CN111427372A - Anti-reverse repeated oscillation method for aircraft - Google Patents
Anti-reverse repeated oscillation method for aircraft Download PDFInfo
- Publication number
- CN111427372A CN111427372A CN202010138091.0A CN202010138091A CN111427372A CN 111427372 A CN111427372 A CN 111427372A CN 202010138091 A CN202010138091 A CN 202010138091A CN 111427372 A CN111427372 A CN 111427372A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- threshold value
- blade
- weight
- standard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
- B64D31/02—Initiating means
- B64D31/06—Initiating means actuated automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
Abstract
The invention discloses an aircraft anti-reverse repeated oscillation method, which comprises the following steps: detecting the weight of the aircraft load, calculating to obtain a standard accelerator threshold value of each blade, placing the aircraft at an appointed position, starting the blades to enable the accelerator to gradually reach the standard accelerator threshold value of the blades, reducing the sensitivity of the gyroscope and the accelerator threshold value when the aircraft is inclined, and adjusting the accelerator threshold value of the blades according to the inclination direction to balance the aircraft. According to the aircraft anti-back-shaking method, firstly, the gravity sensor is arranged at the bottom end of the aircraft, the weight of a load object of the aircraft can be detected, and the required lowest lifting force is calculated, so that the basic balance of the aircraft can be kept when the aircraft is not controlled, secondly, the high-frequency blade threshold value adjustment of the gyroscope can be avoided by reducing the sensitivity of the gyroscope, the repeated shaking condition can be adjusted, and secondly, the gravity sensor is matched with the standard throttle threshold value for use, so that the balance of the aircraft can be adjusted more stably.
Description
Technical Field
The invention relates to the technical field of aircraft control, in particular to an anti-reverse-oscillation method for an aircraft.
Background
The transfer functions researched by the automatic control theory are all based on a linear time-invariant system, the response of the linear time-invariant system to any input signal is researched, although a PID algorithm is a reliable and effective control algorithm, for the multi-rotor unmanned aerial vehicle, due to the problems of complexity of a dynamic model, uncertainty of model parameters, inaccuracy of modeling and the like, a satisfactory flight effect is obtained in a laboratory through repeated parameter adjustment, but due to the influences of factors such as a mould, a material, a structure and outdoor weather, a satisfactory control attitude effect is still difficult to obtain, and therefore, an anti-repetitive oscillation preventing method for the aircraft is provided.
Disclosure of Invention
The invention mainly aims to provide an aircraft repeated oscillation prevention method which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
an aircraft anti-reverse repeated oscillation method comprises the following steps:
(1) and (3) weight detection: detecting the weight of the aircraft, inputting the weight of the aircraft into the aircraft, and calculating to obtain a standard accelerator threshold value of each blade;
(2) flight control: placing the aircraft at a designated position, and starting the paddle to enable the accelerator to gradually reach a standard accelerator threshold value of the paddle;
(3) oscillation adjustment: and when the gyroscope is inclined, the sensitivity and the throttle threshold value of the gyroscope are reduced, and the throttle threshold value of the paddle is adjusted according to the inclination direction to achieve balance.
2. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in the step (1), a gravity sensor is arranged at the bottom end of the aircraft, a hook is arranged at the bottom end of the gravity sensor, and when the weight of the load is detected, the load is installed on the hook, and then the weight of the load is detected.
Preferably, in step (1), the calculation of the standard throttle threshold includes the following steps:
(1.1) detecting the self weight of the aircraft;
(1.2) placing the aircraft into a room, after the aircraft is stably suspended at a specified height, detecting the threshold value of each blade during rotation;
and (1.3) distributing the weight of the load to each blade according to the size proportion of the threshold value of each blade, and calculating the standard accelerator threshold value of the lifting force required by each blade.
Preferably, in step (3), the throttle threshold is decreased: the throttle threshold of each blade is reduced to the standard throttle threshold.
Preferably, in step (3), the tilt direction is adjusted by: when the gyroscope detects that the aircraft inclines, the rotating speed of the blade on the upward side of the aircraft is reduced, the rotating speed of the blade on the downward side of the aircraft is increased, the lifting force reduced when the rotating speed of the upward side of the aircraft is reduced is equal to the lifting force increased when the rotating speed of the downward side of the aircraft is increased, and the throttle threshold values when the blades are reduced and increased are adjusted on the basis of the standard throttle threshold values.
Preferably, in step (3), the gyroscope is sensitive such that it is not detected when tilted within the range of-5 ° to 5 °.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the weight of an aircraft load article can be detected by arranging the gravity sensor at the bottom end of the aircraft, and then the lowest lifting force required by the aircraft during loading is calculated according to the lifting force proportion provided by each blade when the aircraft is kept balanced, so that the basic balance of the aircraft can be kept when the aircraft is not controlled;
secondly, through reducing the sensitivity of gyroscope, not only can avoid the high frequency paddle threshold of gyroscope to adjust, can avoid shaking repeatedly of aircraft simultaneously, secondly, use with the cooperation of standard throttle threshold, the balance of regulation aircraft that can be more steady.
Drawings
FIG. 1 is a block diagram of the overall structure of a method for preventing the aircraft from reverse oscillation.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example 1
As shown in fig. 1, an aircraft anti-back-oscillation method includes the following steps:
(1) and (3) weight detection: detecting the weight of a load of an aircraft, arranging a gravity sensor at the bottom end of the aircraft, arranging a hook at the bottom end of the gravity sensor, mounting the load on the hook when detecting the weight of the load, inputting the weight of the load into the aircraft, and calculating to obtain a standard throttle threshold value of each blade, wherein the calculation of the standard throttle threshold value comprises the following steps:
(1.1) detecting the self weight of the aircraft;
(1.2) placing the aircraft into a room, after the aircraft is stably suspended at a specified height, detecting the threshold value of each blade during rotation;
(1.3) distributing the weight of the load to each blade according to the size proportion of the threshold value of each blade, and calculating the standard accelerator threshold value of the lifting force required by each blade;
(2) flight control: placing the aircraft at a designated position, and starting the paddle to enable the accelerator to gradually reach a standard accelerator threshold value of the paddle;
(3) oscillation adjustment: when inclining, reduce throttle threshold, throttle threshold reduces: reducing the throttle threshold value of each blade to a standard throttle threshold value, and adjusting the throttle threshold value of the blade according to the inclination direction to balance the blade, wherein the inclination direction is adjusted: when the gyroscope detects that the aircraft inclines, the rotating speed of the blade on the upward side of the aircraft is reduced, the rotating speed of the blade on the downward side of the aircraft is increased, the lifting force reduced when the rotating speed of the upward side of the aircraft is reduced is equal to the lifting force increased when the rotating speed of the downward side of the aircraft is increased, and the throttle threshold values when the blades are reduced and increased are adjusted on the basis of the standard throttle threshold values.
Example 2
As shown in fig. 1, an aircraft anti-back-oscillation method includes the following steps:
(1) and (3) weight detection: detecting the weight of a load of an aircraft, arranging a gravity sensor at the bottom end of the aircraft, arranging a hook at the bottom end of the gravity sensor, mounting the load on the hook when detecting the weight of the load, inputting the weight of the load into the aircraft, and calculating to obtain a standard throttle threshold value of each blade, wherein the calculation of the standard throttle threshold value comprises the following steps:
(1.1) detecting the self weight of the aircraft;
(1.2) placing the aircraft into a room, after the aircraft is stably suspended at a specified height, detecting the threshold value of each blade during rotation;
(1.3) distributing the weight of the load to each blade according to the size proportion of the threshold value of each blade, and calculating the standard accelerator threshold value of the lifting force required by each blade;
(2) flight control: placing the aircraft at a designated position, and starting the paddle to enable the accelerator to gradually reach a standard accelerator threshold value of the paddle;
(3) oscillation adjustment: during the slope, reduce gyroscope sensitivity and throttle threshold, the throttle threshold reduces: the throttle threshold value of each blade is reduced to a standard throttle threshold value, the sensitivity of a gyroscope is ensured to be not detected in the range of inclination of-3 degrees to 3 degrees, the throttle threshold value of the blade is adjusted according to the inclination direction to achieve balance, and the inclination direction is adjusted: when the gyroscope detects that the aircraft inclines, the rotating speed of the blade on the upward side of the aircraft is reduced, the rotating speed of the blade on the downward side of the aircraft is increased, the lifting force reduced when the rotating speed of the upward side of the aircraft is reduced is equal to the lifting force increased when the rotating speed of the downward side of the aircraft is increased, and the throttle threshold values when the blades are reduced and increased are adjusted on the basis of the standard throttle threshold values.
Example 3
As shown in fig. 1, an aircraft anti-back-oscillation method includes the following steps:
(1) and (3) weight detection: detecting the weight of a load of an aircraft, arranging a gravity sensor at the bottom end of the aircraft, arranging a hook at the bottom end of the gravity sensor, mounting the load on the hook when detecting the weight of the load, inputting the weight of the load into the aircraft, and calculating to obtain a standard throttle threshold value of each blade, wherein the calculation of the standard throttle threshold value comprises the following steps:
(1.1) detecting the self weight of the aircraft;
(1.2) placing the aircraft into a room, after the aircraft is stably suspended at a specified height, detecting the threshold value of each blade during rotation;
(1.3) distributing the weight of the load to each blade according to the size proportion of the threshold value of each blade, and calculating the standard accelerator threshold value of the lifting force required by each blade;
(2) flight control: placing the aircraft at a designated position, and starting the paddle to enable the accelerator to gradually reach a standard accelerator threshold value of the paddle;
(3) oscillation adjustment: during the slope, reduce gyroscope sensitivity and throttle threshold, the throttle threshold reduces: the throttle threshold value of each blade is reduced to a standard throttle threshold value, the sensitivity of a gyroscope is ensured to be not detected in the range of inclination of-5 degrees to 5 degrees, the throttle threshold value of the blade is adjusted according to the inclination direction to achieve balance, and the inclination direction is adjusted: when the gyroscope detects that the aircraft inclines, the rotating speed of the blade on the upward side of the aircraft is reduced, the rotating speed of the blade on the downward side of the aircraft is increased, the lifting force reduced when the rotating speed of the upward side of the aircraft is reduced is equal to the lifting force increased when the rotating speed of the downward side of the aircraft is increased, and the throttle threshold values when the blades are reduced and increased are adjusted on the basis of the standard throttle threshold values.
In table 1, in the case that the embodiments 1 to 3 are all different gyroscopes, the gradually changing wind with the wind speed of 20 to 40km/h is applied by using the fan, and the gradually changing wind stops once every 1min and directly faces the bottom of the aerocraft, the shaking times per minute and the offset distance are detected, and the test results are as follows:
as can be seen from the experimental data in Table 1, the method for preventing the aircraft from reversely oscillating of the invention continuously reduces the oscillation frequency and the offset distance of the aircraft along with the increase of the sensitivity stopping detection range of the gyroscope, because if the sensitivity of the gyroscope is higher, when the aircraft is inclined in a small amplitude, the gyroscope needs to control the change of the throttle threshold value of the paddle to enable the aircraft to return to normal, when the aircraft is influenced by a certain external force, the aircraft can oscillate, and the overshoot of the throttle threshold value is too large, so that the aircraft needs to be reversely adjusted, the forward and reverse direction adjustment of the aircraft occurs, the phenomenon of repeated oscillation occurs, but along with the continuous increase of the sensitivity of the gyroscope, the offset distance of the aircraft is also continuously increased, the flight balance of the fixed position of the aircraft cannot be maintained, because the detection sensitivity of the aircraft is reduced, when the aircraft is slightly inclined, the balance cannot be adjusted in time, so that the aircraft moves in the pitch direction, resulting in an increasing offset distance, and it can be seen from table 1 that embodiment 2 is the optimal choice.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An aircraft anti-reverse oscillation method is characterized by comprising the following steps:
(1) and (3) weight detection: detecting the weight of the aircraft, inputting the weight of the aircraft into the aircraft, and calculating to obtain a standard accelerator threshold value of each blade;
(2) flight control: placing the aircraft at a designated position, and starting the paddle to enable the accelerator to gradually reach a standard accelerator threshold value of the paddle;
(3) oscillation adjustment: and when the gyroscope is inclined, the sensitivity and the throttle threshold value of the gyroscope are reduced, and the throttle threshold value of the paddle is adjusted according to the inclination direction to achieve balance.
2. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in the step (1), a gravity sensor is arranged at the bottom end of the aircraft, a hook is arranged at the bottom end of the gravity sensor, and when the weight of the load is detected, the load is installed on the hook, and then the weight of the load is detected.
3. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in step (1), the calculation of the standard throttle threshold value includes the following steps:
(1.1) detecting the self weight of the aircraft;
(1.2) placing the aircraft into a room, after the aircraft is stably suspended at a specified height, detecting the threshold value of each blade during rotation;
and (1.3) distributing the weight of the load to each blade according to the size proportion of the threshold value of each blade, and calculating the standard accelerator threshold value of the lifting force required by each blade.
4. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in the step (3), the throttle threshold is reduced: the throttle threshold of each blade is reduced to the standard throttle threshold.
5. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in the step (3), the inclination direction is adjusted: when the gyroscope detects that the aircraft inclines, the rotating speed of the blade on the upward side of the aircraft is reduced, the rotating speed of the blade on the downward side of the aircraft is increased, the lifting force reduced when the rotating speed of the upward side of the aircraft is reduced is equal to the lifting force increased when the rotating speed of the downward side of the aircraft is increased, and the throttle threshold values when the blades are reduced and increased are adjusted on the basis of the standard throttle threshold values.
6. The aircraft anti-back-oscillation method according to claim 1, characterized in that: in the step (3), the sensitivity of the gyroscope is ensured to be not detected in the range of inclination of-5 degrees to 5 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138091.0A CN111427372A (en) | 2020-03-03 | 2020-03-03 | Anti-reverse repeated oscillation method for aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138091.0A CN111427372A (en) | 2020-03-03 | 2020-03-03 | Anti-reverse repeated oscillation method for aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111427372A true CN111427372A (en) | 2020-07-17 |
Family
ID=71546202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010138091.0A Pending CN111427372A (en) | 2020-03-03 | 2020-03-03 | Anti-reverse repeated oscillation method for aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111427372A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004053396A (en) * | 2002-07-19 | 2004-02-19 | Matsushita Electric Ind Co Ltd | Angular velocity sensor and car using it |
| CN101634612A (en) * | 2009-08-21 | 2010-01-27 | 北京航空航天大学 | Method for determining long-endurance flight parameter of unmanned plane |
| CN205808422U (en) * | 2016-03-08 | 2016-12-14 | 北京精英智通科技股份有限公司 | A kind of attitude sensing device |
| CN106325287A (en) * | 2015-06-14 | 2017-01-11 | 复旦大学 | Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection |
| CN106647802A (en) * | 2016-11-23 | 2017-05-10 | 上海圣尧智能科技有限公司 | Vertical take-off unmanned aerial vehicle auxiliary take-off system |
| CN108253936A (en) * | 2018-01-04 | 2018-07-06 | 南京航空航天大学 | A kind of unmanned plane target localization method for reducing optical axis and being directed toward random error |
| CN110325939A (en) * | 2017-03-09 | 2019-10-11 | 深圳市大疆创新科技有限公司 | System and method for operating unmanned vehicle |
| CN217753979U (en) * | 2022-04-16 | 2022-11-08 | 浙江莫里尼机车有限公司 | Traction control system of motorcycle |
-
2020
- 2020-03-03 CN CN202010138091.0A patent/CN111427372A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004053396A (en) * | 2002-07-19 | 2004-02-19 | Matsushita Electric Ind Co Ltd | Angular velocity sensor and car using it |
| CN101634612A (en) * | 2009-08-21 | 2010-01-27 | 北京航空航天大学 | Method for determining long-endurance flight parameter of unmanned plane |
| CN106325287A (en) * | 2015-06-14 | 2017-01-11 | 复旦大学 | Intelligent mower straight line walking control system based on inertial/magnetic sensor MARG attitude detection |
| CN205808422U (en) * | 2016-03-08 | 2016-12-14 | 北京精英智通科技股份有限公司 | A kind of attitude sensing device |
| CN106647802A (en) * | 2016-11-23 | 2017-05-10 | 上海圣尧智能科技有限公司 | Vertical take-off unmanned aerial vehicle auxiliary take-off system |
| CN110325939A (en) * | 2017-03-09 | 2019-10-11 | 深圳市大疆创新科技有限公司 | System and method for operating unmanned vehicle |
| US20200019189A1 (en) * | 2017-03-09 | 2020-01-16 | SZ DJI Technology Co., Ltd. | Systems and methods for operating unmanned aerial vehicle |
| CN108253936A (en) * | 2018-01-04 | 2018-07-06 | 南京航空航天大学 | A kind of unmanned plane target localization method for reducing optical axis and being directed toward random error |
| CN217753979U (en) * | 2022-04-16 | 2022-11-08 | 浙江莫里尼机车有限公司 | Traction control system of motorcycle |
Non-Patent Citations (3)
| Title |
|---|
| 刘炜: "基于自适应末端滑膜控制的无人机抖振抑制方法", pages 19 - 24 * |
| 叶树球;詹林;: "基于PID的四旋翼飞行器姿态控制系统", 计算机与现代化, no. 05, pages 117 - 120 * |
| 林峰: "四旋翼无人机航拍云台的控制系统设计", pages 55 - 60 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106292699B (en) | The method, apparatus and unmanned plane that unmanned plane flies imitatively | |
| CN109720553B (en) | Fixed-wing unmanned aerial vehicle with vertical take-off and landing function, control method and medium | |
| WO2018086030A1 (en) | Landing control method and device for unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN108475069B (en) | Control method of agricultural unmanned aerial vehicle, flight controller and agricultural unmanned aerial vehicle | |
| CN104653393B (en) | Method and system for shutting down a wind turbine | |
| CN106970531B (en) | Method for determining mode conversion control strategy of tilt wing vertical take-off and landing unmanned aerial vehicle | |
| US20190277255A1 (en) | Control system for a floating wind turbine structure | |
| CN104898429A (en) | Tri-rotor attitude control method based on auto-disturbance rejection controller | |
| CN106843245A (en) | A kind of UAV Attitude control method, device and unmanned plane | |
| CN108549208A (en) | A kind of quadrotor attitude control method based on factor adaptive fuzzy | |
| AU2009238195B2 (en) | Control system for a windmill kite | |
| EP0115401B1 (en) | Airspeed control for aircraft | |
| Huang et al. | Robust vertical takeoff and landing aircraft control via integral sliding mode | |
| WO2018133588A1 (en) | Flight vehicle and control method thereof | |
| CN109074088B (en) | State detection method and device for unmanned aerial vehicle and unmanned aerial vehicle | |
| CN113110588A (en) | Unmanned aerial vehicle formation and flying method thereof | |
| CN111427372A (en) | Anti-reverse repeated oscillation method for aircraft | |
| CN208384428U (en) | Stable turntable system based on reversed bit shift compensation | |
| CN110714881A (en) | Wind turbine performance prediction control method and device | |
| CN108319283A (en) | Flying vehicles control method and aircraft | |
| CN109080817B (en) | Landing method using unmanned aerial vehicle | |
| CN108279562A (en) | A kind of flight mechanical arm based on sliding formwork PID control | |
| KR20160150496A (en) | Drone | |
| CN112874760B (en) | Aircraft and aircraft control method | |
| Hsieh et al. | Research and analysis on flight stability improvement of the quadcopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |