CN113156991B - Flight evaluation system and method based on small multi-rotor aircraft - Google Patents
Flight evaluation system and method based on small multi-rotor aircraft Download PDFInfo
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Abstract
The embodiment of the invention discloses a flight evaluation system and a flight evaluation method based on a small multi-rotor aircraft, wherein the system comprises an importing module, a judging module and a judging module, wherein the importing module is used for importing initial data and initializing the system; the ground station module is used for displaying the flight environment data and the path plan of the aircraft; the data module is used for feeding back the detected flight data in real time; simultaneously performing data budgeting; the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data; the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state; the quality evaluation module is used for outputting and comparing data obtained by monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result; the beneficial effects are as follows: aiming at the characteristics of small-sized multi-rotor aircrafts, a set of evaluation system is constructed, so that the design, development and test of the unmanned aerial vehicle are also referred.
Description
Technical Field
The invention relates to the technical field of aircraft evaluation, in particular to a flight evaluation system and method based on a small multi-rotor aircraft.
Background
Flight quality is a concern for designers and operators of aircraft, and plays an important role in the design, development, testing and use of aircraft. Good flight quality is an important guarantee for ensuring safe flight of the airplane and smoothly completing a set flight task.
Many rotor unmanned aerial vehicle indicates can control through the remote controller, or the unmanned flight device that the machine itself can independently fly. The rotor of the wind power generator generally has an even number of structures, such as 4 shafts, 8 shafts and the like, and mainly comprises two types, namely an 'x' type and a '+' type. The rotary wings are uniformly distributed around the aircraft body, the positive propellers and the negative propellers are paired, and the flying pose of the aircraft can be controlled by controlling the rotating speed of the motor. Wherein, because four rotor unmanned aerial vehicle simple manufacture, volume are less, easy hand operation, can adapt to various environment, especially for single rotor unmanned aerial vehicle with the size, its load-carrying capacity is stronger, the interference killing feature is superior, control the performance superiority, in recent years has emerged gradually in unmanned aerial vehicle related field, becomes popular research field.
Besides, the four-rotor unmanned aerial vehicle is generally applied to multiple industries by virtue of various characteristics of environmental protection, easiness in assembly, low operation threshold and the like. In the military field: the unmanned aerial vehicle can perform military survey, military early warning, military rescuing and other tasks; in the civil field: the unmanned aerial vehicle can be applied to disaster warning, traffic control, pest control, aerial photography view finding and the like. Due to its wide applicability, many colleges and enterprises invest a great deal of manpower and material resources to study this field.
With the vigorous development of the miniaturized multi-rotor aircraft, the flight quality problem becomes an important factor for restricting the steady development of the rotor aircraft, and the great attention of both the supply and demand of the aircraft at home and abroad is aroused. However, the research results of flight quality of the miniaturized multi-rotor aircraft or literature references available for reference are few. Simultaneously, compare in manned aircraft, many rotor crafts all have huge difference in all aspects to make current flight quality standard based on manned aircraft unable adaptation many rotor crafts development demand.
Compared with a piloted aircraft, the flight quality of the miniaturized multi-rotor aircraft has larger difference mainly from the difference of a plurality of aspects such as system composition, operation mode, focus of attention and the like, and the miniaturized multi-rotor aircraft has obvious characteristics such as high navigation autonomy, high automation of flight control, high integration of system synthesis and the like. If the performance requirements, index systems, evaluation methods, evaluation criteria and the like of the miniaturized multi-rotor aircraft are carried according to the standards and dimensions of the piloted aircraft, certain limitations and inadaptability obviously exist, and meanwhile, the simulation and evaluation results of the miniaturized multi-rotor aircraft are greatly different from the actual flight effect. Therefore, a set of unmanned aerial vehicle flight quality evaluation system is established, and the method has important guiding significance for design, development and test of the unmanned aerial vehicle and has strong theoretical value and engineering application value.
Disclosure of Invention
Aiming at the technical defects in the prior art, the embodiment of the invention aims to provide a flight evaluation system and a flight evaluation method based on a small multi-rotor aircraft, which are suitable for evaluating the small multi-rotor aircraft.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a flight evaluation system based on a small multi-rotor aircraft, including a lead-in module, a ground station module, a data module, a control module, a state module, and a quality evaluation module;
the import module is used for importing initial data and carrying out system initialization; the initial data are obtained by inputting through the ground station module, and comprise flight logs, geographic information, environmental information and position information;
the ground station module is used for displaying flight environment data of the aircraft in real time and realizing path planning of the aircraft;
the data module is configured to:
when the aircraft performs test flight operation according to the path plan, feeding back the detected flight data in real time; wherein the flight data comprises altitude, wind speed, operating rate, lift rate, and observations of flight path and equipment data of the aircraft;
meanwhile, performing data budgeting by combining the flight data, the geographic information, the environmental information and the position information;
the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;
the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state;
and the quality evaluation module is used for outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result.
In certain preferred embodiments of the present application, the flight assessment system based on a small multi-rotor aircraft further comprises an operation module, wherein the operation module is used for switching the automatic control adjustment of the aircraft into manual control adjustment.
In certain preferred embodiments of the present application, the bias includes position/altitude tracking error, attitude/heading tracking error, and three-axis velocity/angular velocity tracking error.
In certain preferred embodiments of the present application, the control module automatically controls the adjustment of the aircraft by the following formula;
wherein u (k) is the output value at the current k moment, i.e. the total error, kp is the proportional element, ki is the integral element, kd is the derivative element, e (i) is the integral error, and e (k) is the error at the current k moment.
In certain preferred embodiments of the present application, the evaluation index includes a linear criterion and a non-linear criterion; wherein different rating indexes and descriptions are provided in the linear criterion and the non-linear criterion.
In some preferred embodiments of the present application, the linear criteria include an attitude bandwidth criterion, an equivalent system parameter criterion, a stability reserve criterion, and a control law switching criterion;
the attitude bandwidth criterion comprises phase bandwidth, amplitude bandwidth and time delay, and two characteristic values of bandwidth and time delay are calculated according to the open-loop frequency response of an attitude angle to an input instruction in the phase and amplitude bandwidth and time delay indexes;
the equivalent system parameter criteria include natural frequency, response period, phase, and lag time;
in evaluation indexes of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and characteristic variables of the equivalent two-order system are taken as evaluation parameters, so that the flight quality of the unmanned aerial vehicle is evaluated;
the stability reserve criterion comprises a gain margin and a phase margin, and whether a required value is achieved or not is checked by drawing a phase margin/margin map in indexes of the gain margin and the phase margin;
the control law switching criterion comprises switching time, oscillation times and implementation precision, and the switching time and the oscillation times among different control modes are checked and the implementation precision is determined by utilizing a flight process state parameter curve in the switching time, the oscillation times and the implementation precision indexes; and the flight process state parameter curve is generated by the data module and the state module in real time in the flight process.
In certain preferred embodiments of the present application, the non-linear criteria include a robustness criterion and a post-fault response criterion;
the robustness criterion comprises stability robustness and performance robustness, and the stable working condition of the aircraft system is detected on line through real-time injection of different types of faults in stability robustness and performance robustness indexes;
the post-fault response criterion checks the convergence and bounding of the system and performance retention through real-time interference, fault injection; and injecting each fault through the state module.
In certain preferred embodiments of the present application, the status module and the operation module have functions of flight mode switching characteristics; wherein the characteristics include coupling characteristics and modal characteristics;
the coupling characteristics comprise the amplitude of the change of the position, the attitude, the speed and the sideslip angle of other channels caused when the control quantity of a certain channel is given;
the modal characteristics include the fall-back ratio of the attitude, the fall-back ratio of the position, the natural frequency, the damping ratio (as well as the resonant frequency, the resonant peak value, switching time, oscillation times and realization precision between different modes in the conversion.
In a second aspect, an embodiment of the present invention provides a flight evaluation method based on a small multi-rotor aircraft, which is applied to the flight evaluation system based on a small multi-rotor aircraft according to the first aspect, and the method includes:
importing initial data and initializing a system through an import module; the initial data are obtained by inputting through the ground station module, and comprise flight logs, geographic information, environmental information and position information;
the ground station module displays the flight environment data of the aircraft in real time and realizes the path planning of the aircraft;
feeding back the detected flight data in real time when the aircraft performs test flight operation according to the path plan through the data module; wherein the flight data comprises altitude, wind speed, operating rate, lift rate, and observations of flight path and equipment data of the aircraft;
meanwhile, the data module carries out data budgeting by combining the flight data, the geographic information, the environmental information and the position information;
the control module automatically controls and adjusts the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;
monitoring, simulating and recording the state of the aircraft by using a state module when the aircraft is in a stable state;
and outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index through a quality evaluation module to obtain an evaluation result and displaying the evaluation result.
The embodiment of the invention has the following advantages: the flight quality of the small multi-rotor aircraft is evaluated by aiming at the remarkable characteristics of navigation height autonomy, flight control height automation, comprehensive system high integration and the like of the small multi-rotor aircraft; the multiple modules are coordinated and coexist, and a set of unmanned aerial vehicle flight quality evaluation system is constructed, so that the design, development and test of the unmanned aerial vehicle are also referred.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below.
FIG. 1 is a block diagram of a flight assessment system based on a small multi-rotor aircraft according to an embodiment of the present invention;
FIG. 2 is an interface diagram of a ground station provided by an embodiment of the present invention;
FIG. 3 is a diagram of a flight data display interface provided by an embodiment of the present invention;
FIG. 4 is an operation interface diagram of an operation subsystem according to an embodiment of the present invention;
FIG. 5 is a diagram of the flight state and trajectory of an aircraft provided by an embodiment of the present invention;
fig. 6 is a flowchart of a flight assessment method based on a small multi-rotor aircraft according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the present embodiment, the small multi-rotor aircraft is exemplified by a four-rotor aircraft; wherein the aircraft itself has a controller, sensors, and a flight control system.
Referring to fig. 1, an embodiment of the present invention provides a flight assessment system based on a small multi-rotor aircraft, including:
the system comprises an importing module, a ground station module, a data module, a control module, a state module and a quality evaluation module;
the import module is used for importing initial data and initializing a system; the initial data are obtained by inputting the ground station module, and comprise flight logs, geographic information, environmental information and position information;
and the ground station module is used for displaying the flight environment data of the aircraft in real time and realizing the path planning of the aircraft.
Specifically, when a ground station control system in the ground station module operates, relevant data such as a flight log, geographic information, environmental information, position information, initial setting parameters and the like are input, at the moment, an importing module receives and starts to record time T and position P, and the importing module initializes subsequent work; after the preparation work is finished, the ground station module simultaneously displays geographical and position information and the like in real time, and the height H, the wind speed S, the speed V and the like of the unmanned aerial vehicle are all displayed to be zero before starting; the ground station displays geographic information in real time, feeds back and monitors relevant information such as operation data of the unmanned aerial vehicle in real time, and plans the path of the aircraft before taking off; the flight environment data is geographic information and operation data of the unmanned aerial vehicle;
the flight of the miniaturized multi-rotor aircraft is influenced by various factors, and slight fluctuation of environmental factors can cause larger amplitude jolt to the interference of the aircraft body and even cause fatal danger; therefore, the ground station module also has the function of giving the navigation system with the target positioning precision, robustness and maneuverability (agility) in the control quality which need to be fully ensured.
FIG. 2 is a diagram of a ground station access interface according to the present invention; ground station is a component of a satellite or aerospace system, i.e., a ground device placed on earth for space communication. Generally refers to ground based equipment located on the surface of the earth, including those aboard ships and aircraft, for satellite communication. The system mainly comprises a high-gain antenna system capable of tracking an artificial satellite, a microwave high-power transmitting system, a low-noise receiving system, a power supply system and the like;
further, as shown in fig. 3, the ground station may be used to read the flight log that the multi-rotor aircraft has tried to fly, so as to obtain the flight data of the actual flight of the aircraft, click the review log, select to store the BIN file of the actual flight data for reading, and display the read data on the interface, where the right side of the interface represents various data, and the input and output data required by the user are respectively matched with the data on the right side, and the matching result is as follows:
taking a small four-rotor as an example, wherein the input data needed by us are c1, c2, c3, c4 in RCIN (remote control receiver information), which represent the recorded values of the flight control system receiving the remote control signal, wherein c1 represents 1-channel roll, c2 represents 2-channel pitch, c3 represents 3-channel throttle, c4 represents 4-channel heading, and the four inputs of the four-rotor aircraft; meanwhile, the system has 9 inputs, wherein p, q and r in the mathematical model are IMU (Inertial Measurement Unit, IMU) in the graph, angular velocity and acceleration value of three axes of a carrier can be output, a three-axis gyroscope provides airplane attitude and angular acceleration information, an accelerometer provides acceleration information, a barometer provides airplane height information, and GyrX, gyrY and GyrZ in air pressure information represent the original rotation rate (Unit: degree/second) of the gyroscope; u, v and w are integrated values of AccX, accY and AccZ in an IMU in the figure, and represent linear speeds (unit: m/s) of the multi-rotor aircraft on all axes; φ, θ, φ are the Roll, pitch, yaw in ATT (attitude information) and represent their Roll, pitch and Yaw angles;
it should be noted that the "remote control receiver" herein is exactly the controller of the aircraft, and the "in the figure" herein refers to the IMU, and the co-ordinates, i.e. the letters p, q, r, u, v, w are variables included in the inertial measurement unit; the received information is received by a console, namely a ground station module, and initial data is transmitted to a flight controller in the aircraft in a data transmission mode during initialization, so that the aircraft has basic data and establishes contact.
The data module is configured to:
feeding back the detected flight data in real time when the aircraft performs test flight operation according to the path plan; wherein the flight data includes altitude, wind speed, operating rate, lift rate, and observations of flight paths and equipment data of the aircraft;
and meanwhile, performing data budgeting by combining the flight data, the geographic information, the environmental information and the position information.
Specifically, after the introduction module and the ground station module work in a coordinated manner, the small-sized multi-rotor wing test flight operation is carried out according to a planned path. At the moment, the aircraft is detected by the data module and transmits and feeds back data of the aircraft in real time, wherein the data comprises the height, the wind speed, the running speed, the rising speed, observed values (pitching, course, rolling and height) of a flight channel, data of equipment (motor rotating speed and temperature, battery power, sensor working state) in the unmanned aerial vehicle and the like.
Wherein the data budget is: and obtaining various data of the ideal preset condition of the aircraft according to data fed back by corresponding sensors and other hardware equipment in the aircraft, such as the relative speed of the current flight and wind power fed back by an anemoscope.
And the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft.
Specifically, the deviation is a difference value between ideal data and aircraft feedback data at that time, so that autonomous operation is performed and errors are reduced to achieve the purpose of balancing;
the deviation comprises position/altitude tracking error, attitude/heading tracking error and three-axis speed/angular velocity tracking error, and the errors play an important role in the adjustment and precision of the whole flight tracking process and determine the effect of tracking quality;
meanwhile, the control module automatically controls and adjusts the aircraft according to the following formula;
wherein u (k) is the output value at the current k moment, i.e. the total error, kp is a proportional link, ki is an integral link, kd is a differential link, e (i) is an integral error, e (k) is the error at the current k moment, and e (k-1) is the error at the previous moment of the current k moment;
the proportion regulation P is the deviation of a proportion reaction system, once the system has deviation, the proportion regulation immediately generates regulation action to reduce the deviation, the proportion action is large, the regulation can be accelerated, the error is reduced, but the overlarge proportion reduces the stability of the system, and even causes the instability of the system; the integral regulation I enables the system to eliminate steady-state errors and improve the zero-difference degree, because of errors, the integral regulation is carried out until no difference exists, the integral regulation is stopped, and the integral regulation outputs a constant value; the differential regulation D function reflects the change rate of the system deviation signal, has foresight and can predict the trend of deviation change, thereby generating an advanced control function which is eliminated by the differential regulation function before the deviation is not formed, and improving the dynamic performance of the system; finally, the ideal flying and stable state is achieved, and the automatic control effect is realized.
And the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state.
Specifically, after the control module outputs data of the small aircraft, the aircraft can show the flight state at the moment, namely, the state module monitors, simulates and records the state of the aircraft.
And the quality evaluation module is used for outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result.
Specifically, the quality evaluation module has the function of detecting and measuring the real-time state of the aircraft. The flight quality characteristic of the miniaturized multi-rotor aircraft is an evaluation feedback which is accompanied by data input and processing in the whole system and the moment in the process of executing the flight mission, and the evaluation of the whole system can be actually compared.
The evaluation index comprises a linear criterion and a non-linear criterion; wherein, different assessment indexes and descriptions are provided in the linear criterion and the non-linear criterion;
the linear criteria comprise an attitude bandwidth criterion, an equivalent system parameter criterion, a stable reserve criterion and a control law switching criterion;
the attitude bandwidth criterion comprises phase bandwidth, amplitude bandwidth and time delay, and two characteristic values of bandwidth and time delay are calculated according to the open-loop frequency response of an attitude angle to an input instruction in the phase and amplitude bandwidth and time delay indexes;
the equivalent system parameter criteria include natural frequency, response period, phase, and lag time;
in evaluation indexes of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and characteristic variables of the equivalent two-order system are taken as evaluation parameters, so that the flight quality of the unmanned aerial vehicle is evaluated;
the stability reserve criterion comprises a gain margin and a phase margin, and whether a required value is achieved or not is checked by drawing a phase margin/margin map in indexes of the gain margin and the phase margin;
the control law switching criterion comprises switching time, oscillation times and implementation precision, and the switching time and the oscillation times among different control modes are checked and the implementation precision is determined by utilizing a flight process state parameter curve in the switching time, the oscillation times and the implementation precision indexes; the flight process state parameter curve is generated by the data module and the state module in real time in the flight process.
Correspondingly, the non-linear criteria comprise robustness criteria and post-fault response criteria;
the robustness criterion comprises stability robustness and performance robustness, and the stable working condition of the aircraft system is detected on line through real-time injection of different types of faults in stability robustness and performance robustness indexes;
the post-fault response criterion checks the convergence and bounding of the system and performance retention through real-time interference, fault injection; and injecting each fault through the state module.
In another embodiment, based on the foregoing solution, the flight assessment system based on a small multi-rotor aircraft further includes an operation module, and the operation module is used for switching the automatic control adjustment of the aircraft into the manual control adjustment.
Specifically, the operation module is designed for risks, and when the aircraft encounters flight obstacles or risks, the operation module can be switched to manual control to reduce the loss rate;
it should be noted that the user preset aspect is combined with the control of the control system, that is, the control system automatically adjusts according to the user intervention preset, and does not exceed the set limit value;
the positioning precision is high, the positioning precision is kept in a range set by a user according to the self requirement condition, the error does not exceed a set order of magnitude, and the robustness is in the sensitivity of parameter perturbation, the inhibition and stability robustness of external interference, the performance robustness and the change increment of states including attitude, angular speed and the like of a unit rudder amount in unit time.
The state module and the operation module have the function of switching the flight mode; wherein the characteristics include coupling characteristics and modal characteristics;
the coupling characteristics comprise the amplitude of the change of the position, the attitude, the speed and the sideslip angle of other channels caused when the control quantity of a certain channel is given;
the modal characteristics include the fall-back ratio of the attitude, the fall-back ratio of the position, the natural frequency, the damping ratio (as well as the resonant frequency, the resonant peak value, switching time, oscillation times and realization precision between different modes in the conversion.
According to the scheme, the flight quality of the small multi-rotor aircraft is evaluated by aiming at the remarkable characteristics of navigation height autonomy, flight control height automation, comprehensive system high integration and the like of the small multi-rotor aircraft; the multiple modules are coordinated and coexist, and a set of unmanned aerial vehicle flight quality evaluation system is constructed, so that the design, development and test of the unmanned aerial vehicle are also referred.
In implementation, on the basis of the scheme, the flight assessment system further comprises a user operation subsystem, wherein the flight assessment system is in communication connection with the user operation subsystem so as to realize data interaction, and the user operation subsystem is convenient for a user to perform custom setting and intuitive assessment display according to actual conditions; the user operation subsystem can be understood as a user-oriented application program, and the GUI interface design is adopted, so that a user can more quickly and intuitively know the grading of each index in a graphical mode, and further the system is optimally designed.
As shown in fig. 4, the user operation subsystem includes an image display module, a menu module, a flight quality evaluation module, and an evaluation display module; the menu module is used for reading flight data and giving a command for displaying an input/output curve image and an identified curve, and the corresponding image is displayed on the image display module; the flight quality evaluation module is used for giving an instruction for evaluating the flight quality of the longitudinal and lateral systems, the input/output and identification curves of the longitudinal and lateral systems are correspondingly displayed on the image display module, and meanwhile, the calculation instruction of each index can display the evaluation result on the evaluation display module; the longitudinal and lateral evaluation indexes are only for illustration, and include the evaluation indexes in the linear and non-linear criteria mentioned above.
Further, in performing flight assessment, the user-operated subsystem further comprises an interface unit comprising: 1. command modules (Attitude Commands); 2. a core control module (Attitude Controller); 3. a Control Mixing module (quadrdopter Control Mixing); 4. kinetic modules (quadroper Dynamics).
The command module is used for inputting a data command and correspondingly outputting the command to the next core control module;
the core control module is used for storing and implementing instructions;
the control mixing module is used for channel instruction mixing coordination control output;
the dynamics module is used for sensing and starting a motor for an output command;
FIG. 5 is a diagram illustrating the flight state and trajectory of an aircraft at a given input according to an embodiment of the present invention; the flight state and the track of the aircraft under given input can be observed in the interface of the interface unit, so that the real-time observation of a user is facilitated;
wherein, the 'Attitude' is the flight state display of the aircraft, namely the real-time expression of the Attitude; such as a pitch state, a tilt state, a height heave and the like; the state of the aircraft can be known through real-time change of x, y and z under the spatial three-dimensional coordinate system;
the Position is Position display, namely real-time Position calibration of the aircraft, and since the geographic information of the aircraft is imported and the path is planned in the initial stage, simulated space coordinates are generated to monitor the target Position in real time.
Based on the same inventive concept, as shown in fig. 6, an embodiment of the present invention provides a flight evaluation method based on a small multi-rotor aircraft, which is applied to the flight evaluation system based on a small multi-rotor aircraft described above, and the method includes:
s101, importing initial data and initializing a system through an import module; the initial data are obtained by inputting through the ground station module, and comprise flight logs, geographic information, environmental information and position information;
and S102, displaying the flight environment data of the aircraft in real time by the ground station module and realizing path planning of the aircraft.
Specifically, when a ground station control system in the ground station module operates, relevant data such as a flight log, geographic information, environmental information, position information, initial setting parameters and the like are input, at the moment, an importing module receives and starts to record time T and position P, and the importing module initializes subsequent work; after the preparation work is finished, the ground station module simultaneously displays geographical and position information and the like in real time, and the height H, the wind speed S, the speed V and the like of the unmanned aerial vehicle are all displayed to be zero before starting; the ground station displays geographic information in real time, feeds back and monitors relevant information such as operation data of the unmanned aerial vehicle in real time, and plans the path of the aircraft before taking off; the flight environment data is geographic information and operation data of the unmanned aerial vehicle.
S103, feeding back the detected flight data in real time when the aircraft performs test flight operation according to the path plan through the data module; wherein the flight data includes altitude, wind speed, operating rate, lift rate, and observations of flight path and equipment data of the aircraft.
Specifically, after the introduction module and the ground station module work in a coordinated manner, the small-sized multi-rotor wing test flight operation is carried out according to a planned path. At the moment, the aircraft is detected by the data module and transmits and feeds back data of the aircraft in real time, wherein the data comprises the height, the wind speed, the running speed, the rising speed, observed values (pitching, course, rolling and height) of a flight channel, data of equipment (motor rotating speed and temperature, battery power, sensor working state) in the unmanned aerial vehicle and the like.
And S104, simultaneously, the data module carries out data budgeting by combining the flight data, the geographic information, the environmental information and the position information.
And S105, automatically controlling and adjusting the aircraft by the control module according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft.
Specifically, the deviation includes position/altitude tracking error, attitude/heading tracking error and three-axis velocity/angular velocity tracking error, which play a crucial role in the adjustment and precision of the whole flight tracking process and determine the effect of tracking quality.
And S106, monitoring, simulating and recording the state of the aircraft by using the state module when the aircraft is in a stable state.
Specifically, after the control module outputs data of the small aircraft, the aircraft can show the flight state at the moment, namely, the state module monitors, simulates and records the state of the aircraft.
And S107, outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index through a quality evaluation module to obtain an evaluation result and displaying the evaluation result.
Specifically, the quality evaluation module has the function of detecting and measuring the real-time state of the aircraft. The flight quality characteristic of the miniaturized multi-rotor aircraft is an evaluation feedback which is accompanied by data input and processing in the whole system and the moment in the process of executing the flight mission, and the evaluation of the whole system can be actually compared.
The evaluation index comprises a linear criterion and a non-linear criterion; wherein different assessment indicators and descriptions are provided in the linear criteria and the non-linear criteria.
It should be noted that, regarding a more specific workflow in the evaluation method, please refer to the foregoing system embodiment, which is not described herein again.
Above-mentioned scheme carries out the flight quality aassessment through the self characteristics that combine small-size many rotor crafts, finally realizes towards the aassessment of user to miniaturized many rotor crafts flight quality, especially carries out the flight quality aassessment to four rotors to the flight quality aassessment method of four rotors and combine four rotor crafts's self characteristics, reaches to accomplish its flight state of real-time supervision to miniaturized many rotors in the middle of the flight process.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that such functions may be performed in either hardware or software, depending on the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electrical, mechanical or other form of connection.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A flight evaluation system based on a small multi-rotor aircraft is characterized by comprising a lead-in module, a ground station module, a data module, a control module, a state module and a quality evaluation module;
the import module is used for importing initial data and initializing a system; the initial data are obtained by inputting through the ground station module, and comprise flight logs, geographic information, environmental information and position information;
the ground station module is used for displaying flight environment data of the aircraft in real time and realizing path planning of the aircraft;
the data module is configured to:
when the aircraft performs test flight operation according to the path plan, feeding back the detected flight data in real time; wherein the flight data includes altitude, wind speed, operating rate, lift rate, and observations of flight paths and equipment data of the aircraft;
meanwhile, data budgeting is carried out by combining the flight data, the geographic information, the environmental information and the position information;
the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;
the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state;
the quality evaluation module is used for outputting and comparing data obtained by the monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result;
the evaluation index comprises a linear criterion and a non-linear criterion; wherein, different assessment indexes and descriptions are provided in the linear criterion and the non-linear criterion;
the linear criteria comprise an attitude bandwidth criterion, an equivalent system parameter criterion, a stable reserve criterion and a control law switching criterion;
the attitude bandwidth criterion comprises phase bandwidth, amplitude bandwidth and time delay, and two characteristic values of bandwidth and time delay are calculated according to the open loop frequency response of an attitude angle to an input instruction in phase and amplitude bandwidth and time delay indexes;
the equivalent system parameter criteria include natural frequency, response period, phase, and lag time;
in evaluation indexes of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and characteristic variables of the equivalent two-order system are taken as evaluation parameters, so that the flight quality of the unmanned aerial vehicle is evaluated;
the stability reserve criterion comprises a gain margin and a phase margin, and whether a required value is achieved or not is checked by drawing a phase margin/margin map in indexes of the gain margin and the phase margin;
the control law switching criterion comprises switching time, oscillation times and implementation precision, and the switching time and the oscillation times among different control modes are checked and the implementation precision is determined by utilizing a flight process state parameter curve in the switching time, the oscillation times and the implementation precision indexes; and the flight process state parameter curve is generated by the data module and the state module in real time in the flight process.
2. A small multi-rotor aircraft-based flight assessment system according to claim 1, further comprising an operating module for switching automatic control adjustments of said aircraft to manual control adjustments.
3. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said biases comprise position/altitude tracking errors, attitude/heading tracking errors and three-axis velocity/angular velocity tracking errors.
4. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said control module provides automatic control adjustments to said aircraft by the following formula;
wherein u (k) is the output value at the current k moment, i.e. the total error, kp is the proportional element, ki is the integral element, kd is the derivative element, e (i) is the integral error, and e (k) is the error at the current k moment.
5. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said non-linear criteria include robustness criteria and post-fault response criteria;
the robustness criterion comprises stability robustness and performance robustness, and the stable working condition of the aircraft system is detected on line through real-time injection of different types of faults in stability robustness and performance robustness indexes;
the post-fault response criterion checks the convergence and bounding of the system and performance retention through real-time interference, fault injection; and injecting each fault through the state module.
6. A small multi-rotor aircraft-based flight assessment system according to claim 2, wherein said status module and operational module are functional for flight mode switching features; wherein the characteristics include coupling characteristics and modal characteristics;
the coupling characteristics comprise the change amplitudes of the position, the posture, the speed and the sideslip angle of other channels caused when the control quantity of a certain channel is given;
the modal characteristics comprise a falling ratio of the attitude, a falling ratio of the position, a natural frequency, a damping ratio, a resonant frequency and a resonant peak value, and the conversion comprises time required for switching between different modes, oscillation times and realization precision.
7. A flight assessment method based on a small multi-rotor aircraft, which is applied to the flight assessment system based on the small multi-rotor aircraft of claim 1, and comprises the following steps:
importing initial data and initializing a system through an import module; the initial data are obtained by inputting through a ground station module, and comprise flight logs, geographic information, environmental information and position information;
the ground station module displays the flight environment data of the aircraft in real time and realizes the path planning of the aircraft;
feeding back the detected flight data in real time through a data module when the aircraft performs test flight operation according to the path plan; wherein the flight data comprises altitude, wind speed, operating rate, lift rate, and observations of flight path and equipment data of the aircraft;
meanwhile, the data module performs data budgeting by combining the flight data, the geographic information, the environmental information and the position information;
the control module automatically controls and adjusts the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;
monitoring, simulating and recording the state of the aircraft by using a state module when the aircraft is in a stable state;
and outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index through a quality evaluation module to obtain an evaluation result and displaying the evaluation result.
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