitch rate q as a control variable. When the pitch angle theta passes through +90 deg. and-90 deg., it is a singular point for the roll angle signal phi and there is a jump. Therefore, when the muscle is maneuvering, the roll angle signal is not available, and only the roll angle rate p signal can be used.
The elevator shaft mainly includes: pitch damper and pitch rate controller. The pitch damper feeds back pitch angle rate signals
Improving the roll damping characteristics. The bowThe elevation angle rate controller is designed based on the robust servo control theory, and the pitch angle rate controller is
Wherein the integral term is a control surface main control term KΔαΔ α is an angle of attack protection term.
FIG. 3 shows the control law structure of an elevator shaft, the control law being
qg＝qref+KΔαDelta α (3) formula
(2) Control parameter in the formula
For the pitch angle rate scale factor to be,
for the pitch angle rate scale factor to be,
pitch angle rate integral coefficient, and (3) control parameter KΔαIs the proportional coefficient of attack angle protection.
Fig. 4 shows a schematic diagram of the angle of attack protection term Δ α, the angle of attack protection term Δ α being given according to the following formula,
① α is less than or equal to AlfL0, delta α is AlfL 0-AlfL 1;
② AlfL0 < α < AlfL1,. DELTA. α ═ α -AlfL 1;
③ AlfL1 ≤ α ≤ AlfH0, wherein Δ α is 0: (4)
Formula (II)
④ AlfH0 < α < AlfH1,. DELTA. α ═ α -AlfH 0;
⑤ α is AlfH1, Δ α is AlfH 1-AlfH 0.
Wherein, AlfL0 and AlfL1 are angle of attack safety left boundaries, and AlfH0 and AlfH1 are angle of attack safety right boundaries.
In order to make the nose direction track the upper airspeed vector direction better, it is necessary to study the change rate of the airspeed vector direction during the maneuver of the bucket.
Assuming that the unmanned aerial vehicle does a complete rib bucket, the radius of the rib bucket is R; mass m of the unmanned aerial vehicle; acceleration of gravity g; the initial speed of entering the rib bucket is V0; gamma is an included angle between the speed vector and the advancing direction of the unmanned aerial vehicle in the horizontal plane, and is gamma-180 degrees and +180 degrees.
In the process of the rib bucket, the centripetal force of any point is as follows:
wherein: l is lift, m is weight, g is gravitational acceleration, CLαAs basic coefficient of lift, CLδeCoefficient of lift generated by elevator deflection, ρ is air density, V is vacuum velocity, SrefIs the reference area of the wing.
Order to
The formula can be written as:
Fn＝AV2-mgcos gamma (6) formula
Neglecting the work done by the resistance and the thrust, according to the principle of conservation of energy:
substituting formula (6) into formula (5) to yield:
let the velocity vector direction change rate be ω, then:
the following analysis
And
according to the pneumatic database, (CL α + CL δ e) is 10-1In the order of magnitude,
at 10-3In the order of magnitude,
at 10-3Magnitude. Assuming that the speed of the unmanned aerial vehicle when reaching the maneuvering top of the rib bucket is V1According to the principle of energy conservation:
to make V1If > 0 is true:
when the speed is higher, the speed of the motor is higher,
at 10-1In the order of magnitude,
at 10-2In the order of magnitude,
is a leading item; when the speed is relatively small, the speed is relatively low,
at 10-2In the order of magnitude,
at 10-1In the order of magnitude,
is the dominant item.
Pitch rate feedforward value qrefThe values of (c) can be referred to in equation (9), and an example is given below to specifically explain how to select the pitch angle rate feedforward value qref：
Assuming that the initial height of the movement of the rib bucket is 5000m, the mass of the unmanned aerial vehicle is 400kg, and the gravity acceleration is 9.8m/s2The initial airspeed of entering the tendon is 116 m/s. In order to ensure that the speed of the unmanned aerial vehicle when the unmanned aerial vehicle reaches the top point of the rib bucket is still larger than 0, the radius of the rib bucket is 330 m. At the same time, let CLα+CLδe＝0.5，ρ＝0.7kg/m3. Equation (9) can be written as:
to match the direction of the handpiece to the direction of the velocity vector, qrefThe values of (c) are shown in FIG. 5.
① when Vt is 75m/s or more, qref＝12；
② when Vt is less than 75m/s and less than 40m/s,
③ when Vt is < 40m/s,
substituting (4) and (13) into (3) to obtain a given target value (q) of the pitch angle rateg) Tracking (2) a given target value (q) for pitch angle rateg) Solving for the elevator control signal (delta)e) And the elevator is controlled to realize the maneuvering longitudinal control of the rib bucket by an elevator steering engine actuating mechanism.
The main function of the horizontal course channel is to ensure that the unmanned aerial vehicle does not roll. The rudder channel still restrains the sideslip angle, and coupling moment and airspeed attenuation brought by the sideslip angle are avoided. Because the roll angle signal is not available, the aileron channel takes the roll angle rate signal p as a control variable, and the whole-process control p is 0.
The aileron channel mainly comprises a rolling resistanceA damper and a roll rate controller. The roll rate controller is designed based on robust servo control theory (RSLQR). The roll rate is ensured to be 0 in the whole maneuvering process of the rib bucket. Wherein the roll damper feeds back a roll rate signal
The roll damping characteristic is improved, and the roll angular rate controller based on the robust servo control theory is
Wherein the integral term is a control surface main control term.
Fig. 6 shows the control law structure of the aileron channel, the control law is:
pg0 (14) formula
Control parameter
As the roll rate scaling factor,
as the roll rate scaling factor,
roll rate integral coefficient.
The controller tracks (14) a given target value (p) of roll rateg) Solving for the aileron target value (delta)a) And releasing the aileron executing structure, and controlling the unmanned aerial vehicle to keep the roll angle rate at 0.
The rudder passage mainly includes a stability augmentation portion and a sideslip angle control portion. Because the course of the flying wing layout unmanned aerial vehicle is static and unstable, the stability of a course channel is urgently needed to be increased. Wherein the stability increasing part feeds back a yaw rate signal
Increasing Dutch roll damping by feeding back a sideslip angle signal
The static stability moment of the course is increased, so that the effect of increasing the static stability of the course is achieved. The sideslip angle control part adopts a PI control structure, and the suppression of sideslip angles in the maneuvering process of the rib bucket is guaranteed.
Fig. 7 shows a control law structure of the rudder channel, the control law being:
βg0(15) formula
Control parameter
Is a coefficient of proportionality for the sideslip angle,
is a yaw rate scaling factor,
is the proportionality coefficient of the sideslip angle,
roll slip angle integral coefficient.
The controller tracks (15) a tracking target value of the sideslip angle, outputs a rudder control signal, and sends the signal to a rudder executing structure to inhibit the sideslip angle in the maneuvering process of the unmanned aerial vehicle.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A method for controlling the maneuvering of a rib bucket of an unmanned aerial vehicle with flying wing layout is characterized by comprising the following steps:
(1) determining a control method of the movement of the muscle bucket by analyzing dynamics of the movement process and determining that angular rate control is used as a main control quantity;
(2) the control method mainly controls the pitch angle rate and the roll angle rate based on the robust servo control theory, protects the attack angle, suppresses the sideslip angle through rudder control in the maneuvering process, and confirms the maneuvering control law of the rib bucket.
2. The method for controlling the flap power of the flying wing layout unmanned aerial vehicle according to claim 1, wherein the specific process of determining the flap power control method in the step (1) is as follows: during the movement of the bucket, the pitch angle changes between-90 degrees and +90 degrees, but the pitch angle rate can be a fixed value, so that the pitch angle rate is selected as a control variable. At pitch angles through +90 and-90, which is a singular point for the roll angle signal, there is a jump. Therefore, when the rib bucket maneuvers, the roll angle signal is unavailable, and only the roll angle rate signal can be used.
3. The method for controlling the flail layout unmanned aerial vehicle by the stick maneuver as claimed in claim 1 or 2, wherein the specific method of the stick maneuver control law in the step (2) with the pitch channel and roll channel angular rate loops as the main control items is as follows:
the elevator channel adopts a controller combining a pitch angle damper and a pitch angle rate control based on a robust servo control theory, and an attack angle protection item is added to prevent the air flow separation caused by the mismatching of the machine head and airspeed deflection due to the too fast pulling-up of the machine head; the aileron channel adopts a controller combining a roll angle damper and roll angle rate control based on a robust servo control theory, and the roll angle rate is controlled to be 0 in a maneuvering process; the rudder channel is used for stability augmentation and sideslip angle control, and the control system is guaranteed to restrain sideslip angles in the maneuvering process of the rib bucket.
4. The control method of the flap-layout unmanned aerial vehicle maneuver control method according to claim 3, wherein the control law of the maneuver control law elevator channel is as follows:
qg＝qref+KΔαΔα
wherein, the pitch angle rate is given as a target value, the pitch angle rate is fed forward, and the protection term for the attack angle is specifically
① α is less than or equal to AlfL0, delta α is AlfL 0-AlfL 1;
② AlfL0 < α < AlfL1,. DELTA. α ═ α -AlfL 1;
③ AlfL1 is not less than α is not more than AlfH0, delta α is 0;
④ AlfH0 < α < AlfH1,. DELTA. α ═ α -AlfH 0;
⑤ α is AlfH1, Δ α is AlfH 1-AlfH 0.
Wherein AlfL0 and AlfL1 are angle of attack safety left boundaries, and AlfH0 and AlfH1 are angle of attack safety right boundaries; control parameter
For the pitch angle rate scale factor to be,
for the pitch angle rate scale factor to be,
integral coefficient of pitch angle rate, KΔαIs the proportional coefficient of attack angle protection.
5. The control method of the flap-based unmanned aerial vehicle with flying wing configuration according to claim 3 or the above claim, wherein the control law of the flap channel of the flap control law is as follows:
pg＝0
where p is the roll rate, pgSetting target value for roll angular rate, controlling parameters
As the roll rate scaling factor,
as the roll rate scaling factor,
roll rate integral coefficient.
6. The control method of the flap-layout unmanned aerial vehicle maneuver control method according to claim 3 or 4, wherein the control law of the flap maneuver control law rudder channel is as follows:
βg＝0
wherein β is the sideslip angle, βgSetting a target value for the sideslip angle, r is the yaw rate, and controlling the parameters
Is a coefficient of proportionality for the sideslip angle,
is a yaw rate scaling factor,
is the proportionality coefficient of the sideslip angle,
roll slip angle integral coefficient.
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| CN112486203B (en) * | 2020-11-18 | 2022-04-08 | 南京航空航天大学 | Flying wing unmanned aerial vehicle Hubbaster maneuvering flight control method |
| CN112327922B (en) * | 2020-11-18 | 2022-04-22 | 南京航空航天大学 | Autonomous take-off and landing integrated control method for flying wing unmanned aerial vehicle |
| CN113184166A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Stability augmentation control method for flying wing layout unmanned aerial vehicle |
| CN116382335A (en) * | 2023-03-27 | 2023-07-04 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle half-rolling reverse maneuvering control method |
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