CN112198891B - Multi-gyroplane autonomous recovery method - Google Patents

Multi-gyroplane autonomous recovery method Download PDF

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CN112198891B
CN112198891B CN202010324214.XA CN202010324214A CN112198891B CN 112198891 B CN112198891 B CN 112198891B CN 202010324214 A CN202010324214 A CN 202010324214A CN 112198891 B CN112198891 B CN 112198891B
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CN112198891A (en
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林德福
陶宏
李斌
宋韬
王伟
范世鹏
郑多
王江
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Beijing Institute of Technology BIT
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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 an autonomous recovery method of a multi-rotor aircraft, which can be used for controlling the unmanned aerial vehicle to approach a preset recovery position by the unmanned aerial vehicle through autonomous navigation of the unmanned aerial vehicle, and finally landing the unmanned aerial vehicle on the preset recovery position, and can efficiently and accurately finish recovery operation when the recovery position is in a motion state.

Description

Multi-gyroplane autonomous recovery method
Technical Field
The invention relates to the field of multi-rotor aircrafts, in particular to an autonomous recovery method of a multi-rotor aircraft.
Background
Unmanned aerial vehicles are increasingly of strategic and tactical importance in civilian and military applications. Unmanned aerial vehicle can be used for enemy's reconnaissance on the battlefield to survey, enemy's machine accuracy is strikeed and can save the cost and reduce the casualties risk, also can be in geological prospecting, fields such as fire early warning play an important role, more and more complicated operational environment and diversified task demand all require unmanned aerial vehicle can high-efficient rapid completion task, nevertheless because unmanned aerial vehicle cost is lower, aircraft weight and size have restricted its machine and have carried fuel capacity, unmanned aerial vehicle's operation range and duration also all greatly reduced.
The autonomous recovery unmanned aerial vehicle system can rapidly deploy and transfer an operation area, timely supplement fuel, maintain and check so as to accelerate the circulating operation time of the unmanned aerial vehicle, and the unmanned aerial vehicle can be adjusted in operation scale, diversified in operation effect and high in economic feasibility. The unmanned aerial vehicle autonomous recovery system can also be widely applied to recovery of aerial unmanned aerial vehicles, vehicle-mounted unmanned aerial vehicles and carrier-based aircraft.
The recovery mode of the unmanned aerial vehicle is various, and the traditional recovery can be roughly classified into parachute recovery, airbag landing recovery, net collision recovery, rotor wing vertical landing recovery, undercarriage pulley landing recovery and the like; the group of the Elfin unmanned planes developed by the United states DARPA can be launched in the air from various large and medium-sized airplanes in the United states and realize recovery in the air, and the recovery method continues to use the guiding flow and flexible capture adopted by the unmanned plane in the air refueling in the United states.
However, the existing recovery systems such as parachutes, collision nets and the like are mainly used for low-speed unmanned aerial vehicles and recovery platforms without overload maneuvering capacity; the recovery object of the sprite is also limited by a preset cooperative target, the temporary recovery task in the battlefield cannot be quickly responded under the condition that the rejection environment target information is unknown, and the universality is not realized. The existing unmanned aerial vehicle recovery system does not realize real autonomous recovery, and fails to meet the requirements of high maneuverability, high reliability, high survival rate, high cost-efficiency ratio and multitask of the unmanned aerial vehicle.
For the above reasons, the present inventors have conducted intensive studies on the existing multi-rotor unmanned aerial vehicle recycling method, and have awaited designing an autonomous multi-rotor unmanned aerial vehicle recycling method that can solve the above problems.
Disclosure of Invention
In order to overcome the above problems, the present inventors have made intensive studies to design an autonomous recovery method for a multi-rotor aircraft, which enables an unmanned aerial vehicle to autonomously navigate, and the unmanned aerial vehicle to autonomously control the unmanned aerial vehicle to approach a predetermined recovery position, and finally land on the predetermined recovery position, and in a state where the recovery position is in motion, to efficiently and accurately complete recovery operations, thereby completing the present invention.
Specifically, the invention aims to provide a method for autonomous recovery of a multi-gyroplane, comprising:
the photoelectric pod capture, identification and recovery platform hung on the multi-gyroplane provides target motion state information as an information source,
the acceleration command under the visual system is resolved and then converted into the acceleration command under the inertial system required by the rotor wing control system, and the acceleration command is transmitted to the rotor wing control system,
and controlling the multi-gyroplane to fly to the recovery platform by the rotor system control system according to the acceleration instruction under the inertial system.
The acceleration instruction under the sight line comprises a vertical acceleration instruction under the sight line and a radial acceleration instruction under the sight line.
Wherein the vertical acceleration command under the sight line is obtained by the following formula (one):
Figure BDA0002462581420000021
wherein,
Figure BDA0002462581420000022
indicating a vertical acceleration command under the sight line,
Figure BDA0002462581420000023
representing the relative speed, omega, between the target and the rotorcraft in the line of sightLosRepresents the rotation angular rate of the line of sight under the line of sight, N represents the proportional steering rate, omegadRepresenting a bias term that adds an end corner constraint.
Wherein the line-of-sight lower radial acceleration command is obtained by the following equation (four):
Figure BDA0002462581420000031
wherein,
Figure BDA0002462581420000032
the radial acceleration command is shown in the view system,
Figure BDA0002462581420000033
indicating the relative multi-gyroplane speed, k, of the target in the desired line of sightrScale factor, k, representing position constraintvA scaling factor representing a speed constraint.
The invention has the advantages that:
(1) the autonomous recovery method of the multi-rotor aircraft can be widely applied to various scenes, such as the recovery of ground motor vehicle-mounted multi-rotor aircraft, the recovery of sea surface carrier-borne multi-rotor aircraft and air multi-rotor aircraft;
(2) according to the autonomous recovery method of the multi-gyroplane, the problem that relative motion information of a target and an unmanned aerial vehicle is unknown in a rejection environment is solved through the use of the photoelectric pod on the gyroplane, and accurate basic information is provided for a recovery system;
(3) according to the autonomous recovery method of the multi-rotor aircraft, the radial acceleration takes the position constraint and the speed constraint into consideration, the difficulty of middle and end control shift switching and the energy consumption are reduced, and the tracking stability of the entering tail end is improved.
Drawings
FIG. 1 is a graph showing the motion trajectory of a multi-gyroplane and a recovery platform in an experimental example of the present invention;
FIG. 2 shows a graph of the recovery versus position over time in an experimental example of the invention;
FIG. 3 shows a trace plot of various stages of the recovery process in an experimental example of the present invention;
FIG. 4 is a graph showing the variation locus of the resultant velocity in the experimental example of the present invention;
FIG. 5 is a schematic diagram illustrating the constraint of the corner at the end in the experimental example of the present invention;
fig. 6 is a schematic diagram showing a change in attitude angle in an experimental example of the present invention.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the autonomous recovery method of the multi-gyroplane, in the method, firstly, a photoelectric pod hung on the multi-gyroplane is used for capturing, identifying and recovering a platform, namely, a detection and identification target is detected, target motion state information is given out to be used as an information source,
the lower acceleration command of the visual system is resolved and converted into the lower acceleration command of the inertial system required by the flight control of the rotor system, and the lower acceleration command is transmitted to the rotor system,
and finally, controlling the multi-rotor aircraft to fly to the recovery platform by the rotor system according to the acceleration instruction under the vision system.
The target motion state information comprises information such as position, speed and acceleration of the target, and relative information between the multi-rotor aircraft and the target can be calculated by combining the information such as the position, the speed and the acceleration of the multi-rotor aircraft.
The multi-rotor aircraft is an unmanned aerial vehicle with more than four rotors with propellers; the recovery platform refers to an appointed place for autonomous landing and recovery of the multi-gyroplane.
The rotor control system is a control mechanism for controlling the rotation of rotors on a multi-rotor aircraft, the mechanism can adjust the rotating speed of a rotor propeller according to an input acceleration instruction, and the change of the rotating speed causes the lift force of the rotors to change, so that the attitude and the position of the aircraft are controlled.
The photoelectric pod can be an existing photoelectric pod in the field, and only needs to be capable of performing target identification and tracking, detecting the relative distance between a target and the unmanned aerial vehicle, the relative speed and the line-of-sight angle of the recovery platform relative to the multi-rotor aircraft, which is not particularly limited in the application.
The inertia system is characterized in that the center of mass of the multi-rotor aircraft is used as an origin, the geographical east direction is used as an x axis, the geographical north direction is used as a y axis, the z axis is perpendicular to the x axis and the y axis, and the upward direction is positive, so that a right-hand rule is formed.
The sight system is that the center of mass of the multi-rotor aircraft is used as an original point, a connecting line between the multi-rotor aircraft and a target (a recovery platform) is used as an x axis, a z axis is vertical to the x direction and upwards, and the y axis, the x axis and the z axis form a right-hand rule.
The acceleration instruction under the sight line comprises a vertical acceleration instruction under the sight line and a radial acceleration instruction under the sight line.
In a preferred embodiment, the gaze-below vertical acceleration command is obtained by the following equation (one):
Figure BDA0002462581420000051
wherein,
Figure BDA0002462581420000052
represents the acceleration command under the visual system, which can also be called the overload requirement under the visual system,
Figure BDA0002462581420000053
representing the relative speed between the target and the multi-gyroplane under the sight system, and obtaining the relative position by GPS calculation or differential solution by photoelectric pod visual depth information
Figure BDA0002462581420000054
ΩLosThe rotation angle rate of the sight line under the sight line system can be deduced by outputting relative position and speed information through the photoelectric pod, N represents a proportional guidance rate, and the value of N is 3-5 omegadRepresenting a bias term that adds an end corner constraint.
Preferably, said ΩLOSObtained by the following formula (two):
Figure BDA0002462581420000055
wherein,
Figure BDA0002462581420000061
representing the angular rate of rotation in the line of sight
Figure BDA0002462581420000062
Δ x, Δ y, Δ z represent the three-axis resolution of the relative position of the multi-gyroplane and the target under the view system, obtained by a GPS or electro-optical pod;
Δvx,Δvy,Δvzthree-axis resolution representing the relative speed of the multi-gyroplane and the target under the view system is obtained by a GPS or a photoelectric pod;
preferably, said ΩdObtained by the following formula (III):
Figure BDA0002462581420000063
wherein, the first and second guide rollers are arranged in a row,
Figure BDA0002462581420000064
representing the three-axis decomposition of the bias term, taking
Figure BDA0002462581420000065
Eta represents a bias coefficient, which takes the value of 2,
qythe elevation angle of the recovery platform relative to the sight line of the unmanned aerial vehicle is represented and obtained by resolving through a photoelectric pod;
qzthe sight azimuth angle of the recovery platform relative to the unmanned aerial vehicle is represented and obtained through resolving by the photoelectric pod;
qydrepresenting the expected high and low falling angles of the terminal, and taking qyd＝0；
qzdRepresenting the expected azimuth and falling angle of the terminal, and solving and obtaining the rotation angular rate of the target output by the photoelectric pod relative to the motion of the unmanned aerial vehicle;
Figure BDA0002462581420000066
wherein,
Figure BDA0002462581420000067
the component of the target velocity in the inertial system can be obtained by GPS or electro-optic pods.
r represents the relative distance between the rotorcraft and the recovery platform, obtained in real time by the optoelectronic pod;
in a preferred embodiment, the line-of-sight lower radial acceleration command is obtained by the following equation (iv):
Figure BDA0002462581420000071
wherein,
Figure BDA0002462581420000072
the radial acceleration command is shown in the view system,
Figure BDA0002462581420000073
representing the relative aircraft speed, k, of the target in the desired line of sightrScale factor, k, representing position constraintvA scaling factor representing a speed constraint.
Preferably, the difference between the relative speed between the target and the multi-gyroplane in the line of sight and the desired relative aircraft speed of the target in the line of sight may be resolved by the relative distance between the multi-gyroplane and the recovery platform; namely, it is
Figure BDA0002462581420000074
Wherein,
Figure BDA0002462581420000075
representing the differential of r.
Experimental example:
setting the recovery platform to do a rotary 8-shaped motion in the air from an initial position (0, 0, 30) m, wherein the resultant speed is 8m/s, the motion track is shown by a black line in figure 1,
the initial position of the multi-gyroplane is (-50, 0, 50) m, the initial speed is 0, the motion information of the recovery platform is detected through the photoelectric pod and transmitted to the control system, acceleration instructions are provided through the following formula (I) and the following formula (IV) to control the multi-gyroplane to move towards a target, and then the traditional PID algorithm is used for controlling the multi-gyroplane to carry out comparison.
Figure BDA0002462581420000076
Figure BDA0002462581420000077
In the formula, N is 4,
Figure BDA0002462581420000078
ΩLosand ΩdAll are obtained by real-time solution;
the motion trajectories of the multi-rotor aircraft and the recovery platform are shown in fig. 1, and it can be known from the figure that the multi-rotor aircraft controlled by the acceleration instruction provided by the formula (i) and the formula (iv) can meet the multi-rotor aircraft with the recovery platform, and the traditional PID can also meet the multi-rotor aircraft with the recovery platform, that is, the method provided by the present application and the western traditional PID can complete the basic landing control task, but the recovery trajectory obtained by the recovery method of the present patent is more straight and the recovery speed is faster;
the recovery relative position versus time curves of the two methods are shown in fig. 2, and the recovery algorithm used in the patent is that at 23.36 seconds, the relative distance between the multi-rotor aircraft and the recovery platform is 0.288 meters, and the multi-rotor aircraft meets and lands on the recovery platform. Whereas a multi-rotor aircraft utilizing a conventional PID algorithm encounters the recovery platform at 34.36 seconds.
Fig. 3 shows the trajectories of the various stages in the recovery process, namely an initial acceleration stage, an attitude adjustment stage and a tail end butt recovery stage.
FIG. 4 is a schematic diagram showing the resultant velocity variation trajectory in the case of radially adding velocity constraints, where the aircraft velocity is 0 before recovery, and in order to make the rotor velocity slightly greater than the recovery platform when recovery is close, the relative velocity between the target and the multi-rotor aircraft in the view system is set in this example
Figure BDA0002462581420000081
After recovery begins, the multi-rotor aircraft accelerates to 10 meters per second within 4s, and finally the speed of the multi-rotor aircraft converges to 10 meters per second, so that speed constraint is realized. Finally, the relative speed difference between the unmanned aerial vehicle and the recovery platform is smaller than 2 meters per second, and stable recovery is facilitated.
FIG. 5 shows a schematic of the tip and fall angle constraints with a desired pitch line-of-sight angle of 0 degrees, and a final multi-gyroplane convergence to 0 degrees from the target line-of-sight angle; the expected azimuth line-of-sight angle tracking target movement direction is shown by an inclined solid line in fig. 5, the final deviation between the azimuth line-of-sight angle and the expected azimuth line-of-sight angle is small, the falling angle constraint control is realized, and the final accurate recovery of the multi-rotor aircraft is facilitated.
In the schematic diagram of the change of the attitude angles in fig. 6, the attitude angles of the multi-rotor aircraft are all 0 at the initial recovery moment, the yaw angle change is large because the target of the recovery platform moves in a shape like a letter 8, the change of the motion direction is large, and the pitch angle and the roll angle are within 30 degrees at the tail end of the recovery platform, so that the influence on the landing is small.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims (5)

1. A method of autonomous recovery of a multi-gyroplane, the method comprising:
the photoelectric pod capture, identification and recovery platform hung on the multi-gyroplane provides target motion state information as an information source,
the acceleration command under the visual system is resolved and then converted into the acceleration command under the inertial system required by the rotor wing control system, and the acceleration command is transmitted to the rotor wing control system,
controlling the multi-rotor aircraft to fly to the recovery platform by the rotor control system according to the acceleration instruction under the inertial system;
the acceleration instruction under the sight line comprises a vertical acceleration instruction under the sight line and a radial acceleration instruction under the sight line;
the vertical acceleration instruction under the sight line is obtained by the following formula (one):
Figure FDA0003270607240000011
wherein,
Figure FDA0003270607240000012
indicating a vertical acceleration command under the sight line,
Figure FDA0003270607240000013
representing the relative speed, omega, between the target and the rotorcraft in the line of sightLosRepresents the rotation angular rate of the line of sight under the line of sight, N represents the proportional steering rate, omegadRepresenting a bias term that adds an end corner constraint.
2. The method of autonomous recovery of a multi-rotor aircraft according to claim 1,
the rotation angular rate omega of the line of sight under the line of sightLOSObtained by the following formula (II):
Figure FDA0003270607240000014
wherein, Δ x, Δ y, Δ z represent the three-axis resolution of the relative position of the multi-gyroplane and the target under the view system, and are obtained by a GPS or a photoelectric pod;
Δvx,Δvy,Δvzrepresenting the three-axis resolution of the relative speed of the multi-rotor aircraft and the target under the line of sight.
3. The method of autonomous recovery of a multi-rotor aircraft according to claim 1,
the bias term omega of the added terminal corner constraintdObtained by the following formula (III):
Figure FDA0003270607240000021
where eta represents a bias coefficient, qyRepresenting the elevation angle of the recovery platform relative to the line of sight of the drone, qzShowing the azimuth of the line of sight of the recovery platform relative to the drone, qydIndicating the desired high and low fall angles of the terminal, qzdRepresenting the terminal desired azimuth drop angle and r representing the relative distance between the multi-rotor aircraft and the recovery platform.
4. The method of autonomous recovery of a multi-rotor aircraft according to claim 1,
the radial acceleration command under the visual system is obtained by the following formula (IV):
Figure FDA0003270607240000022
wherein,
Figure FDA0003270607240000023
the radial acceleration command is shown in the view system,
Figure FDA0003270607240000024
indicating the relative multi-gyroplane speed, k, of the target in the desired line of sightrScale factor, k, representing position constraintvA scaling factor representing a speed constraint.
5. The method of autonomous recovery of a multi-rotor aircraft according to claim 4,
the difference between the relative speed between the target and the multi-gyroplane in the line of sight and the desired relative aircraft speed of the target in the line of sight may be resolved by the relative distance between the multi-gyroplane and the recovery platform; namely, it is
Figure FDA0003270607240000031
Wherein,
Figure FDA0003270607240000032
representing the differential of r.
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