CN112758346B - Method for constructing flight push instruction of vertical take-off and landing fixed wing aircraft in transition process - Google Patents

Method for constructing flight push instruction of vertical take-off and landing fixed wing aircraft in transition process Download PDF

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CN112758346B
CN112758346B CN202110145195.9A CN202110145195A CN112758346B CN 112758346 B CN112758346 B CN 112758346B CN 202110145195 A CN202110145195 A CN 202110145195A CN 112758346 B CN112758346 B CN 112758346B
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CN112758346A (en
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王向阳
杨赟杰
朱纪洪
袁夏明
程志强
邓金来
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Tsinghua University
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention provides a method for constructing a flight push instruction of a vertical take-off and landing fixed wing aircraft in a transition process, belongs to the technical field of navigation and control of the vertical take-off and landing fixed wing aircraft, and comprises three steps of establishing a vertical command trajectory, a speed command trajectory and a tilting component pitch angle command trajectory of the vertical take-off and landing fixed wing aircraft in vertical-rotation horizontal and horizontal-rotation vertical transition processes. All three instruction tracks are based on cosine functions, and the tilting angle of the tilting component takes the speed as an independent variable, so that closed-loop feedback of the instruction speed to the instruction tilting angle is formed. Compared with the traditional linear transition process track, the method provided by the invention is more in line with the system kinematics rule, and simultaneously represents the coupling relation between the tilting angle and the speed of the vertical take-off and landing fixed wing aircraft in the transition process. In practical application, the method is not limited to the initial state of the vertical take-off and landing fixed wing aircraft in the transition process, can be realized on line, is not limited to the size and the type of the vertical take-off and landing fixed wing aircraft, and has the characteristic of strong universality.

Description

Method for constructing flight push instruction of vertical take-off and landing fixed wing aircraft in transition process
Technical Field
The invention belongs to the technical field of vertical take-off and landing aircraft navigation and control, and relates to a method for constructing a flight push instruction of a vertical take-off and landing fixed-wing aircraft in a transition process.
Background
The vertical take-off and landing fixed wing aircraft mainly comprises different configurations such as a tail seat type, a tilting rotary wing type and a thrust vector type, can take off vertically without runways, and can change a vertical flight mode into a horizontal flight mode (vertical rotation, horizontal flight and vertical flight) by tilting a tilting component for 90 degrees in the air (for the tail seat type aircraft, the tilting component is a complete machine; for the tilting rotary wing type aircraft, the tilting component is a tilting rotary wing; and for the thrust vector aircraft, the tilting component is a thrust vector nozzle), so that the horizontal speed is increased, and after a flight task is completed, the horizontal flight mode is changed into the vertical flight mode (vertical rotation, vertical flight and vertical flight) to realize speed reduction and vertical landing. Because the gravity of the aircraft is offset by the lift that the wing provided at the horizontal flight mode to the fixed wing aircraft of VTOL, consequently compare in the rotor aircraft of traditional VTOL, its range increases by a wide margin to have very big application prospect in scenes such as logistics distribution, electric power patrol and examine, safety monitoring, rescue after the calamity.
However, the complex dynamics of the vertical take-off and landing fixed wing aircraft during the transition process of "vertical-rotation and" horizontal-rotation and vertical-rotation "bring great challenges to the control of the aircraft, and one of the challenges is the flight-push instruction construction of the transition process. Currently, there are two forms of common transitional fly-push instructions: firstly, linear instructions are adopted, the method is simple and feasible in engineering, but the kinematics and dynamics characteristics of the aircraft transition process are not considered; secondly, nonlinear optimization, which comprehensively considers constraints such as system dynamics, actuator range and objective function, but has long track optimization time, so that online solution is difficult, and the optimization algorithm is seriously dependent on a determined initial state, thereby limiting the practical application of the optimization algorithm in engineering.
Disclosure of Invention
Aiming at the problems of the existing transition process fly-push instruction, the invention provides a method for constructing the vertical take-off and landing fixed wing aircraft transition process fly-push instruction. In order to achieve the purpose, the invention adopts the following specific technical scheme.
S1, establishing a height instruction track of a vertical take-off and landing fixed wing aircraft in a transition process of vertical rotation and horizontal rotation and vertical rotation;
s2, establishing speed instruction tracks of vertical take-off and landing fixed wing aircraft in the transition processes of vertical rotation and horizontal rotation and vertical rotation;
and S3, establishing tilting angle command tracks of the tilting component in the transition process of vertical take-off and landing fixed wing aircraft vertical rotation and horizontal rotation and vertical rotation.
Further, the "vertical horizontal" transition process height instruction track in the step S1
Figure BDA0002929768050000021
Comprises the following steps:
Figure BDA0002929768050000022
wherein the content of the first and second substances,
Figure BDA0002929768050000023
is the actual initial height of "vertical to horizontal", TFTIs the "droop" desired transition time, Δ hFTIs the "droop pan" desired height change, t is the time variable;
"horizontal-to-vertical" transition height instruction trajectory
Figure BDA0002929768050000024
Comprises the following steps:
Figure BDA0002929768050000025
wherein the content of the first and second substances,
Figure BDA0002929768050000026
is the actual initial height of "horizontal sag". TBTIs the desired transition time of "horizontal sag". DELTA.hBTIs the "horizontal sag" expected height change, t is the time variable; the cosine function height instruction tracks adopted by the formulas (1) and (2) ensure that the initial and final expected vertical speeds of the vertical-to-horizontal transition process and the horizontal-to-vertical transition process are 0.
Still further, the "vertical horizontal" transition process speed command trajectory in said step S2
Figure BDA0002929768050000027
Comprises the following steps:
Figure BDA0002929768050000028
wherein the content of the first and second substances,
Figure BDA0002929768050000029
is the "vertical yaw flat" actual initial velocity,
Figure BDA00029297680500000210
is the "droop" desired end-state velocity, generally,
Figure BDA00029297680500000211
speed command track of 'horizontal-to-vertical' transition process
Figure BDA00029297680500000212
Comprises the following steps:
Figure BDA00029297680500000213
wherein the content of the first and second substances,
Figure BDA00029297680500000214
is the "horizontal sag" actual initial velocity,
Figure BDA00029297680500000215
is "flat-droop" the desired end-state velocity, generally,
Figure BDA00029297680500000216
the cosine function speed instruction tracks adopted by the formulas (3) and (4) ensure that the initial and final expected accelerations in the transition process of 'vertical rotation horizontal' and 'horizontal rotation vertical' are 0.
Further, the tilting-angle command trajectory of the tilting-member during the "heave-flat" transition in said step S3
Figure BDA00029297680500000217
Comprises the following steps:
Figure BDA00029297680500000218
Figure BDA00029297680500000219
Figure BDA00029297680500000220
wherein
Figure BDA00029297680500000221
A desired tilt angle command preset by the speed command for "droop,
Figure BDA00029297680500000222
for initial error elimination terms, which aim at reducing the actual initial tilt angle
Figure BDA00029297680500000223
And a predetermined initial tilt angle
Figure BDA00029297680500000224
The error between.
Tilt angle instruction track of tilt component in 'horizontal-to-vertical' transition process
Figure BDA00029297680500000225
Comprises the following steps:
Figure BDA00029297680500000226
Figure BDA0002929768050000031
Figure BDA0002929768050000032
wherein
Figure BDA0002929768050000033
A desired tilt angle command preset by the speed command for "pan droop",
Figure BDA0002929768050000034
for the initial error elimination term, which is intended to reduce the actual initial tilt angle of "flat droop
Figure BDA0002929768050000035
And presetInitial tilting angle
Figure BDA0002929768050000036
The error between; the cosine function tilting angle instruction tracks adopted by the formulas (6) and (9) ensure that the initial and final expected tilting angular velocities in the vertical-to-horizontal and horizontal-to-vertical transition processes are 0; in expressions (5) to (10), θ represents a body pitch angle for a tail-seated aircraft, a rotor tilt angle for a tilt-rotor wing aircraft, and a thrust-vector drift angle for a thrust-vector aircraft.
The invention has the advantages that:
(1) compared with a linear fly-push instruction, the height, speed and tilting angle instruction tracks of the vertical take-off and landing fixed wing aircraft in the transition process of vertical rotation and horizontal rotation and vertical rotation are designed to be in a cosine function form, so that the vertical speed, the acceleration and the tilting angle speed which are expected by the vertical rotation and horizontal rotation and vertical rotation are increased (the initial value is 0) and then reduced (the final value is 0), and the system kinematics law is better met.
(2) Compared with a linear fly-push instruction, the tilting angle instruction track of the tilting component in the transition process of vertical take-off and landing fixed wing aircraft vertical rotation and horizontal rotation is designed to be in a mode of taking the instruction speed as an independent variable, so that closed-loop feedback of the instruction speed to the tilting angle is formed, and the coupling relation between the tilting angle and the speed in the transition process of the vertical take-off and landing fixed wing aircraft is represented.
(3) The cosine function instruction adopted by the method is not limited by the initial state of the vertical take-off and landing fixed wing aircraft in the transition process while representing the kinematics characteristics of the system, can be realized on line, and has wider application range in actual engineering.
(4) The method is not limited by the size and the type of the vertical take-off and landing fixed wing aircraft, is suitable for tail-sitting type, tilt-turn (aircraft) wing type and thrust vector type vertical take-off and landing fixed wing aircraft with different weights, and has the characteristic of strong universality.
Drawings
FIG. 1: the invention relates to a flow chart of a method for constructing a flight push instruction in a transition process of a vertical take-off and landing fixed wing aircraft;
FIG. 2: the tail-seated vertical take-off and landing fixed-wing aircraft adopted in the specific embodiment of the invention;
FIG. 3: the tail-seated vertical take-off and landing fixed wing aircraft designed by the invention has a command track in a 'vertical-to-horizontal' transition process;
FIG. 4: the invention relates to a command track of a transition process of 'horizontal rotation and vertical sag' of a tail-seated vertical take-off and landing fixed wing aircraft.
Detailed Description
In order to clearly and completely show the technical scheme and the specific working process thereof, the specific embodiments of the invention are exemplified by combining the drawings in the specification.
In this example, a four-rotor tail-sitting type VTOL fixed wing aircraft (fig. 1) is taken as an example, the design parameters of the aircraft are shown in the following table 1, the actuator of the aircraft comprises four propellers distributed along the spanwise direction and a left control surface and a right control surface which are positioned at the bottoms of wings, for example, in the table 1, the propellers 1 and 3 are large-size propellers, the propellers 2 and 4 are small-size propellers, and the left control surface and the right control surface are the same in area.
TABLE 1
Figure BDA0002929768050000041
The method specifically comprises the following steps of constructing and constructing a tail-seated vertical take-off and landing fixed wing aircraft transition process fly-push instruction:
s1, establishing a height instruction track of a tail-seated vertical take-off and landing fixed wing aircraft in a transition process of vertical rotation and horizontal rotation and vertical rotation;
in the step, the tail-seated vertical take-off and landing fixed wing aircraft altitude instruction track in the transition process of vertical rotation and horizontal rotation
Figure BDA0002929768050000042
Comprises the following steps:
Figure BDA0002929768050000043
for the tail-seated vertical take-off and landing fixed-wing aircraft of the embodiment, parameters are setThe method comprises the following steps: the initial height of "vertical to horizontal" is
Figure BDA0002929768050000044
(determined by the actual state of the aircraft, here assumed values, which do not affect the implementation of the method), "droop" desired transition time TFTThe desired height change Δ h for "droop leveling" is 5sFTT is a time variable, 10 m.
Height instruction track of tail-seated vertical take-off and landing fixed wing aircraft in 'horizontal-rotation-vertical' transition process
Figure BDA0002929768050000045
Comprises the following steps:
Figure BDA0002929768050000051
for the tail-seated vertical take-off and landing fixed wing aircraft of the embodiment, the parameters are set as follows: actual initial height of "horizontal sag
Figure BDA0002929768050000052
(determined by the actual state of the aircraft, here assumed values, which do not affect the implementation of the method), "horizontal sag" desired transition time TBTThe desired height change Δ h for "flat sag" is 5sBTT is a time variable, 10 m.
S2, establishing speed instruction tracks of transition processes of vertical rotation and horizontal rotation of the tail-seated vertical take-off and landing fixed wing aircraft;
in the step, the speed instruction track of the tail-seated vertical take-off and landing fixed wing aircraft in the 'vertical-to-horizontal' transition process
Figure BDA0002929768050000053
Comprises the following steps:
Figure BDA0002929768050000054
for the tail-seated VTOL fixed wing aircraft of the embodiment, the parameters are set to: actual initial velocity of "vertical to horizontal
Figure BDA0002929768050000055
(determined by the actual state of the aircraft, here assumed values, which do not affect the implementation of the method), "droop" desired end-state velocity
Figure BDA0002929768050000056
Speed instruction track of tail-seated vertical take-off and landing fixed wing aircraft in 'horizontal-rotation-vertical' transition process
Figure BDA0002929768050000057
Comprises the following steps:
Figure BDA0002929768050000058
for the tail-seated vertical take-off and landing fixed wing aircraft of the embodiment, the parameters are set as follows: actual initial velocity of "horizontal sag
Figure BDA0002929768050000059
(determined by the actual state of the aircraft, here assumed values, which do not affect the implementation of the method), "droop" desired end-state velocity
Figure BDA00029297680500000510
S3, establishing a complete machine tilting angle (namely a pitch angle) instruction track in transition processes of 'vertical rotation and horizontal' and 'horizontal rotation and vertical' of the tail-seated vertical take-off and landing fixed wing aircraft;
in the step, a pitch angle instruction track of the tail-seated vertical take-off and landing fixed wing aircraft in the vertical-to-flat transition process
Figure BDA00029297680500000511
Comprises the following steps:
Figure BDA00029297680500000512
Figure BDA00029297680500000513
Figure BDA00029297680500000514
wherein
Figure BDA00029297680500000515
For a desired pitch angle command preset by the speed command,
Figure BDA00029297680500000516
for initial error elimination terms, which aim at reducing the actual initial pitch angle
Figure BDA00029297680500000517
Initial expected pitch angle with preset period
Figure BDA00029297680500000518
The error between; in the present embodiment, the actual initial pitch angle
Figure BDA00029297680500000519
(the actual state of the aircraft, here assumed values, does not affect the implementation of the method).
Tail-sitting type vertical take-off and landing fixed wing aircraft pitch angle instruction track in 'horizontal-rotation-vertical' transition process
Figure BDA00029297680500000520
Comprises the following steps:
Figure BDA00029297680500000521
Figure BDA00029297680500000522
Figure BDA0002929768050000061
wherein
Figure BDA0002929768050000062
For a desired tilt angle command preset by the speed command,
Figure BDA0002929768050000063
for initial error elimination terms, which aim at reducing the actual initial tilt angle
Figure BDA0002929768050000064
Initial desired tilting angle from preset
Figure BDA0002929768050000065
The error between; in the present embodiment, the actual initial pitch angle
Figure BDA0002929768050000066
(the actual state of the aircraft, here assumed values, does not affect the implementation of the method).
In summary, a "droop-horizontal" transition process command trajectory of the tail-seated vertical take-off and landing fixed wing aircraft can be established as shown in fig. 3, and a "droop-vertical" transition process command trajectory is shown in fig. 4. Both the pitch angle commands changing according to the transition process time are shown in fig. 3(c) and fig. 4(c), and it can be seen that the pitch angle command of vertical rotation and horizontal rotation is gradually reduced, and the pitch angle command of horizontal rotation and vertical rotation is gradually increased; fig. 3(d) and fig. 4(d) are both pitch angle commands that vary according to the speed command, and it can be seen that, regardless of "vertical yaw" or "horizontal yaw," when the flight speed command is close to the maximum value, the pitch angle command is close to 0 degrees, and when the flight speed command is close to the minimum value, the pitch angle command is close to 90 degrees, which conforms to the dynamics of a tail-seated vertical take-off and landing fixed wing aircraft.
In addition, as can be seen from fig. 3 and 4, the height, speed and pitch angle command trajectories of the tail-seated vertical take-off and landing fixed wing aircraft in the transition processes of "vertical rotation horizontal" and "horizontal rotation vertical" all change according to the form of a sine function, and the first derivatives of the three command trajectories, namely the expected vertical speed, the expected acceleration and the expected tilting angle speed are increased (and the initial value is 0) and then decreased (and the final value is 0), conform to the law of system kinematics.
The above-described embodiments of the present invention have been described in detail for the purpose of illustrating the invention, and it should be understood that the invention is not limited to the above-described embodiments, but is intended to cover various modifications, equivalents, improvements, and equivalents within the spirit and scope of the invention.

Claims (1)

1. The method for constructing the flight push instruction of the vertical take-off and landing fixed wing aircraft in the transition process is characterized by comprising the following steps of:
s1, establishing a height instruction track of a vertical take-off and landing fixed wing aircraft in a transition process of vertical rotation and horizontal rotation and vertical rotation;
s2, establishing speed instruction tracks of vertical take-off and landing fixed wing aircraft in the transition processes of vertical rotation and horizontal rotation and vertical rotation;
s3, establishing tilting angle command tracks of tilting components in the transition processes of vertical take-off and landing fixed wing aircrafts 'vertical rotation flat' and 'horizontal rotation vertical';
in the step S1, in the above step,
"vertical to horizontal" transition height instruction trajectory
Figure FDA0003585465390000011
Comprises the following steps:
Figure FDA0003585465390000012
wherein the content of the first and second substances,
Figure FDA0003585465390000013
is the actual initial height of "vertical to horizontal", TFTIs the "droop" desired transition time, Δ hFTIs to vertically rotate to be flat"desired altitude change, t is a time variable;
height instruction track for 'horizontal-to-vertical' transition process
Figure FDA0003585465390000014
Comprises the following steps:
Figure FDA0003585465390000015
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003585465390000016
is the actual initial height of "horizontal sag". TBTIs the desired transition time of "horizontal sag". DELTA.hBTIs "horizontal sag" desired height change, t is a time variable; the cosine function height instruction tracks adopted by the formulas (1) and (2) ensure that the initial and final expected vertical speeds of the vertical-to-horizontal transition process and the horizontal-to-vertical transition process are 0;
in the step S2, in the above step,
speed command track for vertical-to-horizontal transition process
Figure FDA0003585465390000017
Comprises the following steps:
Figure FDA0003585465390000018
wherein the content of the first and second substances,
Figure FDA0003585465390000019
is the "vertical yaw flat" actual initial velocity,
Figure FDA00035854653900000110
is "droop flat" the desired end-state velocity, generally,
Figure FDA00035854653900000111
speed command track of 'horizontal-to-vertical' transition process
Figure FDA00035854653900000112
Comprises the following steps:
Figure FDA0003585465390000021
wherein the content of the first and second substances,
Figure FDA0003585465390000022
is the "horizontal sag" actual initial velocity,
Figure FDA0003585465390000023
is "flat-droop" the desired end-state velocity, generally,
Figure FDA0003585465390000024
cosine function speed command tracks adopted by the formulas (3) and (4) ensure that the initial and final expected accelerations in the transition process of 'vertical rotation horizontal' and 'horizontal rotation vertical' are 0;
in the above-mentioned step S3, the step,
tilting angle instruction track of tilting component in vertical-to-horizontal transition process
Figure FDA0003585465390000025
Comprises the following steps:
Figure FDA0003585465390000026
Figure FDA0003585465390000027
Figure FDA0003585465390000028
wherein
Figure FDA0003585465390000029
A desired tilt angle command preset by the speed command for "droop,
Figure FDA00035854653900000210
for the initial error cancellation term, which is intended to reduce the "droop" actual initial tilt angle
Figure FDA00035854653900000211
And a predetermined initial tilt angle
Figure FDA00035854653900000212
The error between;
tilt angle instruction track of tilt component in 'horizontal-to-vertical' transition process
Figure FDA00035854653900000213
Comprises the following steps:
Figure FDA00035854653900000214
Figure FDA00035854653900000215
Figure FDA00035854653900000216
wherein
Figure FDA00035854653900000217
A desired tilt angle command preset by the speed command for "pan droop",
Figure FDA00035854653900000218
for the initial error elimination term, which is intended to reduce the actual initial tilt angle of "flat droop
Figure FDA00035854653900000219
And a predetermined initial tilt angle
Figure FDA00035854653900000220
The error between; the cosine function tilting angle instruction tracks adopted by the formulas (6) and (9) ensure that the initial and final expected tilting angular velocities in the vertical-to-horizontal and horizontal-to-vertical transition processes are 0; in equations (5) to (10), θ represents a body pitch angle for a tail-seated aircraft, a pitch/wing tilt angle for a tilt/wing aircraft, and a thrust vector drift angle for a thrust vector aircraft.
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