CN113071690A - Unmanned aerial vehicle nozzle control logic design method based on vector thrust - Google Patents
Unmanned aerial vehicle nozzle control logic design method based on vector thrust Download PDFInfo
- Publication number
- CN113071690A CN113071690A CN202110346440.2A CN202110346440A CN113071690A CN 113071690 A CN113071690 A CN 113071690A CN 202110346440 A CN202110346440 A CN 202110346440A CN 113071690 A CN113071690 A CN 113071690A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- vector
- nozzle
- spray pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000013598 vector Substances 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000013461 design Methods 0.000 title claims abstract description 18
- 239000007921 spray Substances 0.000 claims abstract description 81
- 238000004088 simulation Methods 0.000 claims abstract description 53
- 238000012795 verification Methods 0.000 claims abstract description 49
- 230000008859 change Effects 0.000 claims abstract description 34
- 238000005094 computer simulation Methods 0.000 claims abstract description 17
- 238000012360 testing method Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 10
- 238000010200 validation analysis Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- 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
- B64D33/00—Arrangements in aircraft of power plant parts or auxiliaries not otherwise provided for
- B64D33/04—Arrangements in aircraft of power plant parts or auxiliaries not otherwise provided for of exhaust outlets or jet pipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Evolutionary Computation (AREA)
- Computer Hardware Design (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method, which belongs to the technical field of unmanned aerial vehicle flight control and is characterized by comprising the following steps of: a. installing a vectoring nozzle in a test way; b. carrying out simulation modeling on the vector spray pipe; c. vector deflection simulation; d. the vector nozzle control verification comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the trim rudder deflection of the elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed. The invention adopts the vector thrust engine to generate extra torque to compensate the control effect of the control surface, can realize the stability and maneuvering action of the flying wing layout unmanned aerial vehicle through the combined action of the pneumatic control surface and the thrust vector, and has good applicability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a thrust vectoring based unmanned aerial vehicle nozzle control logic design method.
Background
With the development of modern science and technology, various novel unmanned aerial vehicles emerge endlessly. In recent years, various novel unmanned aerial vehicles gradually get attention, and unmanned aerial vehicles with flying wing layouts become key research objects. In addition, with the great diversity of the thrust vector technology on the fighter, the application of the thrust vector technology on the unmanned aerial vehicle also becomes possible, thereby promoting the development of the thrust vector unmanned aerial vehicle.
Flying wing overall arrangement unmanned aerial vehicle does not have the tubbiness fuselage of traditional overall arrangement unmanned aerial vehicle, and its loading area submerges in huge wing completely, therefore its appearance designs according to aerodynamic optimum condition, and whole organism all becomes a lift face, has removed horizontal fin, the outstanding part of vertical fin appearance simultaneously, has effectively reduced infiltration area, helps the reduction of resistance, has improved the lift-drag ratio greatly, and flying wing overall arrangement unmanned aerial vehicle has the huge advantage that traditional unmanned aerial vehicle does not have the fungible.
Compared with the conventional layout unmanned aerial vehicle, the flying wing layout unmanned aerial vehicle has the problem of lower pitching channel control efficiency, additional pitching control moment and lift force are provided by utilizing vector thrust, and the flight performance of the flying wing layout unmanned aerial vehicle can be greatly improved. The aerodynamic control surfaces and thrust vectors provide control redundancy, and how to optimize scheduling for reasonable control distribution also brings important challenges to system design.
Chinese patent publication No. CN 112158325a, published 2021, 01 month, 01 th discloses a tailstock type vertical take-off and landing unmanned aerial vehicle and a control method thereof, the unmanned aerial vehicle mainly comprises a body, wings, ailerons, a tail wing, elevators, rudders, engines, attitude adjusting nozzles and landing gears, wherein the wings are symmetrically arranged at two sides of the middle part of the body; the ailerons are hinged at the trailing edges of the wings at two sides; the empennage is positioned at the tail part of the fuselage and adopts the form of a vertical tail and a horizontal tail or a V-shaped empennage; the elevator and the rudder are hinged at the rear edge of the empennage; the engine is arranged at the tail of the machine body and generates main thrust; the posture adjusting spray pipe is distributed on the outer surface of the front part of the unmanned aerial vehicle body and can spray air outwards to generate a rotating torque to assist in adjusting the posture of the unmanned aerial vehicle; the undercarriage sets up in the fuselage afterbody, but automatic folding and expansion for support unmanned aerial vehicle, in order to realize its VTOL.
The tailstock type vertical take-off and landing unmanned aerial vehicle and the control method thereof disclosed by the patent document can realize tailstock type vertical take-off and landing and high-speed cruise through coordination control among the attitude adjusting spray pipe, the engine, the pneumatic control surface and the landing gear. However, the unmanned aerial vehicle with flying wing layout cannot effectively compensate the control effect of the control surface, so that the unmanned aerial vehicle with flying wing layout has poor stability and maneuvering behavior and poor applicability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a thrust vectoring engine-based unmanned aerial vehicle nozzle control logic design method.
The invention is realized by the following technical scheme:
a thrust vectoring unmanned aerial vehicle nozzle control logic design method is characterized by comprising the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
In the step a, the control range of the vector spray pipe is +/-15 degrees.
In the step b, the vector spray pipe simulation modeling specifically refers to controlling an engine model to generate force and moment through the opening degree of an accelerator, and introducing the deflection angle of the spray pipe to obtain the vector spray pipe simulation model.
In the step b, the deflection angle of the tail nozzle is +/-15 degrees.
In the step c, establishing the engine vectoring nozzle control dynamic model specifically means changing the thrust direction of the engine according to the installation position and the deflection angle of the vectoring nozzle.
The PWM of the invention refers to pulse width modulation.
The basic principle of the invention is as follows:
according to simulation verification and flight verification, the vector nozzle rotates to directly send a pulse signal to the ground station, so that data shows that the unmanned aerial vehicle has unobvious attitude response and small influence on the state of the whole unmanned aerial vehicle, and the scheme is safe; the rotating range of the spray pipe is +/-5 degrees, the deflection angle of the rotating spray pipe in actual flight is 2 degrees, and as the engine trim thrust in the flat flight process is smaller, the data curve shows that the elevator compensation amount is about 1 degree, and the thrust loss in the X-axis direction is very small; the simulation phenomenon is that the vectoring nozzle rotates by 5 degrees, the elevator approximately compensates by 1.5 degrees, the trim pitch angle change does not exceed 1 degree, the amplitudes of the upper direction and the lower direction are basically consistent, actual flight data are compared with a simulation result, the difference between the elevator compensation and the pitch angle change is not large, and the flight data are obvious.
Therefore, the pitching moment of longitudinal control can be changed by the rotation of the vectoring nozzle, and the corresponding compensation for the control effect of the elevator is facilitated; the offset of the trim rudder of the elevator can be reduced, and the reduction of flight resistance is facilitated; the thrust allowance of x axle direction is enough, and at the rotation in-process, the unmanned aerial vehicle gesture changes lessly, obvious vibrations can not appear.
The beneficial effects of the invention are mainly shown in the following aspects:
1. the method comprises the following steps that a, a vectoring nozzle is installed in a test mode, a vectoring nozzle is additionally installed on a pitching channel of an engine tail nozzle, the vectoring nozzle is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled through PWM to achieve up-and-down deflection of the tail nozzle; b. the vector jet pipe simulation modeling is realized, a tail jet pipe deflection control mechanism is added on the basis of an engine model, and the tail jet pipe deflection control mechanism is used for controlling the longitudinal movement of a tail jet pipe; c. vector deflection simulation, namely when the unmanned aerial vehicle flies between certain two straight line waypoints, directly sending a jet pipe deflection angle by a ground station, wherein the rotation direction of the jet pipe deflection angle is longitudinal, the angle range is +/-15 degrees, and establishing an engine vector jet pipe control dynamic model; d. the vector nozzle control verification comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the trim rudder deflection of the elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed. Compared with the prior art, the flying wing unmanned aerial vehicle has the advantages that the fuselage of the flying wing unmanned aerial vehicle is short, so that the control force arm of the elevator is short, the control capability of the elevator is low, and the longitudinal maneuvering capability of the unmanned aerial vehicle is limited.
2. In the step b, the vector nozzle simulation modeling specifically means that the engine model is controlled by the opening degree of the accelerator to generate force and moment, then the nozzle deflection angle is introduced to obtain the vector nozzle simulation model, new force and moment can be generated, so that the deflection angle of the control surface is reduced, the larger the deflection angle of the control surface is, the larger the generated resistance is, the proper nozzle deflection angle is selected to replace the deflection angle of the control surface, and the flight stability of the unmanned aerial vehicle is facilitated.
3. According to the invention, the controller of the tailless flying wing layout unmanned aerial vehicle is designed based on the traditional control method, so that the control range of the traditional control method can be kept wide, the control can be simply realized in engineering, and the control requirement of the flying wing unmanned aerial vehicle can be met.
4. According to the invention, the vector nozzle control compensates the elevator, the active control in the traditional control method is verified, and the vector nozzle control has a good reference significance for unmanned aerial vehicles with similar layouts.
5. According to the invention, simulation verification and flight verification show that the thrust margin in the x-axis direction is enough, the attitude change of the unmanned aerial vehicle is small in the rotating process, obvious vibration cannot occur, and the flight stability is ensured.
6. According to the invention, the pitching moment of longitudinal control can be changed by the rotation of the vectoring nozzle, so that the corresponding compensation for the control effect of the elevator is facilitated; the offset of the trim rudder of the elevator can be reduced, and the flight resistance is reduced.
Drawings
The invention will be further described in detail with reference to the drawings and the detailed description, wherein:
FIG. 1 is a graph of elevator variation simulation of the present invention;
fig. 2 is a plot of the elevator change flight of the present invention.
Detailed Description
Example 1
Referring to fig. 1 and 2, a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method includes the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
a. The vector spray pipe is installed in a test mode, a pitching channel of the tail spray pipe of the engine is additionally provided with the vector spray pipe, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled through PWM to realize the up-and-down deflection of the tail spray pipe; b. the vector jet pipe simulation modeling is realized, a tail jet pipe deflection control mechanism is added on the basis of an engine model, and the tail jet pipe deflection control mechanism is used for controlling the longitudinal movement of a tail jet pipe; c. vector deflection simulation, namely when the unmanned aerial vehicle flies between certain two straight line waypoints, directly sending a jet pipe deflection angle by a ground station, wherein the rotation direction of the jet pipe deflection angle is longitudinal, the angle range is +/-15 degrees, and establishing an engine vector jet pipe control dynamic model; d. the vector nozzle control verification comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the trim rudder deflection of the elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed. Compared with the prior art, the flying wing unmanned aerial vehicle has the advantages that the fuselage of the flying wing unmanned aerial vehicle is short, so that the control force arm of the elevator is short, the control capability of the elevator is low, and the longitudinal maneuvering capability of the unmanned aerial vehicle is limited.
Example 2
Referring to fig. 1 and 2, a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method includes the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
In the step a, the control range of the vector spray pipe is +/-15 degrees.
In the step b, the vector nozzle simulation modeling specifically means that the engine model is controlled by the accelerator opening degree to generate force and moment, then the nozzle deflection angle is introduced to obtain a vector nozzle simulation model, new force and moment can be generated, so that the deflection angle of the control surface is reduced, the larger the control surface deflection angle is, the larger the generated resistance is, the proper nozzle deflection angle is selected to replace the deflection angle of the control surface, and the flight stability of the unmanned aerial vehicle is facilitated.
Example 3
Referring to fig. 1 and 2, a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method includes the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
In the step a, the control range of the vector spray pipe is +/-15 degrees.
In the step b, the vector spray pipe simulation modeling specifically refers to controlling an engine model to generate force and moment through the opening degree of an accelerator, and introducing the deflection angle of the spray pipe to obtain the vector spray pipe simulation model.
The controller of the tailless flying wing layout unmanned aerial vehicle is designed based on the traditional control method, so that the control range of the traditional control method can be kept wide, the control method can be simply realized in engineering, and the control requirement of the flying wing unmanned aerial vehicle can be met.
Example 4
Referring to fig. 1 and 2, a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method includes the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
In the step a, the control range of the vector spray pipe is +/-15 degrees.
In the step b, the vector spray pipe simulation modeling specifically refers to controlling an engine model to generate force and moment through the opening degree of an accelerator, and introducing the deflection angle of the spray pipe to obtain the vector spray pipe simulation model.
In the step b, the deflection angle of the tail nozzle is +/-15 degrees.
The vector nozzle control compensates the elevator, active control in the traditional control method is verified, and the vector nozzle control has good reference significance for unmanned aerial vehicles with similar layouts.
Example 5
Referring to fig. 1 and 2, a thrust vectoring-based unmanned aerial vehicle nozzle control logic design method includes the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
In the step a, the control range of the vector spray pipe is +/-15 degrees.
In the step b, the vector spray pipe simulation modeling specifically refers to controlling an engine model to generate force and moment through the opening degree of an accelerator, and introducing the deflection angle of the spray pipe to obtain the vector spray pipe simulation model.
In the step b, the deflection angle of the tail nozzle is +/-15 degrees.
In the step c, establishing the engine vectoring nozzle control dynamic model specifically means changing the thrust direction of the engine according to the installation position and the deflection angle of the vectoring nozzle.
Through simulation verification and flight verification, the thrust allowance in the x-axis direction is enough, the attitude change of the unmanned aerial vehicle is small in the rotating process, obvious vibration cannot occur, and the flight stability is guaranteed.
The rotation of the vectoring nozzle can change the pitching moment of longitudinal control, which is beneficial to making corresponding compensation for the control effect of the elevator; the offset of the trim rudder of the elevator can be reduced, and the flight resistance is reduced.
Claims (5)
1. A thrust vectoring unmanned aerial vehicle nozzle control logic design method is characterized by comprising the following steps:
a. vectoring nozzle test installation
A vector spray pipe is additionally arranged on a pitching channel of the tail spray pipe of the engine, the vector spray pipe is connected with a steering engine rocker arm through a connecting rod mechanism, and the steering engine is controlled by PWM (pulse width modulation) to realize the up-and-down deflection of the tail spray pipe;
b. vectoring nozzle simulation modeling
A tail nozzle deflection control mechanism is added on the basis of an engine model and is used for controlling the longitudinal movement of the tail nozzle;
c. vector deflection simulation
When the unmanned aerial vehicle flies between certain two straight line waypoints, the ground station directly sends the deflection angle of the spray pipe, the rotation direction of the deflection angle of the spray pipe is longitudinal, the angle range is +/-15 degrees, and an engine vectoring spray pipe control dynamics model is established;
d. vectoring nozzle control validation
The method comprises simulation verification and flight verification, wherein the simulation verification means that an engine vector deflection angle is input to a six-degree-of-freedom model of the unmanned aerial vehicle in a simulation environment, and the change of the offset of a trim rudder of an elevator at the same flight altitude is analyzed; the flight verification means that when the unmanned aerial vehicle flies to a position between straight navigation points, the ground station sends a remote control command to control the vector nozzle to deflect, and the change of the attitude of the unmanned aerial vehicle and the change of the rudder deflection are observed.
2. The thrust vectoring-based unmanned aerial vehicle nozzle control logic design method of claim 1, wherein: in the step a, the control range of the vector spray pipe is +/-15 degrees.
3. The thrust vectoring-based unmanned aerial vehicle nozzle control logic design method of claim 1, wherein: in the step b, the vector spray pipe simulation modeling specifically refers to controlling an engine model to generate force and moment through the opening degree of an accelerator, and introducing the deflection angle of the spray pipe to obtain the vector spray pipe simulation model.
4. The thrust vectoring-based unmanned aerial vehicle nozzle control logic design method of claim 1, wherein: in the step b, the deflection angle of the tail nozzle is +/-15 degrees.
5. The thrust vectoring-based unmanned aerial vehicle nozzle control logic design method of claim 1, wherein: in the step c, establishing the engine vectoring nozzle control dynamic model specifically means changing the thrust direction of the engine according to the installation position and the deflection angle of the vectoring nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110346440.2A CN113071690A (en) | 2021-03-31 | 2021-03-31 | Unmanned aerial vehicle nozzle control logic design method based on vector thrust |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110346440.2A CN113071690A (en) | 2021-03-31 | 2021-03-31 | Unmanned aerial vehicle nozzle control logic design method based on vector thrust |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113071690A true CN113071690A (en) | 2021-07-06 |
Family
ID=76614002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110346440.2A Pending CN113071690A (en) | 2021-03-31 | 2021-03-31 | Unmanned aerial vehicle nozzle control logic design method based on vector thrust |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113071690A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985236A (en) * | 2024-04-01 | 2024-05-07 | 北京航空航天大学 | Flight control method, device and control equipment based on fluid thrust vector |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070215751A1 (en) * | 2006-03-20 | 2007-09-20 | Robbins Brent A | Asymmetrical VTOL UAV |
| US20090026283A1 (en) * | 2007-07-26 | 2009-01-29 | Ronald Tatsuji Kawai | Thrust vectoring system and method |
| EP2256036A2 (en) * | 2009-05-29 | 2010-12-01 | Rolls-Royce plc | An aircraft having a lift/propulsion unit |
| CN102163059A (en) * | 2011-04-27 | 2011-08-24 | 南京航空航天大学 | Attitude control system and attitude control method of variable thrust unmanned aerial vehicle |
| US20160194089A1 (en) * | 2014-07-02 | 2016-07-07 | The Aerospace Corporation | Vehicle attitude control using jet paddles and/or movable mass |
| CN108116662A (en) * | 2016-11-28 | 2018-06-05 | 成都飞机工业（集团）有限责任公司 | A kind of no empennage airplane yawing control method |
| CN109606674A (en) * | 2018-12-26 | 2019-04-12 | 中南大学 | Tail sitting posture vertical take-off and landing drone and its control system and control method |
| EP3718886A1 (en) * | 2019-04-01 | 2020-10-07 | The Boeing Company | Aircraft having embedded engines |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
-
2021
- 2021-03-31 CN CN202110346440.2A patent/CN113071690A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070215751A1 (en) * | 2006-03-20 | 2007-09-20 | Robbins Brent A | Asymmetrical VTOL UAV |
| US20090026283A1 (en) * | 2007-07-26 | 2009-01-29 | Ronald Tatsuji Kawai | Thrust vectoring system and method |
| EP2256036A2 (en) * | 2009-05-29 | 2010-12-01 | Rolls-Royce plc | An aircraft having a lift/propulsion unit |
| CN102163059A (en) * | 2011-04-27 | 2011-08-24 | 南京航空航天大学 | Attitude control system and attitude control method of variable thrust unmanned aerial vehicle |
| US20160194089A1 (en) * | 2014-07-02 | 2016-07-07 | The Aerospace Corporation | Vehicle attitude control using jet paddles and/or movable mass |
| CN108116662A (en) * | 2016-11-28 | 2018-06-05 | 成都飞机工业（集团）有限责任公司 | A kind of no empennage airplane yawing control method |
| CN109606674A (en) * | 2018-12-26 | 2019-04-12 | 中南大学 | Tail sitting posture vertical take-off and landing drone and its control system and control method |
| EP3718886A1 (en) * | 2019-04-01 | 2020-10-07 | The Boeing Company | Aircraft having embedded engines |
| CN112158325A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof |
Non-Patent Citations (4)
| Title |
|---|
| 丛玉华: "带推力矢量无人机的飞行控制", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
| 柳亚冰等: "轴对称矢量喷管空间运动学建模仿真", 《航空发动机》 * |
| 沈雯: "带推力变向的涡喷发动机控制技术研究及其应用", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
| 高耀南等: "《宇航概论》", 31 May 2018, 北京理工大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117985236A (en) * | 2024-04-01 | 2024-05-07 | 北京航空航天大学 | Flight control method, device and control equipment based on fluid thrust vector |
| CN117985236B (en) * | 2024-04-01 | 2024-06-07 | 北京航空航天大学 | Flight control method, device and control equipment based on fluid thrust vector |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022068022A1 (en) | Tailsitter-type vertical take-off and landing unmanned aerial vehicle and control method therefor | |
| US7367530B2 (en) | Aerospace vehicle yaw generating systems and associated methods | |
| US9561844B2 (en) | System and method for an air vehicle | |
| US6824092B1 (en) | Aircraft tail configuration for sonic boom reduction | |
| CN113525678B (en) | Traction-propulsion type manned aircraft with tilting wings for vertical take-off and landing | |
| CN107310714B (en) | Flight control system of stealth unmanned aerial vehicle with flying wing layout and control method thereof | |
| CN112960101A (en) | Extremely simple supersonic flying wing layout aircraft | |
| US20050242234A1 (en) | Lifters, methods of flight control and maneuver load alleviation | |
| CN102356024A (en) | An aircraft comprising a device for influencing the directional stability of the aircraft, and a method for influencing the directional stability of the aircraft | |
| CN103204238B (en) | Jet rudder surface control system, aircraft using same, and method for controlling aircraft | |
| CN104477376A (en) | Combined pneumatic control method for aerodynamic rudder/reaction control system of hypersonic flight vehicle | |
| US20220097849A1 (en) | Tailstock type vertical take-off and landing unmanned aerial vehicle and control method thereof | |
| CN110116802A (en) | A kind of big loading small-sized unmanned aircraft of high universalizable | |
| CN113071690A (en) | Unmanned aerial vehicle nozzle control logic design method based on vector thrust | |
| CN110775296A (en) | Design method for pressure center backward movement of reusable aerospace vehicle | |
| CN110920881A (en) | Vertical take-off and landing unmanned conveyor and control method thereof | |
| CN217049012U (en) | Extremely simple supersonic flying wing layout aircraft | |
| CN114313223B (en) | Dynamic enhancement method and system for steering efficiency of cracking resistance rudder | |
| CN115092380A (en) | Three-channel decoupling control surface suitable for flat fusion body layout aircraft | |
| CN112744352B (en) | Distributed tilting multi-rotor aircraft and flight control method | |
| CN114802742A (en) | Vertical and horizontal dual-purpose aircraft based on tilting power | |
| CN208715466U (en) | Unmanned aerial vehicle (UAV) control device and unmanned plane based on flow field control | |
| Schoser et al. | Preliminary control and stability analysis of a long-range eVTOL aircraft | |
| CN113788139B (en) | Method for precisely controlling track of aircraft by using multifunctional pneumatic control surface | |
| CN216994841U (en) | Vertical and horizontal dual-purpose aircraft based on tilting power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210706 |