CN112214035A - Return landing control method of carrier-based vertical-rise unmanned aerial vehicle - Google Patents
Return landing control method of carrier-based vertical-rise unmanned aerial vehicle Download PDFInfo
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- 238000005096 rolling process Methods 0.000 claims description 6
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- 150000001875 compounds Chemical class 0.000 claims description 2
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- 238000011084 recovery Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
Abstract
The invention discloses a ship-returning and landing control method of a carrier-based vertical unmanned aerial vehicle, which specifically comprises the following steps: after receiving the return flight instruction, taking the current ship position as a target point, executing a forward flying task, and guiding the unmanned aerial vehicle to fly to an overhead position of a ship landing point on a ship deck; tracking and height reduction: the unmanned aerial vehicle is suspended to descend at a constant speed and fly towards a landing point of a deck; quick carrier landing: guiding the unmanned aerial vehicle to stably descend, leading deck sinking and floating motion information into a height control channel by the unmanned aerial vehicle after the unmanned aerial vehicle reaches a safe height, enabling the unmanned aerial vehicle to keep a relatively safe height with a deck landing point in the height direction all the time, judging the landing time by a roll motion predictor, controlling the unmanned aerial vehicle to quickly descend to finish landing when the roll angle is predicted to be 0, and quickly stopping each channel control law after the unmanned aerial vehicle touches the landing; the method reduces the potential safety hazard of landing caused by the shaking of the landing point, and ensures the safe recovery of the drooping unmanned aerial vehicle on the ship.
Description
Technical Field
The invention belongs to the technical field of flight guidance and control, and particularly relates to a method for controlling carrier return and carrier landing of a carrier-based vertical lifting unmanned aerial vehicle.
Background
The drooping unmanned aerial vehicle back-sailing landing and landing have great difference in the final descending stage, the landing point is fixed and unchangeable, for the back-sailing landing, the landing point moves along with the movement of a ship and is an active point, and along with the improvement of the sea condition grade, the amplitude and the frequency of the shaking of the landing point can be increased, so that great hidden danger is brought to the safety of the ship. Therefore, the exploration and research of the method for returning and landing the ship of the unmanned aerial vehicle are significant, the unmanned aerial vehicle can be safely recovered on the ship, and the method is a key technology about the safety of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a ship-returning and landing control method of a carrier-based unmanned aerial vehicle, which solves the safety problem caused by the fact that a landing point moves along with the movement of a ship in the existing landing method.
The invention adopts the technical scheme that a ship-returning and landing control method of a carrier-borne drooping unmanned aerial vehicle, when the drooping unmanned aerial vehicle starts to return to the ship and landing, the speed and the course of a ship are kept unchanged, and the method is implemented according to the following steps:
step 1, returning to the approach: after receiving the return flight instruction, taking the current ship position as a target point, executing a forward flying task, and guiding the unmanned aerial vehicle to fly to an overhead position of a ship landing point on a ship deck;
step 2, tracking and height reduction: the unmanned aerial vehicle is suspended to descend at a constant speed and fly towards a landing point of a deck;
step 3, quickly landing on a ship: the unmanned aerial vehicle is guided to stably descend, after the unmanned aerial vehicle reaches a safe height, the unmanned aerial vehicle is guided to the height control channel through deck sinking and floating motion information, the unmanned aerial vehicle is enabled to keep a relatively safe height with a deck landing point all the time in the height direction, meanwhile, a roll motion predictor is adopted to judge the landing time, when the roll angle is predicted to be 0, the unmanned aerial vehicle is controlled to rapidly descend to finish landing, and after the landing, all channels are rapidly shut down.
The invention is also characterized in that:
wherein the return voyage stage in the step 1 is divided into two parts:
the first part, the unmanned aerial vehicle that hangs down decides high constant speed and flies to the target point, and concrete operation is as follows:
longitudinal direction: maintaining the current airspeed;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: taking the ship course as a target course;
the second part, hang up unmanned aerial vehicle and decide high speed reduction and fly to the target point, specifically the operation is as follows:
longitudinal direction: when the distance to be flown is less than a certain distance, the speed is reduced to be consistent with the ship speed in proportion to the distance to be flown;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: taking the ship course as a target course;
the tracking descending stage in the step 2 is specifically operated as follows:
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the height is reduced at a certain vertical speed, and the height is maintained after the height is reduced to a certain safe height;
course: taking the ship course as a target course;
the specific operation of rapid carrier landing in the step 3 is as follows:
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the vertical speed is changed to reduce the height, and the landing is finished;
course: taking the ship course as a target course;
in the step 3, in the stage of rapid landing, the relative height between a vertical unmanned aerial vehicle and a deck landing point is obtained by a laser range finder, sinking and floating motion data of the deck landing point is solved by the height information of the vertical unmanned aerial vehicle, a mathematical model of sinking and floating motion is fitted by the sinking and floating motion data, time period information Ts of the sinking and floating motion is obtained from the fitted model, after the period Ts of the sinking and floating motion is obtained, the deck rolling motion is estimated by the Ts, when a landing point rolling angle is 0 after the estimation of the estimator is reached, the vertical unmanned aerial vehicle is controlled to start a final descending stage, in the final descending stage, in order to enable the relative vertical speed to be reduced proportionally along with the reduction of the relative height, the landing rate when the relative height is zero meets the index requirement, an exponential descending law that the relative rate is the relative height is adopted, and the control law is that:
in the formula (I), the compound is shown in the specification,
to allow for the relative rate of the touchship, Δ H is the current relative altitude, and τ is the time constant.
When Δ H is 0, the relationship between time t and time constant τ is:
knowing the times t, Δ H0And
τ can be derived.
The invention has the beneficial effects that:
according to the method for controlling the carrier-based unmanned helicopter to return and land on the carrier, the process of returning and landing is divided into three stages of returning and landing, tracking and descending and rapid landing, so that the potential safety hazard of landing caused by shaking of landing points is reduced, and the safe recovery of the unmanned helicopter on the carrier is ensured.
Drawings
Fig. 1 is a structural diagram of an overall control system in a ship-returning and landing control method of a carrier-based vertical-rise unmanned aerial vehicle.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a ship-returning and landing control method of a carrier-borne drooping unmanned aerial vehicle, when the drooping unmanned aerial vehicle starts to return to the ship for landing, the speed and the course of a ship are kept unchanged, as shown in figure 1, the whole system is divided into three loops, namely a ship loop, a guide loop and a control loop; the ship loop/road is also a command control station of the drooping unmanned aerial vehicle, and sends out a landing instruction according to the current sea condition and the motion information of the ship and the drooping unmanned aerial vehicle, so that the actual motion condition of a deck landing point must be accurately mastered in advance in order to reduce the influence of ship motion on the landing of the drooping unmanned aerial vehicle. The method adopts a scheme of a two-axis stable cradle head, visual navigation and a laser range finder to measure sinking and floating motion information of a deck carrier landing point in real time;
at the final descending stage of the landing of the unmanned aerial vehicle, when the unmanned aerial vehicle is positioned above a landing point and flies at a certain safety height, the two-axis stabilizing pan-tilt carries the camera and the laser range finder, so that the unmanned aerial vehicle always points to the center of the landing point of the deck, the geometric dimension of the landing pattern is known, the relative height between the unmanned aerial vehicle and the landing point of the deck can be calculated through the geometric relationship by acquiring the parameters of the camera in real time, and therefore the relative speed between the unmanned aerial vehicle at the landing moment and the deck can meet certain index requirements by controlling a certain descending speed. In order to avoid instability of pan-tilt measurement data, height information on a ship and a vertical unmanned aerial vehicle is adopted to correct the measurement value;
the method is implemented by the following steps:
step 1, returning to the approach: in the process of carrying out a task by the unmanned aerial vehicle, after receiving a return command, carrying out a forward flying task by taking the current ship position as a target point, and guiding the unmanned aerial vehicle to fly to an overhead position of a ship landing point on a ship deck; in the return journey approach stage, a directional point flight control mode is adopted, and certain airspeed, deviation measurement control, altitude and course angle are kept:
the stage is divided into two steps:
the first step is as follows: the unmanned aerial vehicle that hangs down is decided high constant speed and is flown to the target point:
longitudinal direction: maintaining the current airspeed;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: taking the ship course as a target course;
the second step is that: the unmanned aerial vehicle is suspended to fly to a target point at a fixed height and a reduced speed:
longitudinal direction: when the distance to be flown is less than a certain distance, the speed is reduced to be consistent with the ship speed in proportion to the distance to be flown;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: taking the ship course as a target course;
step 2, tracking and reducing height; the unmanned aerial vehicle is suspended to descend at a constant speed and fly towards a landing point of a deck; in the tracking descending stage, vertical speed is adopted to keep control, and the control of other channels is unchanged;
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the height is reduced at a certain vertical speed, and the height is maintained after the height is reduced to a certain safe height;
course: taking the ship course as a target course;
step 3, quickly landing a ship; guiding the unmanned aerial vehicle to stably descend, leading deck sinking and floating motion information into a height control channel in order to ensure that the relative vertical speed of the unmanned aerial vehicle and a ship meet certain index requirements at the moment of ship contact, enabling the unmanned aerial vehicle to always keep relative safe height with a deck landing point in the height direction after the unmanned aerial vehicle reaches the safe height, judging the landing time by adopting a roll motion predictor, controlling the unmanned aerial vehicle to quickly descend to finish landing when the roll angle is predicted to be 0, and thus ensuring that the unmanned aerial vehicle can contact the ship under the safe condition and quickly stop control laws of each channel after the unmanned aerial vehicle contacts the ship;
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the vertical speed is changed to reduce the height, and the landing is finished;
course: taking the ship course as a target course;
in the fast landing stage, the relative height between the unmanned aerial vehicle and the deck landing point can be obtained through the laser range finder, sinking and floating motion data of the deck landing point are calculated through the height information of the unmanned aerial vehicle, a mathematical model of sinking and floating motion is fitted through the sinking and floating motion data, and time period information Ts of the sinking and floating motion is obtained from the fitted model. And after a sinking and floating movement period Ts is obtained, estimating the deck rolling movement by using the Ts, and controlling the unmanned aerial vehicle to start the final descending stage when the predictor estimates that the landing point rolling angle is 0 after the Ts. In the final descending stage, in order to ensure that the relative vertical speed is reduced in proportion to the reduction of the relative height and ensure that the speed of the ship touching meets the index requirement when the relative height is zero, an exponential descending rule that the relative speed is the relative height is adopted, and the control law is
Wherein the content of the first and second substances,
to allow for the relative rate of the touchship, Δ H is the current relative altitude, and τ is the time constant.
When Δ H is 0, the relationship between time t and time constant τ is
In the above formula, the time t, Δ H are known0And
τ can be derived.
Claims (5)
1. A ship-returning and landing control method for a carrier-borne drooping unmanned aerial vehicle is characterized in that after the drooping unmanned aerial vehicle starts to return to a ship for landing, the speed and the course of a ship are kept unchanged, and the method is implemented according to the following steps:
step 1, returning to the approach: after receiving the return flight instruction, taking the current ship position as a target point, executing a forward flying task, and guiding the unmanned aerial vehicle to fly to an overhead position of a ship landing point on a ship deck;
step 2, tracking and height reduction: the unmanned aerial vehicle is suspended to descend at a constant speed and fly towards a landing point of a deck;
step 3, quickly landing on a ship: the unmanned aerial vehicle is guided to stably descend, after the unmanned aerial vehicle reaches a safe height, the unmanned aerial vehicle is guided to the height control channel through deck sinking and floating motion information, the unmanned aerial vehicle is enabled to keep a relatively safe height with a deck landing point all the time in the height direction, meanwhile, a roll motion predictor is adopted to judge the landing time, when the roll angle is predicted to be 0, the unmanned aerial vehicle is controlled to rapidly descend to finish landing, and after the landing, all channels are rapidly shut down.
2. The method for controlling the carrier-based vertical take-off unmanned aerial vehicle to return to the carrier and landing the carrier according to claim 1, wherein the return flight approach stage in the step 1 is divided into two parts:
the first part, the unmanned aerial vehicle that hangs down decides high constant speed and flies to the target point, and concrete operation is as follows:
longitudinal direction: maintaining the current airspeed;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: taking the ship course as a target course;
the second part, hang up unmanned aerial vehicle and decide high speed reduction and fly to the target point, specifically the operation is as follows:
longitudinal direction: when the distance to be flown is less than a certain distance, the speed is reduced to be consistent with the ship speed in proportion to the distance to be flown;
transverse: deviation rectification control;
height: keeping the current height unchanged;
course: and taking the ship course as a target course.
3. The method for controlling carrier return and carrier landing of the carrier-based vertical take-off unmanned aerial vehicle according to claim 1, wherein the tracking and descending high-order section in the step 2 is specifically operated as follows:
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the height is reduced at a certain vertical speed, and the height is maintained after the height is reduced to a certain safe height;
course: and taking the ship course as a target course.
4. The method for controlling carrier return and carrier landing of the carrier-based vertical ascent unmanned aerial vehicle according to claim 1, wherein the specific operations of rapid carrier landing in the step 3 are as follows:
longitudinal direction: keeping the speed consistent with the ship speed;
transverse: deviation rectification control;
height: the vertical speed is changed to reduce the height, and the landing is finished;
course: and taking the ship course as a target course.
5. The method according to claim 1, wherein in the step 3 of fast landing, the relative height between the flying drone and the landing point on the deck is obtained by a laser range finder, the sinking and floating movement data of the landing point on the deck is calculated from the height information of the flying drone, a mathematical model of the sinking and floating movement is fitted from the sinking and floating movement data, the time period information Ts of the sinking and floating movement is obtained from the fitted model, after the period Ts of the sinking and floating movement is obtained, the deck rolling movement is estimated by using Ts, when the rolling angle of the landing point is 0 after the estimator reaches Ts, the flying drone is controlled to start the final descent stage, in order to enable the relative vertical speed to be reduced proportionally with the reduction of the relative height, the contact rate when the relative height is zero is ensured to meet the index requirement, the control law of exponential decline with relative speed as relative height is as follows:
in the formula (I), the compound is shown in the specification,
to allow for the relative rate of the touchship, Δ H is the current relative altitude, and τ is the time constant.
When Δ H is 0, the relationship between time t and time constant τ is:
knowing the times t, Δ H0And
τ can be derived.
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