CN111422371A - Ground launching system and control method for fixed-wing unmanned aerial vehicle - Google Patents
Ground launching system and control method for fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a ground launching system of a fixed wing unmanned aerial vehicle, which is characterized in that: the system comprises a command control subsystem and a transmitting vehicle subsystem. The finger control subsystem comprises a ground station, and the ground station is respectively connected with a GPS RTK base station, a radio station ground end and a remote controller. The launching vehicle sub-system comprises a launching vehicle frame, a power system and a launching vehicle control module; the invention also discloses a control method of the control system; the transmitting system adopts a plurality of control modes, is flexible to use and can adapt to various transmitting requirements; the landing gear does not need to carry out a drop test, and the lightweight design does not need to be considered, so that the period is shortened, and the cost is reduced; the loading and control logic parameters of the launch vehicle can be flexibly adjusted according to the launch unmanned aerial vehicle; can promote power, realize many/heterogeneous unmanned aerial vehicle's quick transmission, the unmanned aerial vehicle formation of being convenient for flies.
Description
Technical Field
The invention relates to a ground launching system and a control method of a fixed-wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control.
Background
In recent years, the unmanned aerial vehicle technology has rapidly developed and is widely applied to various application fields of military and civilian. From the perspective of the flight principle, the unmanned aerial vehicle can be divided into two types, namely a rotor type and a fixed wing type, wherein the rotor type has vertical take-off and landing capability, the fixed wing type needs higher flight speed to realize flight, and the take-off mode of the unmanned aerial vehicle mainly adopts running, air drop, shooting, rocket boosting, hydropneumatic ejection, hand throwing and the like.
The existing fixed wing unmanned aerial vehicle launching mode has narrow adaptation surface: the cost of air drop, gun shooting and rocket boosting launching is high, the danger is high, and the popularization and application of the unmanned aerial vehicle in the civil field are greatly limited; the hydropneumatic ejection needs to be designed and manufactured respectively to different models, and the hand is thrown and is only applicable to microminiature low-speed unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a ground launching system of a fixed wing unmanned aerial vehicle, which solves the problems of narrow adaptation surface and high danger in the existing launching technology of the fixed wing unmanned aerial vehicle.
Another object of the present invention is to provide a method for controlling a ground launching system of a fixed-wing drone.
The first technical proposal adopted by the invention is that,
a ground launching system of a fixed-wing unmanned aerial vehicle comprises a finger control subsystem and a launching vehicle subsystem.
The invention is also characterized in that:
the finger control subsystem comprises a ground station, and the ground station is respectively connected with a GPS RTK base station, a radio station ground end and a remote controller.
The launching vehicle sub-system comprises a launching vehicle frame, a power system and a launching vehicle control subsystem;
the launching vehicle frame comprises a vehicle body frame, and a front three-point undercarriage is fixedly connected to the vehicle body frame;
the transmitting vehicle control subsystem comprises a transmitting vehicle controller, the input end of the transmitting vehicle controller is respectively connected with a radio station vehicle-mounted end, a double-antenna differential GPS and a receiver, the output end of the transmitting vehicle controller is sequentially connected with a steering engine controller, a rudder steering engine, a differential brake control steering engine and a front wheel steering engine, and the transmitting vehicle controller is further connected with a power system.
The nose wheel steering engine is installed on a nose landing gear, the differential braking steering engine is installed on a main landing gear, the rudder deviation rectifying steering engine is installed in a tail of the rear portion of an unmanned aerial vehicle body, and a locking and releasing device of the unmanned aerial vehicle is further installed on a launching vehicle frame.
The radio station ground end and the radio station vehicle-mounted end are in communication connection through wireless signals, and the remote controller and the receiver are in communication connection through wireless signals.
The other technical scheme of the invention is as follows:
a control method of a ground launching system of a fixed-wing unmanned aerial vehicle adopts the ground launching system of the fixed-wing unmanned aerial vehicle; the method specifically comprises the following steps:
step 1, a ground station binds parameters of a launching vehicle controller through a display control interface, and binds starting point longitude and latitude, end point longitude and latitude, course, runway width, runway length and takeoff speed of an unmanned aerial vehicle to be launched;
step 2, completing the installation and fixation of the unmanned aerial vehicle to be launched on the launching vehicle;
step 3, after the system is prepared, the ground station sends a takeoff instruction, the launching vehicle automatically takes off logic, speed closed loop is carried out according to the speed instruction, and a control accelerator is given; meanwhile, a deviation rectifying logic is introduced to control the distance of the launching vehicle from the central line of the runway, and the launching vehicle is kept in accelerated running in the middle of the runway;
step 4, with the acceleration of the launching vehicle in the step 3, when different speeds are reached, the unmanned aerial vehicle adaptive to the speeds is launched, the launched unmanned aerial vehicle finishes launching and enters the air logic, so that the unmanned aerial vehicles with different takeoff speeds are sent by the same launching vehicle;
step 5, after all the takeoff tasks of the unmanned aerial vehicle are completed, the launching vehicle controls to close the engine, meanwhile, the launching vehicle enters a braking logic to enable the speed of the launching vehicle to gradually decrease to zero, and in the process, the launching vehicle controller is always in a deviation rectifying logic to keep the launching vehicle in the middle of the runway to run in an accelerated manner;
and 6, after the launching vehicle stops, triggering a manual control command by the ground station, controlling the speed and the course of the launching vehicle by a ground operator through a ground remote controller, and controlling the launching vehicle to slide back to the starting point to finish the withdrawing of the launching vehicle.
The runway parameters in the step 1 specifically comprise starting point longitude and latitude, end point longitude and latitude, course, width and length of the runway.
The automatic control method in the step 3 specifically comprises the following steps:
giving an accelerator instruction of the launching vehicle according to the deviation of the actual speed and the speed instruction, thereby ensuring that the launching vehicle slides forwards at a specified speed;
speed control:T＝Kvp(Vc-V)+Kvi∫(Vc-V) dt, wherein Kvp、KviProportional integral coefficient for speed control, V is GPS measured running speed, VcIs a run speed command.
The deviation rectifying control method in the step 3 specifically comprises the following steps:
wherein Y is the offset distance of the launching vehicle from the center line of the runway, and Y is the distance between the launching vehicle and the center line of the runwaygA sidesway distance command for the launching vehicle to deviate from the center line of the runway is normally set to zero;
proportional control coefficients from the yaw distance to the yaw speed command; r is the transmitted vehicle yaw rate signal measured by the yaw rate gyro,
for yaw damping coefficient, psigIs a yaw angle command, is a runway heading, psi is a transmitted vehicle heading measured by the dual antenna GPS,
the scaling factor is controlled for the yaw rate,
the integration coefficient is controlled for the yaw rate,
for the yaw rate command calculated from the yaw rate,
is the yaw rate information calculated from the dual antenna GPS.
The manual control method in the step 6 specifically comprises the following steps:
speed control:Taccelerator proportional command ∈ [0,1]，TProviding a power system command;
deviation rectification control:rdeviation correction ratio instruction ∈ [ -1,1 [ ]]，qThe instructions of the front wheel steering engine are distributed according to the stroke of the front wheel steering engine,q＝Kq r，
PLfor front wheel steering engine left-hand deflection maximum angle, PRThe steering engine is turned to the front wheel by the maximum right-hand deflection angle.
The invention has the following beneficial effects:
1. the launching vehicle can adopt two control modes of automatic control and manual control, can flexibly adjust the control logic of the launching vehicle according to the take-off performance of the unmanned aerial vehicle to be launched, and can adapt to the launching requirements of unmanned aerial vehicles of different models
2. The landing gear related to the launching vehicle only needs to slide on the ground, so that a drop test is not needed, and the design and manufacturing cost of the landing gear is low;
3. the launching system can install a plurality of unmanned aerial vehicles through the extension installation positions, and adapt to launching and lifting of a plurality of unmanned aerial vehicles at different speeds of one-time running through adjustment of launching logic, so that the multi-frame isomorphic/heterogeneous unmanned aerial vehicles can be launched quickly in one-time running, and the emergency deployment capability of the unmanned aerial vehicles can be greatly improved;
drawings
Fig. 1 is an electrical schematic diagram of a ground launching system of a fixed-wing drone according to the present invention.
Fig. 2 is a schematic control logic diagram of a control method of a ground launching system of a fixed-wing unmanned aerial vehicle according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
A ground launching system of a fixed-wing unmanned aerial vehicle comprises a finger control subsystem and a launching vehicle subsystem.
The finger control subsystem comprises a ground control station, and the ground control station is respectively connected with a GPS RTK base station, a radio station ground end and a remote controller.
The launching vehicle sub-system comprises a launching vehicle frame, a power system and a launching vehicle control subsystem;
the launching vehicle frame comprises a vehicle body frame, and a front three-point undercarriage is fixedly connected to the vehicle body frame;
the transmitting vehicle control subsystem comprises a transmitting vehicle controller, the input end of the transmitting vehicle controller is respectively connected with a radio station vehicle-mounted end, a double-antenna differential GPS and a receiver, the output end of the transmitting vehicle controller is sequentially connected with a steering engine controller, a rudder steering engine, a differential brake control steering engine and a front wheel steering engine, and the transmitting vehicle controller is further connected with a power system.
The nose wheel steering engine is installed on a nose landing gear, the differential braking steering engine is installed on a main landing gear, the rudder deviation rectifying steering engine is installed in a tail of the rear portion of an unmanned aerial vehicle body, and a locking and releasing device of the unmanned aerial vehicle is further installed on a launching vehicle frame.
The radio station ground end and the radio station vehicle-mounted end are in communication connection through wireless signals, and the remote controller and the receiver are in communication connection through wireless signals.
A control method of a ground launching system of a fixed-wing unmanned aerial vehicle adopts the ground launching system of the fixed-wing unmanned aerial vehicle; the method specifically comprises the following steps:
step 1, a ground station binds parameters of a launching vehicle controller through a display control interface, and binds starting point longitude and latitude, end point longitude and latitude, course, runway width, runway length and takeoff speed of an unmanned aerial vehicle to be launched;
step 2, completing the installation and fixation of the unmanned aerial vehicle to be launched on the launching vehicle;
step 3, after the system is prepared, the ground station sends a takeoff instruction, the launching vehicle automatically takes off logic, speed closed loop is carried out according to the speed instruction, and a control accelerator is given; meanwhile, a deviation rectifying logic is introduced to control the distance of the launching vehicle from the central line of the runway, and the launching vehicle is kept in accelerated running in the middle of the runway;
step 4, with the acceleration of the launching vehicle in the step 3, when different speeds are reached, the unmanned aerial vehicle adaptive to the speeds is launched, the launched unmanned aerial vehicle finishes launching and enters the air logic, so that the unmanned aerial vehicles with different takeoff speeds are sent by the same launching vehicle;
step 5, after all the takeoff tasks of the unmanned aerial vehicle are completed, the launching vehicle controls to close the engine, meanwhile, the launching vehicle enters a braking logic to enable the speed of the launching vehicle to gradually decrease to zero, and in the process, the launching vehicle controller is always in a deviation rectifying logic to keep the launching vehicle in the middle of the runway to run in an accelerated manner;
and 6, after the launching vehicle stops, triggering a manual control command by the ground station, controlling the speed and the course of the launching vehicle by a ground operator through a ground remote controller, and controlling the launching vehicle to slide back to the starting point to finish the withdrawing of the launching vehicle.
The runway parameters in the step 1 specifically comprise starting point longitude and latitude, end point longitude and latitude, course, width and length of the runway.
The automatic control method in the step 3 specifically comprises the following steps:
giving an accelerator instruction of the launching vehicle according to the deviation of the actual speed and the speed instruction, thereby ensuring that the launching vehicle slides forwards at a specified speed;
speed control:T＝Kvp(Vc-V)+Kvi∫(Vc-V) dt, wherein Kvp、KviProportional integral coefficient for speed control, V is GPS measured running speed, VcIs a run speed command.
The deviation rectifying control method in the step 3 specifically comprises the following steps:
wherein Y is the offset distance of the launching vehicle from the center line of the runway, and Y is the distance between the launching vehicle and the center line of the runwaygA sidesway distance command for the launching vehicle to deviate from the center line of the runway is normally set to zero;
proportional control coefficients from the yaw distance to the yaw speed command; r is the transmitted vehicle yaw rate signal measured by the yaw rate gyro,
for yaw damping coefficient, psigIs a yaw angle command, is a runway heading, psi is a transmitted vehicle heading measured by the dual antenna GPS,
the scaling factor is controlled for the yaw rate,
the integration coefficient is controlled for the yaw rate,
for the yaw rate command calculated from the yaw rate,
is the yaw rate information calculated from the dual antenna GPS.
The manual control method in the step 6 specifically comprises the following steps:
speed control:Taccelerator proportional command ∈ [0,1]，TProviding a power system command;
deviation rectification control:rdeviation correction ratio instruction ∈ [ -1,1 [ ]]，qThe instructions of the front wheel steering engine are distributed according to the stroke of the front wheel steering engine,q＝Kq r，
PLfor front wheel steering engine left-hand deflection maximum angle, PRThe steering engine is turned to the front wheel by the maximum right-hand deflection angle.
The finger control subsystem comprises a ground station, a GPS RTK base station, a platform ground end and a remote controller. Wherein the content of the first and second substances,
the ground station adopts a portable ruggedized computer, and is provided with data receiving, sending and storing software, display and control software and RTK correction information receiving and forwarding software.
The GPS RTK base station is ground supporting equipment of a carrier phase differential GPS, the base station collects carrier phase information and simultaneously sends the carrier phase information to an airborne receiver and a vehicle-mounted receiver for difference calculation and coordinate calculation, positioning data with centimeter-level positioning accuracy can be obtained in real time, and the vehicle-mounted dual-antenna GPS and the airborne GPS share one GPS RTK base station.
The radio station ground end and the radio station vehicle-mounted end form a wireless communication channel for receiving and transmitting ground station remote control information and vehicle-mounted remote measurement information;
the remote controller is used for realizing the control of the speed and the course/route of the launching vehicle by a ground manipulator in a manual mode.
As shown in fig. 1, the launching vehicle subsystem comprises a radio vehicle-mounted end, a receiver, a launching vehicle body frame, a front three-point undercarriage, a power system, a locking and releasing device, a launching vehicle controller, a dual-antenna GPS, a front wheel steering engine, a rudder deviation rectifying steering engine, a differential brake steering engine L and a differential brake steering engine R.
The radio station vehicle-mounted end and the radio station ground end form a wireless communication channel for receiving and transmitting ground station remote control information and vehicle-mounted remote measurement information;
the receiver is used for receiving an accelerator instruction, a turning instruction and a deviation rectifying instruction sent by the ground remote controller.
The front three-point undercarriage adopts a conventional front three-point undercarriage, is provided with a front wheel steering engine and a rear wheel differential braking steering engine, and can be used for fixing a single or multiple unmanned aerial vehicles according to the upper assembly with proper aerodynamic appearance in structural arrangement.
The power system is adapted according to the weight of the unmanned aerial vehicle to be launched, the ground clearance speed and the airport runway;
the locking and releasing device is used for fixing the unmanned aerial vehicle in the takeoff acceleration process and releasing the unmanned aerial vehicle after the unmanned aerial vehicle reaches the speed;
the launching vehicle is provided with a double-antenna GPS for measuring the sliding speed, the course and the lateral deviation distance from the center line of an airport, and a yaw rate gyroscope for measuring the yaw rate of the launching vehicle is arranged for increasing the deviation rectifying damping.
In order to realize the deviation rectifying control of the sliding, the front wheel turning and the differential braking are used for rectifying deviation, the front wheel turning is used for rectifying deviation at low speed, and the differential braking is used for rectifying deviation at high speed.
The launching vehicle controller is used for realizing the logic control functions of automatic take-off and manual take-off; the main functions are speed control and deviation correction control.
The specific relationship is as follows:
the launching vehicle frame is formed by a launching vehicle body frame, a front three-point undercarriage and a power system, other modules are arranged on the launching vehicle, a front wheel turning steering engine is arranged on the front undercarriage, a differential brake steering engine L and a differential brake steering engine R are arranged on a main undercarriage, a rudder deviation rectifying steering engine is arranged in a tail, and a locking and releasing device is arranged on the launching vehicle frame.
Example (b):
the taking-off process of the three heterogeneous aircrafts comprises the following steps:
the present embodiment considers three types of unmanned aerial vehicles UAV1, UAV2, UAV3, with takeoff speeds V, respectively1、V2、V3And V is1＜V2＜V3；
1. And the ground station binds parameters of the launching vehicle controller through a display control interface, and binds runway parameters (course, length) and take-off speed.
2. Reasonably configuring flight control of the unmanned aerial vehicle, enabling the unmanned aerial vehicle to enter air logic after being released respectively, and completing installation and fixation;
3. after the system is prepared, the ground station sends a takeoff instruction, as shown in fig. 2, the launching vehicle enters an automatic takeoff logic according to an automatic control logic, an accelerator is controlled according to a speed instruction, and a speed curve is a slope curve; meanwhile, a deviation rectifying logic is introduced to control the lateral offset distance so as to keep the launching vehicle accelerated in the middle of the runway.
4. When the speed reaches V1When the unmanned aerial vehicle takes off, the UAV1 is released, the UAV leaves the launching vehicle, and the UAV enters the air logic to finish takeoff; when the speed reaches V2When the unmanned aerial vehicle takes off, the UAV2 is released, the UAV leaves the launching vehicle, and the UAV enters the air logic to finish takeoff; when the speed reaches V3When the unmanned aerial vehicle takes off, the UAV3 is released, the UAV leaves the launching vehicle, and the UAV enters the air logic to finish takeoff;
5. after the takeoff is finished, the launching vehicle controls to close the engine, and simultaneously enters a braking logic to gradually reduce the speed of the launching vehicle to zero;
6. after the launching vehicle stops, the ground station triggers a manual control command, and the ground manipulator controls the launching vehicle to slide back to the starting point to complete the takeoff process.
The transmitting system adopts a plurality of control modes, is flexible to use and can adapt to various transmitting requirements; the landing gear does not need to carry out a drop test, and the lightweight design does not need to be considered, so that the period is shortened, and the cost is reduced; the loading and control logic parameters of the launch vehicle can be flexibly adjusted according to the launch unmanned aerial vehicle; can promote power, realize many/heterogeneous unmanned aerial vehicle's quick transmission, the unmanned aerial vehicle formation of being convenient for flies.
Claims (10)
1. The utility model provides a fixed wing unmanned aerial vehicle ground transmitting system which characterized in that: the system comprises a command control subsystem and a transmitting vehicle subsystem.
2. The ground launching system of a fixed-wing drone of claim 1, wherein: the finger control subsystem comprises a ground station, and the ground station is respectively connected with a GPS RTK base station, a radio station ground end and a remote controller.
3. The ground launching system of a fixed-wing drone of claim 2, characterized in that: the launching vehicle subsystem comprises a launching vehicle frame, a power system and a launching vehicle control subsystem;
the launching vehicle frame comprises a vehicle body frame, and a front three-point undercarriage is fixedly connected to the vehicle body frame;
the transmitting vehicle control subsystem comprises a transmitting vehicle controller, the input end of the transmitting vehicle controller is respectively connected with a radio station vehicle-mounted end, a double-antenna differential GPS and a receiver, the output end of the transmitting vehicle controller is sequentially connected with a steering engine controller, a rudder steering engine, a differential brake control steering engine and a front wheel steering engine, and the transmitting vehicle controller is further connected with a power system.
4. The ground launching system of a fixed-wing drone of claim 3, wherein:
the nose wheel steering engine is installed on a nose landing gear, the differential braking steering engine is installed on a main landing gear, the rudder deviation rectifying steering engine is installed in a tail of the rear portion of an unmanned aerial vehicle body, and a locking and releasing device of the unmanned aerial vehicle is further installed on a launching vehicle frame.
5. The ground launching system of a fixed-wing drone of claim 3, wherein: the radio station ground end and the radio station vehicle-mounted end are in communication connection through wireless signals, and the remote controller and the receiver are in communication connection through wireless signals.
6. A control method of a ground launching system of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps: a ground launching system of a fixed-wing unmanned aerial vehicle is adopted; the method specifically comprises the following steps:
step 1, a ground station binds parameters of a launching vehicle controller through a display control interface, and binds starting point longitude and latitude, end point longitude and latitude, course, runway width, runway length and takeoff speed of an unmanned aerial vehicle to be launched;
step 2, completing the installation and fixation of the unmanned aerial vehicle to be launched on the launching vehicle;
step 3, after the system is prepared, the ground station sends a takeoff instruction, the launching vehicle automatically takes off logic, speed closed loop is carried out according to the speed instruction, and a control accelerator is given; meanwhile, a deviation rectifying logic is introduced to control the distance of the launching vehicle from the central line of the runway, and the launching vehicle is kept in accelerated running in the middle of the runway;
step 4, with the acceleration of the launching vehicle in the step 3, when different speeds are reached, the unmanned aerial vehicle with the adaptive speed is launched, the launched unmanned aerial vehicle finishes launching and enters the air logic, so that the unmanned aerial vehicles with different takeoff speeds are sent by the same launching vehicle;
step 5, after all the takeoff tasks of the unmanned aerial vehicle are completed, the launching vehicle controls to close the engine, and meanwhile, the launching vehicle enters a braking logic to gradually reduce the speed to zero;
and 6, after the launching vehicle stops, triggering a manual control command by the ground station, controlling the speed and the course of the launching vehicle by a ground operator through a ground remote controller, controlling and controlling the launching vehicle to slide back to the starting point, and finishing the withdrawing and taking-off process of the launching vehicle.
7. The method of claim 6, wherein the method comprises: the runway parameters in the step 1 specifically comprise starting point longitude and latitude, ending point longitude and latitude, course, width and length of the runway.
8. The method of claim 6, wherein the method comprises: the automatic control method in the step 3 specifically comprises the following steps:
giving an accelerator instruction of the launching vehicle according to the deviation of the actual speed and the speed instruction, thereby ensuring that the launching vehicle slides forwards at a specified speed;
speed control:T＝Kvp(Vc-V)+Kvi∫(Vc-V) dt, wherein Kvp、KviProportional integral coefficient for speed control, V is GPS measured running speed, VcIs a run speed command.
9. The method of claim 7, wherein the method comprises: the deviation rectifying control method in the step 3 specifically comprises the following steps:
wherein Y is the offset distance of the launching vehicle from the center line of the runway, and Y is the distance between the launching vehicle and the center line of the runwaygA sidesway distance command for the launching vehicle to deviate from the center line of the runway is normally set to zero;
proportional control coefficients from the yaw distance to the yaw speed command; r is the transmitted vehicle yaw rate signal measured by the yaw rate gyro,
for yaw damping coefficient, psigIs a yaw angle command, is a runway heading, psi is a transmitted vehicle heading measured by the dual antenna GPS,
the scaling factor is controlled for the yaw rate,
the integration coefficient is controlled for the yaw rate,
for the yaw rate command calculated from the yaw rate,
is the yaw rate information calculated from the dual antenna GPS.
10. The method of claim 7, wherein the method comprises: the manual control method in the step 6 specifically comprises the following steps:
speed control:Taccelerator proportional command ∈ [0,1]，TProviding a power system command;
deviation rectification control:rdeviation correction ratio instruction ∈ [ -1,1 [ ]]，qThe instructions of the front wheel steering engine are distributed according to the stroke of the front wheel steering engine,q＝Kq r，
PLfor front wheel steering engine left-hand deflection maximum angle, PRThe steering engine is turned to the front wheel by the maximum right-hand deflection angle.
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| CN107161354A (en) * | 2017-04-28 | 2017-09-15 | 西北工业大学 | A kind of high aspect ratio solar energy unmanned plane is without undercarriage landing system |
| CN110262549A (en) * | 2019-06-24 | 2019-09-20 | 亿航智能设备（广州）有限公司 | A kind of fixed-wing unmanned plane and its ground taxi control method, storage medium |
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