CN113238570A - Task priority based flight management and control method for solar unmanned aerial vehicle - Google Patents
Task priority based flight management and control method for solar unmanned aerial vehicle Download PDFInfo
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 11
- 238000004146 energy storage Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a flight management and control method of a solar unmanned aerial vehicle based on task priority, which comprises the following steps: defining subsystems, different flight phases and different load types of the solar unmanned aerial vehicle as different tasks; dynamically adjusting the task priority in real time according to the task priority; all tasks are managed by the flight management and control system in a unified mode, the current highest-priority task is used as a primary task, and other tasks are expanded around the highest-priority task. According to the invention, flight management and control strategies based on task priorities are adopted, different priority schemes are executed in different flight tasks and flight stages, the system complexity can be reduced, the system reliability is improved, in addition, the optimal efficiency of each task can be improved, the optimal scheme of the solar unmanned aerial vehicle system is optimized, the flight safety is improved, and the engineering application value is very strong.
Description
Technical Field
The invention relates to the technical field of solar unmanned aerial vehicles, in particular to a flight management and control method of a solar unmanned aerial vehicle based on task priority.
Background
Solar energy unmanned aerial vehicle flies in near space height, can cross day and night flight, has that flying speed is low, the quality is light, the flexibility is big, receives the characteristics that the wind field influences greatly. At present, the design of a solar unmanned aerial vehicle adopts the design idea of a traditional unmanned aerial vehicle, an aircraft system, a power system, an energy system, a load system, a flight control system and the like are independently designed, each system is provided with a controller and a control strategy, and different subsystems are communicated through airborne software.
Fig. 1 is a schematic view of flight management and control of a conventional solar unmanned aerial vehicle, wherein tasks of subsystems and flight stages are independent from each other, the subsystems work in series, management and control of corresponding systems are independently performed, and protection strategy emergency modes of the subsystems and the like independently run in controllers of the subsystems.
In the prior art, control and protection strategies of equipment such as loads, energy sources, power, flight control and the like are considered during flight management and control strategy design, namely the management and control strategies of the solar unmanned aerial vehicle are formed, and therefore the layered protection of subsystems is easily caused, and the performance output of an aircraft is limited. In addition, sequential execution modes are adopted in different tasks and different stages of flight, and the optimal performance and load performance of the airplane cannot be exerted.
Disclosure of Invention
The invention aims at the problems existing in the prior art: when the task is executed, each subsystem is independently carried out according to the own management and control strategy without considering the priority of the task, the current emergency mode management is the stack of the emergency modes of the subsystems, the emergency and protection of the subsystems are independent, the design consideration angle is to ensure the safety of the system, the problem that the subsystem protection fails to fly the task or even the airplane crashes in flight can occur, a flight management and control method of the solar unmanned aerial vehicle based on the priority of the task is provided, the subsystems, different flight stages and different load types are defined as different tasks, the task management and control strategy is uniformly considered by adjusting the height of the priority of the task in real time, the flight management strategy based on the priority of the task is adopted, and different priority management and control strategies are executed in different flight tasks and flight stages, and the system reliability is improved.
To solve the above technical problem, an embodiment of the present invention provides the following solutions:
a flight management and control method of a solar unmanned aerial vehicle based on task priority comprises the following steps:
defining subsystems, different flight phases and different load types of the solar unmanned aerial vehicle as different tasks;
dynamically adjusting the task priority in real time according to the task priority;
all tasks are managed by the flight management and control system in a unified mode, the current highest-priority task is used as a primary task, and other tasks are expanded around the highest-priority task.
Preferably, the subsystems comprise a load system, an energy system, a power system, a flight control system and a link system; the flight stage comprises a climbing stage, a cruising flight stage and a gliding landing stage; the load types comprise radar, an infrared camera and communication equipment.
Preferably, each task adopts a star-type execution mode, the flight management and control system takes the unified consideration into consideration, corresponding control strategies are executed under the condition of different task priorities, and control instructions are sent to corresponding task execution mechanisms in a serial port or bus interface mode.
Preferably, in the flight management and control system, the control strategies and the protection strategies of all the subsystems are comprehensively considered, and the flight management and control system uniformly implements protection according to the task priority.
Preferably, under the condition that a certain task has the highest priority, other subsystem protection strategies are implemented around the task with the highest priority, and the condition that subsystem protection is performed but the task with the highest priority is not completed is prevented.
Preferably, in different flight stages, the priority of each task is adjusted according to the change of the load task, so that the maximization of the flight performance and the maximum exertion of the load capacity are guaranteed.
Preferably, in a climbing stage, particularly in the process of crossing a high wind torrent area, the aircraft climbing task is taken as the highest priority, and the power output and energy output control strategy and the protection strategy are carried out around the aircraft climbing task to achieve the optimal climbing rate.
Preferably, when the load system works, the current load is taken as the highest priority, and the control strategy and the protection strategy of energy output, flight path control and power output are carried out around the load task, so that the energy supply and the aircraft path meet the optimal working requirement of the load.
Preferably, the flight speed and attitude are controlled to meet the optimal cruise speed requirement with the optimal lift-to-drag ratio, i.e. different optimal flight angles of attack, of the aircraft at different altitudes as the highest priority.
Preferably, the states of an energy system and an airplane are comprehensively considered, and when sunlight is sufficiently illuminated in the daytime, in addition to the flight requirement of the unmanned aerial vehicle, the load working requirement and the charging of the energy storage battery, the energy is stored by converting electric energy into the potential energy of the airplane, namely the airplane track control and the altitude control surround the airplane energy to realize the maximum power generation, the maximum energy storage and the maximum expansion of the potential energy of the airplane; at night, the power system, the flight control and the energy output are controlled in the unpowered gliding state, so that the energy consumption is minimum under the condition of guaranteeing the flight safety.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the invention provides a load, energy, power and flight control integrated star design method based on task priority, aiming at the problems that hardware is dispersed, management and control strategies are mutually independent and conflict and the maximum efficiency of an aircraft cannot be exerted in the traditional design idea. The method can reduce the complexity of the system, improve the reliability of the system, improve the optimal efficiency of each task, optimize the optimal scheme of the solar unmanned aerial vehicle system, improve the flight safety and have strong engineering application value.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of conventional solar unmanned aerial vehicle flight management and control;
fig. 2 is a flowchart of a flight management and control method of a solar unmanned aerial vehicle based on task priority according to an embodiment of the present invention;
FIG. 3 is a schematic view of flight management and control based on task priority provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a dynamic real-time task-division and staged priority adjustment strategy according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a flight management and control method of a solar unmanned aerial vehicle based on task priority, as shown in fig. 2, the method comprises the following steps:
defining subsystems, different flight phases and different load types of the solar unmanned aerial vehicle as different tasks;
dynamically adjusting the task priority in real time according to the task priority;
all tasks are managed by the flight management and control system in a unified mode, the current highest-priority task is used as a primary task, and other tasks are expanded around the highest-priority task.
The subsystem comprises a load system, an energy system, a power system, a flight control system, a link system and the like; the flight stages comprise a climbing stage, a cruising flight stage, a gliding landing stage and the like; the load types include radar, infrared cameras, communication equipment, and the like.
The method fully considers that the solar unmanned aerial vehicle executes different load tasks, such as radar ground scanning, an infrared camera, a communication relay and the like, defines the different load tasks as different tasks in different flight stages, such as a climbing stage, a cruising flight stage, a downward sliding land stage and the like, and different subsystems, such as a load system, an energy system, a power system, a flight control system, a link system and the like, takes the task priority as a key factor for consideration, dynamically adjusts the task priority in real time in different flight stages, is uniformly managed by the flight management and control system, takes the current highest priority task as a primary task, and executes other subsystems around the highest priority task, so that the best comprehensive performance is exerted.
Furthermore, different from the prior art that the flying takeoff, the climbing, the cruising, the load working and the returning landing are sequentially executed in sequence, each task adopts a star-shaped execution mode, the flying management and control system uniformly considers the star-shaped execution mode, executes a corresponding control strategy under the condition of different task priorities, and sends a control instruction to a corresponding task execution mechanism in a serial port or bus interface mode.
Furthermore, in the flight management and control system, the control strategies and the protection strategies of all subsystems are comprehensively considered, the flight management and control system uniformly implements protection according to task priority, and the situations that the motor is limited to output in a climbing stage or the sun illumination is sufficient in the daytime, the energy system and the airplane height cannot reach the optimum level due to multiple protections such as software protection, hardware protection and the like of the motor in the existing design are prevented.
Furthermore, under the condition that the priority of a certain task is highest, other subsystem protection strategies are implemented around the task with the highest priority, and the situation that subsystem protection is performed but the task with the highest priority is not completed is prevented. For example, when the high power of the unmanned aerial vehicle climbs to the highest priority in a high wind torrent area, the motor protection output takes the aircraft requirement as input at the moment, and the situation that the output is reduced due to the instantaneous overheating protection of the motor, and then the aircraft crashes is avoided.
Furthermore, in different flight stages, the priority of each task is adjusted according to the change of the load task, so that the maximization of the flight performance and the maximum exertion of the load capacity are guaranteed.
As a preferred embodiment of the invention, in a climbing stage, particularly in the process of crossing a large wind torrent area, an airplane climbing task is taken as the highest priority, and a power output and energy output control strategy and a protection strategy are carried out around the airplane climbing task to achieve the optimal climbing rate.
In a preferred embodiment of the invention, when the load system works, the current load is taken as the highest priority, and the control strategy and the protection strategy of energy output, flight path control and power output are carried out around the load task, so that the energy supply and the aircraft path meet the optimal working requirement of the load.
As a preferred embodiment of the present invention, the flight speed and attitude are controlled to meet the optimal cruise speed requirement with the optimal lift-to-drag ratio, i.e. different optimal flight angles of attack, of the aircraft at different altitudes as the highest priority.
As a preferred embodiment of the invention, the energy system and the airplane state are comprehensively considered, and when the sunlight is sufficient in the daytime, in addition to the flight requirement of the unmanned aerial vehicle, the load working requirement and the charging of the energy storage battery, the energy is stored by converting the electric energy into the potential energy of the airplane, namely the airplane track control, the altitude control, the maximum power generation of the airplane energy, the maximum energy storage and the maximum expansion of the airplane potential energy are surrounded; at night, the power system, the flight control and the energy output are controlled in the unpowered gliding state, so that the energy consumption is minimum under the condition of guaranteeing the flight safety.
Fig. 3 is a schematic view of flight management and control based on task priority according to an embodiment of the present invention. The different task priorities are adjusted in real time, management and control strategies are implemented based on the task priorities, the management strategies of all the systems are considered by the aircraft in a unified mode, control instructions are generated and directly sent to corresponding equipment or an execution mechanism, the structure is a star-shaped structure, the reliability is high, and the flight performance and the load detection capability of the aircraft can be brought into full play.
Fig. 4 is a schematic diagram of a dynamic real-time task-division and staged priority adjustment strategy according to an embodiment of the present invention. The system tasks such as flight safety control, load work, energy system work and power system work are regarded as different tasks, the priorities are considered by stages through task division, dynamic priority adjustment is carried out on the different tasks, and the optimal flight performance and the optimal load output of the airplane are guaranteed.
In summary, the method of the invention defines the solar unmanned aerial vehicle as different load tasks such as radar ground scanning, infrared cameras, communication relays and the like in different flight stages such as climbing stage, cruising flight stage, downward sliding land stage and the like and different subsystems such as load system, energy system, power system, flight control system, link system and the like, dynamically adjusts the task priority in real time by taking the task priority as a key factor, is uniformly managed by the flight management and control system, takes the current highest priority task as a primary task, and directly sends a control instruction to corresponding subsystem execution mechanisms through interface forms such as serial ports, buses and the like. The method can avoid the defects of more nodes and low reliability of the traditional serial structure, and meanwhile, the priority is considered by stages through the task division, the priority is dynamically adjusted according to different tasks, and the optimal flight performance and the optimal load output of the airplane can be guaranteed. Meanwhile, the equipment-level and subsystem-level software and hardware protection of energy, power and load equal-level systems is reduced, the unmanned aerial vehicle flight management and control system is uniformly implemented, the protection redundancy is reduced, and the motor efficiency, the energy system output efficiency and the load efficiency are improved to the maximum extent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A flight management and control method of a solar unmanned aerial vehicle based on task priority is characterized by comprising the following steps:
defining subsystems, different flight phases and different load types of the solar unmanned aerial vehicle as different tasks;
dynamically adjusting the task priority in real time according to the task priority;
all tasks are managed by the flight management and control system in a unified mode, the current highest-priority task is used as a primary task, and other tasks are expanded around the highest-priority task.
2. The task priority based flight management and control method for solar unmanned aerial vehicles according to claim 1, wherein the subsystems include a load system, an energy system, a power system, a flight control system, and a link system; the flight stage comprises a climbing stage, a cruising flight stage and a gliding landing stage; the load types comprise radar, an infrared camera and communication equipment.
3. The solar unmanned aerial vehicle flight management and control method based on task priority as claimed in claim 1, wherein each task adopts a star type execution mode, the flight management and control system considers uniformly, executes corresponding control strategies under different task priorities, and sends control instructions to corresponding task execution mechanisms through a serial port or bus interface mode.
4. The method as claimed in claim 1, wherein the flight management and control system takes the control strategy and protection strategy of all subsystems into consideration, and the flight management and control system implements protection uniformly according to task priority.
5. The method as claimed in claim 1, wherein, when a task has the highest priority, other subsystem protection strategies are implemented around the highest priority task to prevent subsystem protection from occurring and the highest priority task is not completed.
6. The solar unmanned aerial vehicle flight management and control method based on task priority as claimed in claim 1, wherein at different flight stages, the priority of each task is adjusted according to the change of the load task, thereby ensuring the maximization of flight performance and the maximum exertion of load capacity.
7. The task priority based flight management and control method for the solar unmanned aerial vehicle according to claim 1, wherein in the climbing phase, particularly in the process of crossing a strong wind and torrent area, the aircraft climbing task is taken as the highest priority, and the power output and energy output control strategy and the protection strategy are performed around the aircraft climbing task to achieve the optimal climbing rate.
8. The task priority based flight management and control method for the solar unmanned aerial vehicle according to claim 1, wherein when the load system works, the current load is taken as the highest priority, and control strategies and protection strategies of energy output, flight path control and power output are performed around the load task, so that energy supply and aircraft path meet the optimal working requirement of the load.
9. The task priority based flight management and control method for the solar unmanned aerial vehicle according to claim 1, wherein the optimal lift-drag ratios of the aircraft at different heights, namely different optimal flight angles of attack, are taken as the highest priority, and the flight speed and the attitude are controlled to meet the optimal cruise speed requirement.
10. The task priority based flight management and control method for the solar unmanned aerial vehicle according to claim 1, wherein the energy system and the aircraft state are comprehensively considered, and when sunlight is sufficient in daytime, in addition to the flight requirement of the unmanned aerial vehicle, the load working requirement and the charging of the energy storage battery, the energy is stored by converting electric energy into the potential energy of the aircraft, namely, the aircraft track control and the altitude control surround the aircraft energy to realize maximum power generation, maximum energy storage and maximum expansion of the aircraft potential energy; at night, the power system, the flight control and the energy output are controlled in the unpowered gliding state, so that the energy consumption is minimum under the condition of guaranteeing the flight safety.
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