CN111483595B - Modular autorotation rotor high-precision air-drop system and air-drop method thereof - Google Patents
Modular autorotation rotor high-precision air-drop system and air-drop method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a modular autorotation rotor high-precision air-drop system which comprises an autorotation rotor subsystem, wherein a power supply subsystem and a navigation and control subsystem are respectively arranged on the autorotation rotor subsystem, and the power supply subsystem is used for supplying power to the autorotation rotor subsystem and the navigation and control subsystem. The invention also discloses an air-drop method of the modular autorotation rotor high-precision air-drop system, and solves the problems of poor wind disturbance resistance energy, low air-drop precision and incapability of flexible configuration in the existing air-drop mode.
Description
Technical Field
The invention belongs to the technical field of overall design of an aircraft, relates to a modular autorotation rotor high-precision air-drop system, and further relates to an air-drop method of the air-drop system.
Background
The air delivery system, referred to as an air delivery system for short, is widely applied to the aspects of air disaster relief, battlefield front line supply, aircraft/spacecraft recovery/landing and the like. At present, there are two types of air-drop systems widely used at home and abroad, which are respectively: (1) parachute air-drop systems; (2) parafoil air-drop system. The following focus is on analyzing the two types of air-drop systems and giving them the problems that exist.
(1) Parachute air-drop system: the parachute air-drop system has two working modes,
(i) one is the so-called "freestyle" type, i.e. opening the parachute immediately after leaving the carrier. The working mode can well realize the deceleration of the air-drop system by means of larger umbrella area, and can greatly reduce the landing impact. However, the uncontrolled parachute flutters with the wind, the direction cannot be controlled, the air drop precision is poor, and for battlefield air drop, a larger parafoil area is easier to expose, the parachute descends at a lower speed at a constant speed, the parachute is exposed in firepower for a long time, and the parachute is easy to attack.
(ii) Another parachute air-drop mode is the so-called ballistic mode, namely an air-drop ballistic trajectory is designed according to the flying speed and the height of a carrier, after an air-drop system leaves the carrier, the parachute is not opened immediately, but falls freely in a shell mode, so that the influence of wind interference is avoided to improve the air-drop precision, the parachute is opened at a lower height away from the ground, and the falling speed is reduced rapidly. Although the working mode improves the precision of aerial delivery, huge overload is generated to aerial delivery materials/personnel at the moment of opening the umbrella, and safety risk is greatly improved by opening the umbrella at a high speed at a low altitude, so the mode is rarely adopted. It is worth mentioning that the conventional parachute landing unmanned aerial vehicle mostly adopts a parachute air-drop system to realize recovery.
(2) The invention relates to a parafoil air-drop system, which is characterized in that an uncontrolled parafoil air-drop system is not essentially different from a conventional spherical parachute, and only the selection of the parachute is different, the parafoil air-drop systems are all controllable parafoil air-drop systems, the left and right rear edges of a paraglider are pulled by a left group of control ropes and a right group of control ropes, so that the posture and the direction of the paraglider are controlled, the air-drop precision can be improved to a certain extent, but the air-drop precision is still not high due to the poor wind resistance of the parafoil; and because the paraglider is flexibly connected with the nacelle, the nacelle has complex swinging and oscillation under wind interference, and the attitude measurement value of the nacelle is not the real attitude of the parafoil, which provides great challenge for the flight control of the unmanned parafoil air-drop system.
Disclosure of Invention
The invention aims to provide a modular autorotation rotor high-precision air-drop system, which solves the problems of poor wind disturbance resistance energy, low air-drop precision and incapability of flexible configuration in the existing air-drop system.
The invention also provides a high-precision air-drop method of the modular autorotation rotor. The invention adopts a first technical scheme that the modular autorotation rotor high-precision air-drop system comprises an autorotation rotor subsystem, wherein a power supply subsystem and a navigation and control subsystem are respectively arranged on the autorotation rotor subsystem, and the power supply subsystem is used for supplying power to the autorotation rotor subsystem and the navigation and control subsystem.
The first technical solution of the present invention is also characterized in that,
the autorotation rotor subsystem comprises a horizontally arranged support plate, the lower part of the support plate is connected with an airdropped object through a bolt, an automatic inclinator is arranged at the center of the upper part of the support plate, four steering engines are uniformly arranged around the lower part of the automatic inclinator, the four steering engines are respectively connected with the automatic inclinator through steering engine rocker arms, a rotating shaft is coaxially sleeved at the center of the automatic inclinator, a rotating speed sensor is mounted on the rotating shaft, the rotating shaft is mounted at the center of the rotor, a hub is arranged at the joint of the rotor and the rotating shaft, and the automatic inclinator is connected with the hub through a transmission pull rod; the steering wheel sets up in backup pad upper surface.
The power subsystem and the navigation and control subsystem are all arranged on the supporting plate.
The navigation and control subsystem comprises a small automatic pilot which is respectively connected with a rotating speed sensor, a micro INS/GPS integrated navigation system and a steering engine.
The small-sized autopilot comprises a position control module, an attitude control module and a control surface distribution module.
The second technical scheme adopted by the invention is that the airdrop method of the modular autorotation rotor high-precision airdrop system specifically comprises the following processes:
and 4, monitoring the current rotating speed of the rotating shaft through a rotating speed sensor, sending the rotating speed to the small automatic pilot, measuring current height information by the micro INS/GPS combined navigation system, entering a landing mode by the small automatic pilot when the height information is transmitted to the small automatic pilot and the height of the height signal transmitted to the small automatic pilot is lower than the height of the target position preset in the step 1, and increasing the propeller pitch of the rotating wing through four steering engines respectively, so that the landing speed of the airdropped object is reduced.
In step 1, the forward control quantity δXThe calculation process of (2) is as follows:
δX＝Kx*(X-Xcmd)+Ix∫(X-Xcmd)dt；
wherein, KxIs a forward proportional control coefficient; i isxIs a forward integral control coefficient;
lateral control quantity deltaYThe calculation process of (2) is as follows:
δY＝Ky*(Y-Ycmd)+Iy∫(Y-Ycmd)dt；
wherein, KyIs a forward proportional control coefficient; i isyIs a forward integral control coefficient.
In step 2, the pitch control amount δeThe calculation process of (2) is as follows:
-θsaf≤δe≤θsaf；
wherein, KeThe pitch proportional control coefficient;
is a forward/lateral channel pitch proportional control coefficient; kqIs a pitch angle rate proportional control coefficient;
roll control quantity deltaaThe calculation process of (2) is as follows:
wherein, KaThe roll ratio control coefficient;
roll ratio control coefficients for the forward/lateral channels; kPThe roll angle rate proportional control coefficient;
collective pitch control quantity deltaMThe calculation process of (2) is as follows:
H≤Hland；
wherein, KMThe height channel total distance proportion control coefficient;
the control coefficient is the total distance proportion of the descent rate channel.
In step 3, δ1、δ2、δ3、δ4The following formula is used for calculation:
wherein k isiaProportional coefficients, k, assigned to the four steering engines for the roll angle controlieProportional coefficients, k, assigned to the four steering engines for the pitch angle control variablesiMThe total distance control amount corresponds to the proportionality coefficients distributed to the four steering engines, wherein i is 1, 2, 3 and 4.
The invention has the following beneficial effects:
(1) according to the invention, the autorotation rotor technology and the unmanned aerial vehicle technology are applied to the air-drop system at lower weight cost and complexity cost, so that the low-cost, modularized and configurable high-precision air-drop system is realized.
(2) The invention adopts the autorotation rotor to provide pulling force and operation, thus realizing the speed reduction and position control of the air-drop system. Because the autorotation rotor does not have the counter torque, the tail rotor of the conventional helicopter and a speed reduction transmission and control mechanism thereof are cancelled, thereby reducing waste weight and energy consumption, and reducing cost and complexity; simultaneously, compare with the rotor that rotates, the rotation rotor can reduce noise level effectively, hidden nature when having improved military application.
(3) The invention can be designed into air-drop systems, unmanned systems and manned intelligent parachutes with different sizes as required to meet the application requirements of different backgrounds, and can be developed towards air-drop type autorotation rotor reconnaissance/attack/psychological war unmanned aerial vehicles, air-drop type autorotation rotor precise guidance bombs, unmanned aerial vehicle autorotation rotor recovery systems and the like particularly based on the characteristic of low cost of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a modular self-rotating rotor high-precision air-drop system of the invention;
FIG. 2 is a top view of the connection of an automatic tilter and a steering engine in a modular autorotation rotor high precision air drop system of the present invention;
FIG. 3 is a schematic structural diagram of a navigation and control subsystem in a modular self-rotating rotor high-precision air-drop system according to the present invention;
fig. 4 is a schematic diagram of a throwing state of an embodiment of the modular self-rotating rotor high-precision air-drop system.
In the figure, 1, a rotor, 2, a hub rotating shaft, 3, a bolt, 4, a supporting plate, 5, a rotating speed sensor, 6, a transmission pull rod, 7, an automatic inclinator, 8, a navigation and control subsystem, 9, a steering engine, 10, an airdropped object, 11, a hub, 12, a power supply subsystem, 13, a steering engine rocker arm, 14, a micro INS/GPS combined navigation system and 15, a small autopilot.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a modular autorotation rotor high-precision air-drop system, which comprises an autorotation rotor subsystem, wherein a power subsystem 12 and a navigation and control subsystem 8 are respectively arranged on the autorotation rotor subsystem, and the power subsystem 12 is used for supplying power to the autorotation rotor subsystem and the navigation and control subsystem 8.
The autorotation rotor subsystem can realize the control of the attitude and the track of the air-drop system and realize the accurate air-drop.
The autorotation rotor subsystem comprises a horizontally arranged support plate 4, the lower part of the support plate 4 is connected with an airdropped object 10 through a bolt 3, an automatic inclinator 7 is arranged at the center of the upper part of the support plate 4, four steering engines 9 are uniformly arranged around the lower part of the automatic inclinator 7, the four steering engines 9 are respectively connected with the automatic inclinator 7 through steering engine rocker arms 13, a rotating shaft 2 is coaxially sleeved at the center of the automatic inclinator 7, a rotating speed sensor 5 is installed on the rotating shaft 2, the rotating shaft 2 is installed at the center of a rotor (blade) 1, a hub 11 is arranged at the joint of the rotor 1 and the rotating shaft 2, and the automatic inclinator 7 (of the existing structure) is connected with the hub 11 through a transmission pull rod 6; steering wheel 9 sets up in backup pad 4 upper surface.
The automatic inclinator is used for realizing rotor control, realizes the control of the rotor through flexible longitudinal/transverse periodic variable pitch control, can increase the total pitch of the blades in a short time through 'instantaneous distance increase' before touching the ground, absorbs the rotating kinetic energy of the rotor, and greatly increases the tension of the paddle disk, thereby reducing the speed of touching the ground and reducing the damage to air-dropped materials.
The power subsystem 12 and the navigation and control subsystem 8 are all arranged on the support plate 4.
As shown in fig. 3, the navigation and control subsystem 8 includes a small-sized autopilot 15 (existing structure), and the small-sized autopilot 15 is respectively connected to the rotation speed sensor 5, the micro INS/GPS integrated navigation system 14 (the INS is an inertial navigation system, and the micro INS/GPS integrated navigation system 14 is an existing structure), and the steering engine 9.
The compact autopilot 15 includes a position control module, an attitude control module, and a control surface assignment module.
The invention relates to a high-precision air-drop method of a modularized autorotation rotor wing, which specifically comprises the following processes:
in step 1, the forward control quantity δXThe calculation process of (2) is as follows:
δX＝Kx*(X-Xcmd)+Ix∫(X-Xcmd)dt；
wherein, KxIs a forward proportional control coefficient; i isxIs a forward integral control coefficient; xcmdRepresenting a forward displacement target amount;
lateral control quantity deltaYThe calculation process of (2) is as follows:
δY＝Ky*(Y-Ycmd)+Iy∫(Y-Ycmd)dt；
wherein, KyIs a forward proportional control coefficient; i isyIs a forward integral control coefficient; y iscmdRepresenting a target amount of lateral displacement;
in step 2, the pitch control amount δeThe calculation process of (2) is as follows:
-θsaf≤δe≤θsaf；
where θ represents the current pitch angle, θcmdRepresenting the target pitch angle, Q representing the pitch angle rate, psi representing the angle between the body axis (the coordinate system axis of the body of the airplane) and the north direction, thetasafRepresenting pitch angle clipping, KeThe pitch proportional control coefficient;
is a forward/lateral channel pitch proportional control coefficient; kqIs a pitch angle rate proportional control coefficient;
roll control quantity deltaaThe calculation process of (2) is as follows:
wherein, KaThe roll ratio control coefficient;
roll ratio control coefficients for the forward/lateral channels; kPThe roll angle rate proportional control coefficient;
collective pitch control quantity deltaMThe calculation process of (2) is as follows:
H≤Hland；
wherein, KMThe height channel total distance proportion control coefficient;
the control coefficient is the total distance proportion of the descent rate channel. H denotes the current height, HcmdDenotes the target height, VhIndicates the rate of descent, HlandIndicating a landing pattern predetermined altitude.
in step 3, δ1、δ2、δ3、δ4The following formula is used for calculation:
wherein k isiaProportional coefficients, k, assigned to the four steering engines for the roll angle controlieProportional coefficients, k, assigned to the four steering engines for the pitch angle control variablesiMThe total distance control amount corresponds to the proportionality coefficients distributed to the four steering engines, wherein i is 1, 2, 3 and 4.
And 4, monitoring the current rotating speed of the rotating shaft through a rotating speed sensor, sending the rotating speed to the small-sized automatic pilot, simultaneously measuring the current height information by the micro INS/GPS combined navigation system, when the height signal transmitted to the small-sized automatic pilot is lower than the height of the target position preset in the step 1, enabling the small-sized automatic pilot to enter a landing mode, and reducing the landing speed of the airdropped goods by adopting a control mode of increasing the propeller pitch of a steering engine, so that the instant impact force borne by the goods and materials during landing is reduced, and the possibility of damage of the goods and materials is reduced.
The invention relates to a modular autorotation rotor high-precision air-drop system which is characterized in that,
the invention can realize high-precision attitude control and track tracking through a low-cost automatic flight control system, and compared with the prior airdrop scheme, the invention has the advantages that:
(1) the present invention provides for a high operating efficiency of the rotor compared to "free-form" parachute-aerial delivery systems. The rapid attitude, course and track control can be realized, and the wind resistance and the airdrop precision are higher; for the air drop in a war zone, the invention has small volume, low noise and difficult exposure, and the rotor wing can effectively control the forward speed and the vertical speed, has certain maneuverability and can greatly improve the safety of an air drop system and materials. In addition, by configuring the power module, the unmanned aerial delivery system can realize aerial delivery outside a war zone, and the unmanned aerial delivery system autonomously patrols and flies to the vicinity of an aerial delivery point to complete aerial delivery, so that the safety of an aerial delivery host is improved while the aerial delivery effect is ensured.
(2) Compared with a ballistic parachute air-drop system, the invention absorbs the rotation kinetic energy of the rotor wing to increase the pulling force by the 'instantaneous distance increasing' operation before the ground is contacted after the long-time gliding deceleration, thereby effectively reducing the ground contact speed and reducing the damage to air-dropped goods and materials. Compared with the operation mode of 'close ground parachute opening', the load of the airdropped goods is much smaller, and the safety of the airdropped goods is greatly improved.
(3) Compared with a parafoil air-drop system, the invention has the advantages that the speed reduction module (self-rotating rotor) is rigidly connected with the air-drop load, the nacelle swings and oscillates without wind interference, and the operation of the attitude by the rotor is quicker and more effective than the operation of the parafoil by the control rope, so that the measurement and control of the attitude course of the invention are more accurate, the wind resistance is stronger, and the air-drop precision is higher.
Examples
As shown in fig. 4, I, II, and III (numbered in the air-drop sequence) are 3 supplies of different volumes and weights, respectively, equipped with the air-drop system of the spinning rotor. A. The B point is a target point with different altitude. When the transport plane airdrops materials, in order to ensure that I, II all land at point B when airdropped at different times, I, II autorotation rotor and its autopilot adjust the yaw of the autorotation rotor system according to the yaw and course deviation (the path is shown as material III, and the rest paths are the same in principle), and simultaneously adjust the forward control quantity through the current altitude information measured by the altitude sensor. As can be seen from fig. 3 and 4, the small-sized autopilot calculates the forward displacement required for controlling the material to fall at the point B through the current position information and the altitude information read by the mini INS/GPS integrated navigation system. Obviously, through the calculation of the compact autopilot, it outputs more forward displacement to I than to II, thus flying I a greater distance to achieve I, II will all fall at point B. When I, III are both to be dropped at point A, the control principle of the amount of forward and lateral displacement is the same as above. The amount of forward displacement control output by the small autopilot to I will be much greater than III. Meanwhile, it should be noted that the airdrop condition of III is more severe, but also conforms to the actual situation of battlefield airdrop. Often, due to the immense change of the battlefield environment, the aerial delivery target can be temporarily changed. At this time, the advantages of the invention are more obvious. When the airdrop condition of the material III occurs, due to the fact that the material is delivered late and the altitude of a target place is high, if the rotary wing air-drop system does not rotate, the final landing point of the material is inevitably far beyond the target point A, or the falling speed is excessively high to ensure that the landing point is within an acceptable range, and the damage probability of the material is inevitably greatly increased due to the excessively high grounding speed. Through the autorotation rotor wing air-drop system, when the material air-drop cabin is late, the forward displacement is reduced by reducing the total distance of the rotor wings and increasing the falling speed, so that the final distance deviation between the material and a target point is controlled. Meanwhile, after the system enters a landing mode, the ground contact speed can be reduced by increasing the total distance of the rotor wings, so that the possibility of damage to materials is reduced.
Claims (3)
1. The utility model provides a modularization rotation rotor high accuracy air-drop system which characterized in that: the system comprises a self-rotating rotor subsystem, wherein a power supply subsystem and a navigation and control subsystem are respectively arranged on the self-rotating rotor subsystem, and the power supply subsystem is used for supplying power to the self-rotating rotor subsystem and the navigation and control subsystem;
the autorotation rotor wing subsystem comprises a horizontally arranged support plate, the lower part of the support plate is connected with an airdropped object through a bolt, an automatic inclinator is arranged at the center of the upper part of the support plate, four steering engines are uniformly arranged around the lower part of the automatic inclinator, the four steering engines are respectively connected with the automatic inclinator through steering engine rocker arms, a rotating shaft is coaxially sleeved at the center of the automatic inclinator, a rotating speed sensor is mounted on the rotating shaft, the rotating shaft is mounted at the center of the rotor wing, a hub is arranged at the joint of the rotor wing and the rotating shaft, and the automatic inclinator is connected with the hub through a transmission pull rod; the steering engine is arranged on the upper surface of the supporting plate;
the power subsystem and the navigation and control subsystem are arranged on the supporting plate;
the navigation and control subsystem comprises a small automatic pilot which is respectively connected with a rotating speed sensor, a micro INS/GPS integrated navigation system and a steering engine;
the small autopilot comprises a position control module, an attitude control module and a control surface distribution module;
the attitude control module simultaneously receives the current pitch angle and the current roll angle information provided by the micro INS/GPS integrated navigation system, calculates the pitch control quantity, the roll control quantity and the total distance control quantity of the current course and sends the pitch control quantity, the roll control quantity and the total distance control quantity to the control surface distribution module;
pitch control quantity deltaeThe calculation process of (2) is as follows:
-θsaf≤δe≤θsaf；
where θ represents the current pitch angle, θcmdRepresenting target pitch angle, Q representing pitch angle rate, psi representing the angle between the body axis and north, thetasafRepresenting pitch angle clipping, KeThe pitch proportional control coefficient;
is a forward/lateral channel pitch proportional control coefficient; kqIs a pitch angle rate proportional control coefficient; deltaXFor a forward control quantity, δYIs a lateral control quantity;
roll control quantity deltaaThe calculation process of (2) is as follows:
wherein, KaThe roll ratio control coefficient;
roll ratio control coefficients for the forward/lateral channels; kPThe roll angle rate proportional control coefficient;
the current roll angle is shown as being representative,
represents the target amount of roll angle, P represents the roll angle rate,
representing roll angle clipping;
collective pitch control quantity deltaMThe calculation process of (2) is as follows:
H≤Hland；
wherein, KMThe height channel total distance proportion control coefficient;
controlling a coefficient for the total distance proportion of the descent rate channel; h denotes the current height, HcmdDenotes the target height, VhIndicates the rate of descent, HlandIndicating a landing pattern predetermined altitude.
2. An aerial delivery method for a modular autogyro high-precision aerial delivery system as claimed in claim 1, wherein: the method specifically comprises the following steps:
step 1, before the airdrop of the goods and materials, the target position to be airdropped is input into a position control module in advance, and after the goods and materials are airdropped, the position control module calculates the forward control quantity and the lateral control quantity of the current course by receiving the current position information and the current height information provided by the micro INS/GPS integrated navigation system and sends the forward control quantity and the lateral control quantity to an attitude control module;
in step 1, the forward control quantity δXThe calculation process of (2) is as follows:
δX＝Kx*(X-Xcmd)+Ix∫(X-Xcmd)dt；
wherein, KxIs a forward proportional control coefficient; i isxIs a forward integral control coefficient; xcmdRepresenting a forward displacement target amount;
lateral control quantity deltaYThe calculation process of (2) is as follows:
δY＝Ky*(Y-Ycmd)+Iy∫(Y-Ycmd)dt；
wherein, KyIs a forward proportional control coefficient; i isyFor forward integral control coefficient, YcmdRepresenting a target amount of lateral displacement;
step 2, the attitude control module simultaneously receives the current pitch angle and the current roll angle information provided by the micro INS/GPS integrated navigation system, calculates the pitch control quantity, the roll control quantity and the total distance control quantity of the current course and sends the pitch control quantity, the roll control quantity and the total distance control quantity to the control surface distribution module;
in the step 2, the pitch control amount δeThe calculation process of (2) is as follows:
-θsaf≤δe≤θsaf；
where θ represents the current pitch angle, θcmdRepresenting target pitch angle, Q representing pitch angle rate, psi representing the angle between the body axis and north, thetasafRepresenting pitch angle clipping, KeThe pitch proportional control coefficient;
is the forward/sideA control coefficient of the pitching ratio to the channel; kqIs a pitch angle rate proportional control coefficient;
roll control quantity deltaaThe calculation process of (2) is as follows:
wherein, KaThe roll ratio control coefficient;
roll ratio control coefficients for the forward/lateral channels; kPThe roll angle rate proportional control coefficient;
the current roll angle is shown as being representative,
represents the target amount of roll angle, P represents the roll angle rate,
representing roll angle clipping;
collective pitch control quantity deltaMThe calculation process of (2) is as follows:
H≤Hland；
wherein, KMThe height channel total distance proportion control coefficient;
to descendA rate channel total distance proportional control coefficient; h denotes the current height, HcmdDenotes the target height, VhIndicates the rate of descent, HlandIndicating a landing pattern predetermined altitude;
step 3, the control surface distribution module respectively calculates the strokes delta required by the four steering engines1、δ2、δ3、δ4Correspondingly outputting the signals to four steering engines;
and 4, monitoring the current rotating speed of the rotating shaft through a rotating speed sensor, sending the rotating speed to the small automatic pilot, measuring current height information by the micro INS/GPS combined navigation system, entering a landing mode by the small automatic pilot when the height information is transmitted to the small automatic pilot and the height of the height signal transmitted to the small automatic pilot is lower than the height of the target position preset in the step 1, and increasing the propeller pitch of the rotating wing through four steering engines respectively, so that the landing speed of the airdropped object is reduced.
3. The aerial delivery method of claim 2, wherein: in said step 3, δ1、δ2、δ3、δ4The following formula is used for calculation:
wherein k isiaProportional coefficients, k, assigned to the four steering engines for the roll angle controlieProportional coefficients, k, assigned to the four steering engines for the pitch angle control variablesiMThe total distance control amount corresponds to the proportionality coefficients distributed to the four steering engines, wherein i is 1, 2, 3 and 4.
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