CN111452964A - Method for enhancing double-rotor pitching control by adopting airborne space distribution flow sensing - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
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Abstract
The invention provides a method for enhancing double-rotor pitching control by adopting airborne space distribution flow sensing, wherein when an aircraft flies, a microcontroller measures and calculates the air flow velocity component of a transverse axis where double rotors are located through an airspeed detector; in the method, a microcontroller is provided
Is an inertial frame of reference and is,
for a coordinate system of a machine body, the establishment of an introduced air flow velocity componentThe dual-rotor pitching dynamics model is used for establishing and simplifying a motion equation according to the dual-rotor pitching dynamics model, meanwhile, a state space expression is established according to the simplified motion equation, and the dual rotors are controlled by nonlinear feedback so as to control the pitching attitude of the aircraft at the position of the transverse axis where the dual rotors are located; according to the invention, the airspeed detector is arranged on the small unmanned rotor aircraft, so that the rotor pitching control capability of the small unmanned rotor aircraft can be enhanced, and the airborne measurement data can be utilized to quickly react to constantly changing wind conditions, thereby providing the gust suppression capability.
Description
Technical Field
The invention relates to the field of attitude control of small-sized rotor crafts, in particular to a method for enhancing double-rotor pitching control by adopting airborne space distribution flow sensing.
Background
Small, unmanned rotorcraft have recently begun to be used for a wide variety of purposes in the public domain, but their mass is so small that they are particularly susceptible to wind disturbances and other extraneous currents such as gusts, and the use of independent rotors to provide lift and control moments for a multi-rotor helicopter provides a vertical flight platform that is simple and effective in mechanical control for researchers.
Unlike natural aircraft that rely on flow sensors for flight control, the instrumentation of the drone system focuses on inertial measurements, whereas the flow probes of conventional aircraft can provide measurements of air data, such as airspeed, angle of attack, and sideslip angle, with success in fixed-wing flight and turbulence reduction applications under conventional conditions. These successful points of technology may provide fundamental capabilities for higher-level testing in areas such as cooperative control of fixed-wing and rotary-wing aircraft. For example, at the level of the path planning of the aircraft, the information provided by the onboard flow sensors may drive the configuration of the aircraft or make guiding decisions based on flight conditions; however, how to use the onboard flow sensor for attitude control of a multi-rotor aircraft is a research direction.
Disclosure of Invention
The invention provides a method for enhancing double-rotor pitching control by adopting airborne space distribution flow sensing, and the method can strengthen the rotor pitching control capability of a small unmanned rotor craft by arranging an airspeed detector on the small unmanned rotor craft, and can utilize airborne measurement data to quickly react to constantly changing wind conditions, thereby providing gust suppression capability.
The invention adopts the following technical scheme.
A method for enhancing dual rotor pitch control using airborne spatially distributed flow sensing for use with a multi-rotor aircraft, said method comprising computational control of a microcontroller of the aircraft; the double rotors are two rotors symmetrically arranged at the peripheral edges of two sides of the aircraft; the airborne space distribution flow sensing data is provided by an airspeed detector at the airborne space of the aircraft; the airspeed detector is arranged at the center of the rotor craft in the downward viewing direction; when the aircraft flies, the microcontroller measures and calculates the air flow velocity component of the transverse axis where the double rotors are located through the airspeed detector; in the method, the microcontroller sets I ═ O, e1，e2，e3Is an inertial frame of reference, B ═ O, B1，b2，b3And the method is characterized in that a plane coordinate system is introduced, an air flow velocity component is introduced to establish a dual-rotor pitching dynamical model, a motion equation is established and simplified according to the dual-rotor pitching dynamical model, a state space expression is established according to the simplified motion equation, and the dual rotors are controlled by nonlinear feedback to control the pitching attitude of the aircraft at the transverse axis where the dual rotors are located.
When the aircraft flies, the microcontroller measures the air pressure difference of the transverse axis where the double rotors are located through the airspeed detector so as to calculate the velocity component on the axis, and the speed and the attitude of the aircraft are measured through the inertial measurement unit, wherein the airspeed detector comprises two test surfaces facing the two rotors respectively.
Flap angle α when the blades of the dual rotor flapiWhen i is 1, 2;
according to the theorem of angular momentum, the kinetic equation for establishing the dual-rotor pitching kinetic model by introducing the air flow velocity component is
Wherein h is0For the total angular momentum about O, M0Is the total external moment about O, the out-of-plane component of angular momentum being
Where I is the planar moment of inertia about O,
for pitch angle rate, obtain the pitch kinetic equation
Wherein M2 is M0Out-of-plane component of (a);
M2＝MT+MSwherein M isTIs a moment produced by thrust, MSIs the net torque due to bending of the blade structure caused by blade flapping, and MT＝-T1(lcosα1+dsinα1)+T2(lcosα2-dsinα2) (ii) a For each rotor, the blade element momentum theory gives
Wherein
Is the thrust coefficient of the rotor, viInduced speed, w, for the ith rotoriIs the local flow velocity of the ith rotor due to self-movement and external wind, an
Wherein V∞Is along-e1The magnitude of the directional free flow velocity;
waving moment Ms＝-(S1+S2) Assuming that the moment propagated through the fins is proportional to α and Ω squared, i.e.
Wherein KsIs rotor flapping coefficient, and αiIs α1＝kfV∞cosθ，α2＝kf(V∞cosθ-v1sinα1) Wherein k isfIs the thrust coefficient of the rotor;
the motion equation is
Assuming that both rotors are affected by the same free flow and have the same flap angle, the flap angle α of the dual rotors is kfV∞cos θ, where kfIs the flapping coefficient of the rotor, V∞Is free flow velocity along-e1The size of the direction, theta, is a pitch angle, d < 1, α is approximated by a small angle, namely cos α is approximately equal to 1, sin α is approximately equal to α, and let omega be omega1＝Ω+u，Ω2＝Ω-u，v1＝v2＝v，
The simplified equation of motion can be obtained as
Assuming that the rotation rate of the twin rotors is small and neglected
The associated damping term, also assuming that the difference in rotational speed required to generate the control torque is small compared to the hovering rotational speed, i.e. 0(u) < 0(Ω) and 0(u) < 0(Ω u), is further simplified by the formula
Is provided with
The state space expression obtained is
The nonlinear feedback control is based on a formula
While the aircraft is in flight, the microcontroller utilizes the pair V∞cosx2The airborne measurement feedback linearization system obtains the state space expression
And selecting v-Kx in the dual-rotor pitching control, stabilizing the origin of the system in an exponential mode, and taking K as a control gain matrix.
When the aircraft flies in windy environment, microcontroller's flow sensing feedback control can utilize the measured data control rotor operating condition of the airspeed detector who carries, makes quick response to the wind speed that constantly changes in the environment to provide gust suppressive ability for the aircraft.
The invention has the beneficial effects that: the invention provides a new measuring method for ambient environmental conditions for real-time measurement of the flow field around the aircraft as a means for enhancing the traditional inertial sensing and control paradigm of a small-sized rotor aircraft, and provides a new control method according to the method, thereby better controlling the attitude of the rotor aircraft.
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The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic representation of a kinetic model of the present invention;
FIG. 3 is a schematic structural view of the present invention;
in the figure: 1-airspeed detector; 2-double rotor wing; 3-a microcontroller; 4-test surface.
Detailed Description
1-3, a method for enhancing dual rotor pitch control using airborne spatially distributed flow sensing for a multi-rotor aircraft, the method comprising flyingComputational control of the microcontroller 3 of the line former; the double rotors 2 are two rotors symmetrically arranged at the peripheral edges of two sides of the aircraft; the airborne space distribution flow sensing data is provided by an airspeed detector 1 at the airborne space of the aircraft; the airspeed detector is arranged at the center of the rotor craft in the downward viewing direction; when the aircraft flies, the microcontroller measures and calculates the air flow velocity component of the transverse axis where the double rotors are located through the airspeed detector; in the method, the microcontroller sets I ═ O, e1，e2，e3Is an inertial frame of reference, B ═ O, B1，b2，b3And the method is characterized in that a plane coordinate system is introduced, an air flow velocity component is introduced to establish a dual-rotor pitching dynamical model, a motion equation is established and simplified according to the dual-rotor pitching dynamical model, a state space expression is established according to the simplified motion equation, and the dual rotors are controlled by nonlinear feedback to control the pitching attitude of the aircraft at the transverse axis where the dual rotors are located.
When the aircraft flies, the microcontroller measures the air pressure difference of the transverse axis where the double rotors are located through the airspeed probe to calculate the velocity component on the axis, and also measures the velocity and the attitude of the aircraft through the inertial measurement unit, wherein the airspeed probe comprises two test surfaces 4 facing the two rotors respectively.
Flap angle α when the blades of the dual rotor flapiWhen i is 1, 2;
according to the theorem of angular momentum, the kinetic equation for establishing the dual-rotor pitching kinetic model by introducing the air flow velocity component is
Wherein h is0For the total angular momentum about O, M0Is the total external moment about O, the out-of-plane component of angular momentum being
Where I is the planar moment of inertia about O,
for pitch angle rate, obtain the pitch kinetic equation
Wherein M is2Is M0Out-of-plane component of (a);
M2＝MT+MSin which N isTIs a moment produced by thrust, MSIs the net torque due to bending of the blade structure caused by blade flapping, and MT＝-T1(lcosα1+dsinα1)+T2(lcosα2-dsinα2)；
For each rotor, the blade element momentum theory gives
Wherein
Is the thrust coefficient of the rotor, viInduced speed, w, for the ith rotoriIs the local flow velocity of the ith rotor due to self-movement and external wind, an
Wherein V∞Is along-e1The magnitude of the directional free flow velocity;
waving moment MS＝-(S1+S2) Assuming that the moment propagated through the fins is proportional to α and Ω squared, i.e.
Wherein KsIs rotor flapping coefficient, and αiIs α1＝kfV∞cosθ，α2＝kf(V∞cos-v1sinα1) Wherein k isfIs the thrust coefficient of the rotor;
the motion equation is
Assuming that both rotors are affected by the same free flow and have the same flap angle, the flap angle α of the dual rotors is kfV∞cos θ, where kfIs the flapping coefficient of the rotor, V∞Is free flow velocity along-e1The size of the direction, theta is a pitch angle; due to d<<1 and performs a small angle approximation to α, cos α ≈ 1, shn α ≈ α, and let Ω1＝Ω+u，Ω2＝Ω-u，v1＝v2＝v，
The simplified equation of motion can be obtained as
Assuming that the rotation rate of the twin rotors is small and neglected
The associated damping term, also assuming that the difference in rotational speed required to generate the control torque is small compared to the hovering rotational speed, i.e. 0(u) < 0(Ω) and 0(u) < 0(Ω u), is further simplified by the formula
Is provided with
The state space expression obtained is
The nonlinear feedback control is based on a formula
While the aircraft is in flight, the microcontroller utilizes the pair V∞cosx2The airborne measurement feedback linearization system obtains the state space expression
And selecting v-Kx in the dual-rotor pitching control, stabilizing the origin of the system in an exponential mode, and taking K as a control gain matrix.
When the aircraft flies in windy environment, microcontroller's flow sensing feedback control can utilize the measured data control rotor operating condition of the airspeed detector who carries, makes quick response to the wind speed that constantly changes in the environment to provide gust suppressive ability for the aircraft.
Example 1:
when the multi-rotor aircraft flies in the direction of the transverse axis where the double rotors are located, the airspeed detectors measure the air pressure difference of the two test surfaces and send the measured data to the microcontroller, the microcontroller calculates the wind speed borne by the aircraft according to the air pressure difference data measured by the airspeed detectors, and controls the lift force of the rotors according to the speed and the attitude of the current aircraft, so that the pitching attitude of the aircraft is controlled.
Example 2:
the aircraft of embodiment 1, may adopt the following structure,
the aircraft adopts airborne flow sensing to enhance the pitching control of the rotor wings in the wind, and the aircraft is a multi-rotor aircraft with the rotor wings arranged in pairs and provided with a microcontroller; each pair of rotors are arranged at two ends of a rotor frame; an airspeed detector corresponding to each rotor frame is arranged in the airborne space in the middle of each rotor frame; each airspeed detector comprises two air pressure detection surfaces; the two air pressure detection surfaces face two ends of the rotor wing frame where the airspeed detector is located respectively, and when the aircraft flies, the airspeed detector at the rotor wing frame measures the air flow velocity component in the direction of the rotor wing frame through the pressure difference of the air pressure detection surfaces.
The number of the rotors of the aircraft is more than two pairs.
The plurality of rotor frames of the aircraft intersect at the central part of the aircraft, and the central part of the aircraft is provided with an airborne space shared by the rotor frames.
The microcontroller is arranged in the airborne space; and an inertia measurement unit for measuring the flying speed and flying attitude of the aircraft is also arranged in the airborne space.
When the aircraft flies, the microcontroller controls the working states of each pair of rotors according to the air flow velocity component and the air speed in the direction of each rotor frame, which are measured by each airspeed detector, and the current speed and attitude of the aircraft, which are measured by the inertia measurement unit, so that the pitching attitude of the aircraft is controlled.
When the aircraft flies in windy environment, microcontroller's flow sensing feedback control can utilize the measured data control rotor operating condition of the airspeed detector who carries, makes quick response to the wind speed that constantly changes in the environment to provide gust suppressive ability for the aircraft.
Claims (9)
1. A method for enhancing double-rotor pitching control by adopting airborne space distribution flow sensing is used for a multi-rotor type aircraft and is characterized in that: the method comprises a computational control of a microcontroller of the aircraft; the double rotors are two rotors symmetrically arranged at the peripheral edges of two sides of the aircraft; the airborne space distribution flow sensing data is provided by an airspeed detector at the airborne space of the aircraft; the airspeed detector is arranged at the center of the rotor craft in the downward viewing direction; when the aircraft flies, the microcontroller measures and calculates the air flow velocity component of the transverse axis where the double rotors are located through the airspeed detector; in the method, the microcontroller sets I to {0, e ═1，e2，e3Is an inertial frame of reference, B ═ 0, B1，b2，b3The method is characterized in that a machine body coordinate system is adopted, an air flow velocity component is introduced to establish a dual-rotor pitching kinetic model, a motion equation is established and simplified according to the dual-rotor pitching kinetic model, a state space expression is established according to the simplified motion equation, and the state space expression is utilizedAnd the nonlinear feedback controls the double rotors so as to control the pitching attitude of the aircraft at the transverse axis of the double rotors.
2. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 1, wherein: when the aircraft flies, the microcontroller measures the air pressure difference of the transverse axis where the double rotors are located through the airspeed detector so as to calculate the velocity component on the axis, and the speed and the attitude of the aircraft are measured through the inertial measurement unit, wherein the airspeed detector comprises two test surfaces facing the two rotors respectively.
3. The method of claim 1, wherein said method further comprises using said flow sensor to enhance pitch control of said dual rotors, wherein said dual rotors have a flap angle α when said dual rotors flapiWhen i is 1, 2;
according to the theorem of angular momentum, the kinetic equation for establishing the dual-rotor pitching kinetic model by introducing the air flow velocity component is
Wherein h is0For the total angular momentum about O, M0Is the total external moment about O, the out-of-plane component of angular momentum being
Where I is the planar moment of inertia about O,
for pitch angle rate, obtain the pitch kinetic equation
Wherein M is2Is M0Out-of-plane component of (a);
M2＝MT+MSwherein M isTIs a moment produced by thrust, MSDue to flapping of the bladesPure torque produced by bending of blade structure, and MT＝-T1(lcosα1+dsinα1)+T2(lcosα2-dsinα2)；
For each rotor, the blade element momentum theory gives
Wherein
Is the thrust coefficient of the rotor, viInduced speed, w, for the ith rotoriIs the local flow velocity of the ith rotor due to self-movement and external wind, an
Wherein V∞Is along-e1The magnitude of the directional free flow velocity;
waving moment Ms＝-(S1+S2) Assuming that the moment propagated through the fins is proportional to α and Ω squared, i.e.
Wherein KsIs rotor flapping coefficient, and αiIs α1＝kfV∞cosθ，α2＝kf(V∞cosθ-v1sinα1) Wherein k isfIs the thrust coefficient of the rotor;
the motion equation is
4. The method of claim 3 wherein the dual rotors pitch control is enhanced by using airborne spatially distributed flow sensing, wherein the dual rotors flap at α assuming that both rotors are affected by the same free flow and have the same flap anglekfV∞cos θ, where kfIs the flapping coefficient of the rotor, V∞Is free flow velocity along-e1The size of the direction, theta, is a pitch angle, d < l, and α is approximated by a small angle, namely cos α is approximately equal to 1, sin α is approximately equal to α, and let omega be omega1＝Ω+u，Ω2＝Ω-u，v1＝v2＝v，
The simplified equation of motion can be obtained as
5. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 4, wherein: assuming that the rotation rate of the twin rotors is small and neglected
The associated damping term, also assuming that the difference in rotational speed required to generate the control torque is small compared to the hovering rotational speed, i.e. O (u) < O (Ω) and O (u) < O (Ω u), is further simplified by the formula
6. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 5, wherein: is provided with
The state space expression obtained is
7. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 6, wherein: the nonlinear feedback control is based on a formula
8. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 6, wherein: while the aircraft is in flight, the microcontroller utilizes the pair V∞cosx2The airborne measurement feedback linearization system obtains the state space expression
And selecting v-Kx in the dual-rotor pitching control, stabilizing the origin of the system in an exponential mode, and taking K as a control gain matrix.
9. The method of enhancing dual rotor pitch control using airborne spatially distributed flow sensing according to claim 8, wherein: when the aircraft flies in windy environment, microcontroller's flow sensing feedback control can utilize the measured data control rotor operating condition of the airspeed detector who carries, makes quick response to the wind speed that constantly changes in the environment to provide gust suppressive ability for the aircraft.
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| CN112407267A (en) * | 2020-12-08 | 2021-02-26 | 福州大学 | Compact dual-rotor aircraft for indoor environment and control method |
| CN112986612A (en) * | 2021-03-24 | 2021-06-18 | 中国人民解放军63796部队 | Low-altitude moving type wind speed measuring method based on quad-rotor unmanned aerial vehicle |
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