CN113485399A - Flight speed protection method and system for oil-driven unmanned helicopter and computer equipment - Google Patents

Flight speed protection method and system for oil-driven unmanned helicopter and computer equipment Download PDF

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CN113485399A
CN113485399A CN202110812384.7A CN202110812384A CN113485399A CN 113485399 A CN113485399 A CN 113485399A CN 202110812384 A CN202110812384 A CN 202110812384A CN 113485399 A CN113485399 A CN 113485399A
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unmanned helicopter
speed
flight
airspeed
attitude
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CN113485399B (en
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赵佳
於拯威
吴平
张�浩
黄兵旺
杨帅
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NANJING RESEARCH INSTITUTE ON SIMULATION TECHNIQUE
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NANJING RESEARCH INSTITUTE ON SIMULATION TECHNIQUE
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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
    • 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
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones

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  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a flight speed protection method, a system and computer equipment of an oil-driven unmanned helicopter, wherein the method comprises the following steps: storing the altitude-speed flight envelope curve, the pitching attitude trim curve and the longitudinal variable pitch trim curve into a database; acquiring the current flight environment state of the unmanned helicopter; inquiring a database by adopting a linear difference method according to the current flight environment state to obtain a current boundary value; judging whether the current pitch angle attitude, flight airspeed and longitudinal variable pitch manipulated variable of the unmanned helicopter are in an alarm state or not respectively through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable pitch border crossing judgment algorithm; and if any value of the pitch angle attitude, the flying airspeed and the longitudinal variable pitch manipulated variable is in an alarm state, starting a speed protection strategy until the flying airspeed of the unmanned helicopter is adjusted to be within an allowable range. The method improves the accuracy and the rationality of the speed out-of-range judgment of the unmanned helicopter, and effectively improves the flight safety, the environmental adaptability and the intelligent level.

Description

Flight speed protection method and system for oil-driven unmanned helicopter and computer equipment
Technical Field
The invention relates to an unmanned helicopter, in particular to a flight speed protection method and system of an oil-driven unmanned helicopter and computer equipment.
Background
The unmanned aerial vehicle system is an aircraft which finally realizes wireless control by utilizing ground wireless remote control equipment and an airborne system. For realizing wireless control, the unmanned aerial vehicle system all can be equipped with communication link equipment, during the unmanned aerial vehicle flight, the various control command of ground observing and controlling station will be sent for unmanned aerial vehicle through the sending radio station on ground, after unmanned aerial vehicle's airborne receiving radio station received control command, send instruction data for flight control system and carry out data analysis and processing, finally flight control system will automatic control unmanned aerial vehicle, accomplish corresponding flight action according to the control command on ground.
The flight envelope of the unmanned helicopter is as follows: the unmanned helicopter has the corresponding flight speed (airspeed) ranges of different flight heights under the given takeoff weight and certain atmospheric environment.
Flying airspeed: the speed of the unmanned helicopter relative to the local atmosphere, the airspeed signal, is typically measured by an atmospheric computer or the like.
The flying ground speed: the speed of the unmanned helicopter relative to a ground fixed reference point, and the ground speed signal can be generally measured by satellite navigation equipment.
When the unmanned helicopter executes certain specific tasks, such as geographic mapping, power inspection and other tasks, a user often requires the unmanned helicopter to complete related tasks to fly according to a specified ground speed, in this case, the speed control of the unmanned helicopter needs to adopt a ground speed maintaining mode, and the airspeed can only be used as a monitoring signal.
The technical literature disclosed at present does not relate to the flight speed protection of the unmanned helicopter system. Under some special conditions (such as unexpected factors such as communication faults of a remote control link and misoperation of an operator), the flight speed of the unmanned helicopter may exceed a specified range, once the unmanned helicopter crosses the boundary, the flight state of the unmanned helicopter is rapidly deteriorated, if protective measures are not taken in time, a crash risk exists, and the problem that the boundary protection of the flight speed of the existing oil-driven unmanned helicopter is lacked needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a flight speed protection method, a flight speed protection system and computer equipment of an oil-driven unmanned helicopter, so that the accuracy and the rationality of the out-of-range judgment of the speed of the unmanned helicopter are improved, and the flight safety, the environmental adaptability and the intelligent level of an unmanned helicopter system are effectively improved.
The technical scheme for realizing the purpose of the invention is as follows: an automatic protection method for the flight speed of an oil-driven unmanned helicopter comprises the following steps:
step 1, storing a height-speed flight envelope, a pitching attitude trim curve and a longitudinal variable pitch trim curve of different aircraft under the conditions of different aircraft weights, flight environment temperatures and flight altitude into a database;
step 2, acquiring the current flight environment temperature and flight altitude of the unmanned helicopter through airborne sensing equipment;
step 3, according to the current weight of the airplane, the temperature of the flying environment and the flying altitude information, a database is inquired by adopting a linear difference method to obtain an airspeed boundary, a pitch angle attitude boundary and a longitudinal variable pitch control boundary of the current unmanned helicopter;
step 4, respectively judging whether the current pitch angle attitude, flight airspeed and longitudinal variable-pitch manipulated variable of the unmanned helicopter are in an alarm state or not through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable-pitch border crossing judgment algorithm;
step 5, if any value of the pitch angle attitude, the flying airspeed and the longitudinal variable pitch manipulated variable is in an alarm state, executing step 6, otherwise executing step 2;
and 6, starting a speed protection strategy until the flying airspeed of the unmanned helicopter is adjusted to be within an allowable range, and continuing to execute the step 2.
Further, the step 3 specifically includes:
according to the current weight, the flight environment temperature and the flight altitude of the airplaneObtaining current altitude-speed flight envelope data from a database by using a linear difference method, and obtaining the current airspeed boundary V of the unmanned helicopter through the altitude-speed flight envelope dataaero_max；
Obtaining current pitch angle attitude trim curve data from a database by adopting a linear difference method according to the current aircraft weight, the flight environment temperature and the flight altitude, and then obtaining the current pitch angle attitude trim curve data according to an airspeed boundary Vaero_maxAcquiring the current pitch angle attitude boundary theta of the unmanned helicoptertrim_max；
According to the current weight of the airplane, the temperature of the flying environment and the flying altitude, the linear difference method is adopted to obtain the current longitudinal variable-pitch trim curve data from the database, and then according to an airspeed boundary Vaero_maxObtaining the current longitudinal variable pitch control boundary delta of the unmanned helicoptere_max。
Further, the specifically step of judging whether the current pitch angle attitude of the unmanned helicopter is in an alarm state by the attitude out-of-range judgment algorithm in the step 4 is as follows:
step 4-1-1, if the last pitch angle attitude is in a normal state, executing step 4-1-2, otherwise executing step 4-1-3;
step 4-1-2, judging whether the conditions a and b are simultaneously met within the continuous T1 time: a. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefB, the pitch angle attitude of the unmanned helicopter is lowered and exceeds a pitch angle attitude boundary thetatrim_maxIf the conditions a and b are met simultaneously, determining that the pitch angle attitude is out of range, and determining that the current pitch angle attitude of the unmanned helicopter is in an alarm state, otherwise, determining that the current pitch angle attitude of the unmanned helicopter is in a normal state;
and 4-1-3, judging whether one of the conditions c and d is met within the continuous T2 time: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, pitch angle attitude lowering of unmanned helicopter is not more than 0.8 multiplied by thetatrim_maxAnd if one of the conditions c and d is met, confirming that the pitch angle attitude is in a normal state, otherwise, confirming that the pitch angle attitude is in an alarm state.
Further, the step 4 of judging whether the current flying airspeed of the unmanned helicopter is in the alarm state by the airspeed crossing judgment algorithm comprises:
step 4-2-1, if the airspeed at the last time is in a normal state, executing step 4-2-2, otherwise executing step 4-2-3;
step 4-2-2, judging whether the conditions of e and f are met simultaneously within the continuous T1 time: e. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefF, the flight airspeed of the unmanned helicopter exceeds an airspeed boundary Vaero_maxIf the conditions of e and f are met simultaneously, determining that the flying airspeed is out of range, wherein the flying airspeed is in an alarm state, and otherwise, the flying airspeed is in a normal state;
step 4-2-3, judging whether one of the conditions g and h is met within the continuous T2 time: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, the flying airspeed of the unmanned helicopter is not more than 0.8 multiplied by Vaero_maxIf one of the conditions g and h is met, the flight airspeed is confirmed to be in a normal state, and if not, the flight airspeed is in an alarm state.
Further, the step 4 of respectively judging whether the current longitudinal displacement manipulated variable of the unmanned helicopter is in an alarm state by the displacement out-of-range judgment algorithm specifically includes:
step 4-3-1, if the last longitudinal displacement manipulated variable is in a normal state, executing step 4-3-2, otherwise executing step 4-3-3;
step 4-3-2, judging whether the conditions of i and j are simultaneously met within the continuous T1 time: i. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefJ, the longitudinal variable-pitch control amount of the unmanned helicopter is larger than the longitudinal variable-pitch control boundary deltae_maxIf the conditions of i and j are met, the longitudinal variable-pitch manipulated variable is determined to be out of range, the longitudinal variable-pitch manipulated variable is in an alarm state, and otherwise, the longitudinal variable-pitch manipulated variable is in a normal state;
step 4-3-3, judging whether one of the k and l conditions is met within the continuous T2 time: k. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefL, the longitudinal variable pitch control quantity of the unmanned helicopter is not more than 0.9 multiplied by deltae_maxIf one of the k and l conditions is satisfied, the longitudinal variable pitch manipulated variable is determined to be in a normal state, otherwise, the longitudinal variable pitch manipulated variable is in an alarm state.
Further, the starting of the speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within the allowable range comprises the following steps:
step 6-1, setting a ground speed reduction value delta V, reducing the set delta V by an airplane ground speed command, inputting the reduced delta V to a speed closed-loop control system of the unmanned helicopter, and resetting a timer to start timing;
6-2, the speed closed-loop control system starts to automatically regulate and control the ground speed and the attitude of the unmanned helicopter according to an input airplane ground speed instruction, if the ground speed of the unmanned helicopter is converged and the control deviation is within a set error range within preset regulation and control time, the closed-loop control is finished, and the step 6-3 is executed; if the timing exceeds the preset regulation and control time, finishing the closed-loop control, and executing the step 6-3;
step 6-3, judging whether the current airspeed is lower than 0.8 XVrefIf it is less than 0.8 XVrefThe protection is complete, otherwise step 6-1 continues.
Furthermore, the speed closed-loop control system adopts a control system based on an inner loop/outer loop, and comprises a speed controller, an attitude controller, a rudder system and an unmanned helicopter; the speed controller calculates an expected pitch angle attitude command according to the input ground speed command and the acquired acceleration and ground speed signals of the unmanned helicopter and outputs the expected pitch angle attitude command to the attitude controller; the attitude controller calculates a longitudinal periodic variable pitch instruction according to the pitch angle attitude control instruction and the collected angular velocity and attitude signals of the unmanned helicopter and outputs the longitudinal periodic variable pitch instruction to a rudder system; the rudder system adjusts the attitude and the ground speed of the unmanned helicopter according to the longitudinal periodic pitch-changing instruction, then acquires the acceleration and ground speed signals of the unmanned helicopter to act on the speed controller, and the angular speed and the attitude of the unmanned helicopter to act on the attitude controller.
Further, the reduction speed Δ V is 5 m/s.
The automatic protection system for the flight speed of the oil-driven unmanned helicopter based on the method comprises a parameter setting module, a database, a flight environment acquisition module, a boundary acquisition module, a state judgment module, an arbitration judgment module and a speed protection module; wherein:
the database is used for storing a height-speed flight envelope, a pitching attitude trim curve and a longitudinal variable pitch trim curve under the conditions of different airplane weights, flight environment temperatures and flight altitude;
the flight environment acquisition module is used for acquiring the current flight environment temperature and flight altitude of the unmanned helicopter through the airborne sensing equipment;
the boundary acquisition module is used for acquiring an airspeed boundary, a pitch angle attitude boundary and a longitudinal variable pitch control boundary of the current unmanned helicopter;
the state judgment module respectively acquires the current states of a pitch angle attitude, a flight airspeed and a longitudinal variable pitch manipulation quantity of the unmanned helicopter through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable pitch border crossing judgment algorithm;
the arbitration judging module judges whether to start a speed protection strategy through logical AND or logical NOT according to the states of the pitch angle attitude, the flight airspeed and the longitudinal variable pitch manipulated variable of the state judging module;
the speed protection module is used for starting a speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within an allowable range.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the computer program.
Compared with the prior art, the invention has the following remarkable effects: (1) the speed out-of-range judgment and protection are carried out from three dimensions of an airspeed boundary, an attitude boundary and a control variable distance boundary, so that the defects and hidden dangers caused by adopting a single criterion are avoided, the accuracy and the rationality of the speed out-of-range judgment of the unmanned helicopter are improved, and the flight safety and the environmental adaptability are effectively improved; (2) according to the speed protection strategy, the flight speed of the unmanned helicopter is automatically controlled to return to the safety range through the speed closed-loop control system, so that the safety of the unmanned helicopter system is intelligently improved; (3) the posture out-of-range judgment algorithm, the airspeed out-of-range judgment algorithm and the variable distance out-of-range judgment algorithm adopt a judgment method based on statistical data, so that false alarm and false report caused by abnormal data are effectively prevented; (4) the invention fills the technical gap in the aspect of the boundary protection of the flight speed of the existing oil-driven unmanned helicopter and has higher engineering application value.
Drawings
Fig. 1 is a schematic diagram of the principle of the speed protection method of the oil-driven unmanned helicopter.
FIG. 2 is a schematic diagram of a gesture boundary crossing determination algorithm.
FIG. 3 is a schematic diagram of querying the current pitch boundary according to the "longitudinal pitch trim curve".
FIG. 4 is a schematic diagram of the principle of the variable pitch over-boundary judgment algorithm.
FIG. 5 is a schematic diagram of an alarm arbitration decision, in which FIG. 5(a) is a schematic diagram of a logic or alarm decision and FIG. 5(b) is a schematic diagram of a logic and alarm decision.
Fig. 6 is a schematic diagram of a speed protection strategy algorithm.
FIG. 7 is a ground speed control schematic.
FIG. 8 is a plot of ground speed versus space velocity for example 1.
Fig. 9 is a schematic pitch angle diagram of example 1.
FIG. 10 is a schematic pitch diagram of example 1.
Fig. 11 is a schematic diagram of the forward speed setting of example 1.
Fig. 12 is a schematic pitch angle diagram of example 2.
FIG. 13 is a schematic pitch diagram of example 2.
FIG. 14 is a plot of ground speed versus space velocity for example 2.
Fig. 15 is a schematic diagram of the forward speed setting of example 2.
Fig. 16 is a schematic pitch angle diagram of example 3.
FIG. 17 is a schematic pitch diagram of example 3.
FIG. 18 is a plot of ground speed versus space velocity for example 3.
Fig. 19 is a schematic diagram of the forward speed setting of example 3.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention provides an automatic protection method for the flight speed of an oil-driven unmanned helicopter, and a schematic diagram of the automatic protection method is shown in figure 1. The method starts from three dimensions of an airspeed boundary, an attitude boundary and an operation variable distance boundary which are closely related to a speed boundary, carries out real-time monitoring and arbitration management on the flight speed of the unmanned helicopter, starts a speed protection strategy once an alarm signal appears, and automatically controls the flight speed of the unmanned helicopter to return to a safety range.
The method comprises the following 6 steps:
step 1, constructing a key information database: the "altitude-velocity flight envelope", "pitch attitude trim curve" and "longitudinal pitch trim curve" under typical aircraft weight, typical flight environment temperature and typical flight altitude conditions are pre-stored in the flight control computer in the form of a database.
Step 2, obtaining environmental information: through airborne sensing equipment, acquire unmanned helicopter current flight environmental information, include: flight ambient temperature, flight altitude, etc. For example, the flight environment temperature is acquired by an atmospheric computer, and the flight altitude information is acquired by a satellite navigation device.
Step 3, boundary information inquiry:
3-1, obtaining 'altitude-speed flight envelope' data in accordance with the current state from a key information database by adopting a linear difference method according to the current aircraft weight, the flight environment temperature and the flight altitude, and accordingly obtaining the currently allowed airspeed boundary [ V ] of the unmanned helicopteraero_min,Vaero_max]。
3-2, obtaining 'pitch angle attitude trim curve' data in accordance with the current state from a key information database by adopting a linear difference method according to the current aircraft weight, the current flight environment temperature and the current flight altitude, and then obtaining the data according to an airspeed boundary Vaero_maxAcquiring a currently allowed pitch angle attitude boundary theta of the unmanned helicoptertrim_max(maximum heads-down attitude).
3-3, obtaining the data of the longitudinal displacement trim curve which accords with the current state from the key information database by adopting a linear difference method according to the current airplane weight, the flight environment temperature and the flight altitude, and then obtaining the data of the longitudinal displacement trim curve according to the airspeed boundary Vaero_maxAcquiring the currently allowed longitudinal displacement boundary delta of the unmanned helicoptere_max。
Step 4, boundary crossing alarm judgment: and respectively calling an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable distance border crossing judgment algorithm to judge whether the current pitch angle attitude, flight airspeed and longitudinal variable distance manipulated variable of the unmanned helicopter exceed a safety border or not in real time.
Step 5, alarm arbitration management: as shown in FIG. 5, three out-of-range signals of attitude, airspeed and pitch are managed by logical AND and logical OR. Specifically, the method comprises the following steps: if the three judgment signals of the attitude crossing judgment algorithm, the airspeed crossing judgment algorithm and the variable distance crossing judgment algorithm are normal, arbitrating to output normal signals; when any one signal is alarmed, the arbitration outputs an alarm signal.
And 6, starting a speed protection strategy until the flying airspeed of the unmanned helicopter is adjusted to be within an allowed range, starting the speed protection strategy once receiving the alarm signal output by arbitration as shown in fig. 6, automatically reducing the speed instruction of the helicopter, and automatically adjusting the flying speed of the unmanned helicopter to be within the allowed safety range by using speed closed-loop control. The starting speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within an allowable range comprises the following steps:
step 6-1, setting a ground speed reduction value delta V to be 5m/s, reducing the set delta V by an airplane ground speed instruction, inputting the reduced delta V to a speed closed-loop control system of the unmanned helicopter, and resetting a timer to start timing;
6-2, the speed closed-loop control system starts to automatically regulate and control the ground speed and the attitude of the unmanned helicopter according to an input airplane ground speed instruction, if the ground speed of the unmanned helicopter is converged and the control deviation is within a set error range within preset regulation and control time, the closed-loop control is finished, and the step 6-3 is executed; if the timing exceeds the preset regulation and control time, finishing the closed-loop control, and executing the step 6-3;
step 6-3, judging whether the current airspeed is lower than 0.8 XVrefIf it is less than 0.8 XVrefThe protection is complete, otherwise step 6-1 continues.
The speed closed-loop control system can be realized in various ways, and the invention adopts a control method based on an inner loop/outer loop, and the realization principle is shown in fig. 7. The speed closed-loop control system adopts a control system based on an inner loop/outer loop and comprises a speed controller, an attitude controller, a rudder system and an unmanned helicopter; the speed controller calculates an expected pitch angle attitude command according to the input ground speed command and the acquired acceleration and ground speed signals of the unmanned helicopter and outputs the expected pitch angle attitude command to the attitude controller; the attitude controller calculates a longitudinal periodic variable pitch instruction according to the pitch angle attitude control instruction and the collected angular velocity and attitude signals of the unmanned helicopter and outputs the longitudinal periodic variable pitch instruction to a rudder system; the rudder system adjusts the attitude and the ground speed of the unmanned helicopter according to the longitudinal periodic pitch-changing instruction, then acquires the acceleration and ground speed signals of the unmanned helicopter to act on the speed controller, and the angular speed and the attitude of the unmanned helicopter to act on the attitude controller.
After the strategy triggers the speed closed-loop control system to work, a timing mechanism is started in the process of adjusting the flying speed of the unmanned helicopter, and if the unmanned helicopter adjusts the flying speed to be within a reasonable range of a speed instruction in a preset time (the time setting principle is that the airplane can complete deceleration action under a normal condition, for example, the preset time in fig. 6 is T3), the speed protection strategy is finished. If the preset time is over and the flying speed is still not adjusted to be within the reasonable range of the speed instruction, the speed protection strategy should be forcibly ended, and the algorithm closure is ensured.
Once the alarm signal is received and the speed protection strategy is triggered, the alarm signal is not received any more in the execution process of the speed protection strategy, and the alarm signal is recovered only after the speed protection strategy is completed (or is forced to be ended due to timeout).
Further, the principle of the gesture boundary crossing judgment algorithm in the step 4 is shown in fig. 2, and the method mainly includes the following steps:
1-1, the posture out-of-range judgment algorithm adopts a judgment method based on statistical data, and the method has the advantages that: and false alarm and false report caused by abnormal data are effectively prevented.
1-2, posture border crossing alarm: the continuous T1 time (T1 is the set time) simultaneously satisfies the conditions a and b: a. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefB, the pitch angle of the unmanned helicopter is lowered and exceeds the pitch angle attitude boundary thetatrim_maxAnd if the pitch angle attitude is out of range, sending an attitude out-of-range alarm signal.
1-3, posture border crossing alarm removing: the continuous T2 time (T2 is a set time) satisfies one of the conditions c and d: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, pitch angle attitude lowering of unmanned helicopter is not more than 0.8 multiplied by thetatrim_maxAnd confirming that the pitch angle attitude is recovered to be within the normal range, canceling the attitude out-of-range alarm signal and recovering the signal to be normal.
1-4, presetting a safe speed reference value VrefThe setting principle of (1): the ground speed of flight of the unmanned helicopter is VrefIn the following, the aircraft will not have attitude out-of-range warnings. Preset VrefThe purpose of the method is to further improve the accuracy of judgment and the safety of an algorithm and prevent misjudgment.
Further, the principle of the "airspeed crossing judgment algorithm" in step 4 is shown in fig. 3, and mainly includes the following contents:
2-1, the airspeed transboundary judgment algorithm adopts a judgment method based on statistical data, and the method has the advantages that: and false alarm and false report caused by abnormal data are effectively prevented.
2-2, airspeed boundary crossing alarm: the continuous T1 time simultaneously satisfies the conditions of e and f: e. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefF, the flight airspeed of the unmanned helicopter exceeds an airspeed boundary Vaero_maxThen confirm the flight emptyAnd (4) sending out an airspeed boundary crossing alarm signal when the speed crosses the boundary.
2-3, relieving airspeed boundary crossing alarm: the continuous T2 time satisfies one of the conditions g and h: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, the flying airspeed of the unmanned helicopter is not more than 0.8 multiplied by Vaero_maxAnd confirming that the flying airspeed is recovered to be within the normal range, canceling the airspeed out-of-range alarm signal and recovering the signal to be normal.
2-4, presetting a safe speed reference value VrefThe setting principle of (1): the ground speed of flight of the unmanned helicopter is VrefAnd below, the aircraft cannot generate airspeed out-of-range warning. Preset VrefThe purpose of the method is to further improve the accuracy of judgment and the safety of an algorithm and prevent misjudgment.
Further, the principle of the pitch change boundary crossing judgment algorithm in step 4 is shown in fig. 4, and mainly includes the following contents:
3-1, the variable distance out-of-range judgment algorithm adopts a judgment method based on statistical data, and the method has the advantages that: and false alarm and false report caused by abnormal data are effectively prevented.
3-2, alarming when the variable distance is out of range: the continuous T1 time simultaneously satisfies the i, j condition: a. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefB, the longitudinal periodic variable pitch of the unmanned helicopter is larger than a variable pitch boundary deltae_maxIf the control is over, the alarm signal is sent out.
3-3, warning and removing the variable distance boundary crossing: the continuous T2 time satisfies one of k, l conditions: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, longitudinal cyclic variable distance of unmanned helicopter is not more than 0.9 multiplied by deltae_maxIf the control signal is within the normal range, the distance-changing operation is confirmed to be recovered, the distance-changing out-of-range alarm signal is cancelled, and the signal is recovered to be normal.
3-4, presetting a safe speed reference value VrefThe setting principle of (1): the ground speed of flight of the unmanned helicopter is VrefIn the following, the aircraft will not have a variable distance out-of-range warning. Preset VrefThe purpose of the method is to further improve the accuracy of judgment and the safety of an algorithm and prevent misjudgment.
The automatic protection system for the flight speed of the oil-driven unmanned helicopter based on the method comprises a parameter setting module, a database, a flight environment acquisition module, a boundary acquisition module, a state judgment module, an arbitration judgment module and a speed protection module; wherein:
the database is used for storing a height-speed flight envelope, a pitching attitude trim curve and a longitudinal variable pitch trim curve under the conditions of different airplane weights, flight environment temperatures and flight altitude;
the flight environment acquisition module is used for acquiring the current flight environment temperature and flight altitude of the unmanned helicopter;
the boundary acquisition module is used for acquiring an airspeed boundary, a pitch angle attitude boundary and a longitudinal variable pitch control boundary of the current unmanned helicopter;
the state judgment module respectively acquires the current states of a pitch angle attitude, a flight airspeed and a longitudinal variable pitch manipulation quantity of the unmanned helicopter through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable pitch border crossing judgment algorithm;
the arbitration judging module judges whether to start a speed protection strategy through logical AND or logical NOT according to the states of the pitch angle attitude, the flight airspeed and the longitudinal variable pitch manipulated variable of the state judging module;
the speed protection module is used for starting a speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within an allowable range.
The method realized by each module of the system is already included by the automatic flight speed protection method of the oil-driven unmanned helicopter, and the method is not repeated;
a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the computer program.
Example 1
In a certain surveying and mapping flight mission, the altitude of a flying point is 1500m, the temperature of a flight environment is 15 ℃, and the ground speed boundary of a certain type of oil-driven unmanned helicopter in the environment is VrefAirspeed boundary is Vaero_maxAttitude boundary of pitch angle of thetatrim_maxLongitudinal pitch steering margin of δe_max. Due to airflow disturbance factors, the unmanned helicopter triggers attitude out-of-range alarm in the process of accelerating flight, and under the action of the protection method provided by the text, the unmanned helicopter system automatically adjusts the flight speed to be within a safety range, so that the flight safety is ensured.
As shown in fig. 8-10, the ground speed of the unmanned aerial vehicle exceeds the boundary V of the ground speed at 6' 03 ″refThe pitch angle exceeds the pitch attitude boundary at 6' 04 ". And then, the ground speed and the pitch angle exceed the corresponding boundary T1 at the same time, the posture out-of-range alarm condition is met, the longitudinal variable pitch control and the airspeed are both in the normal range, and the system triggers an alarm signal.
As shown in fig. 11, the alarm time duration is less than the time to trigger the speed protection strategy twice. A speed protection strategy is triggered in the flight. After the alarm is triggered, the forward speed instruction of the airplane automatically reduces delta V.
The hollow speed is less than the airspeed safety value of 0.8 multiplied by V in the whole processaero_max(ii) a The pitch angle is less than the safety value 0.8 multiplied by theta after the ground speed is reducedtrim_max(ii) a The longitudinal variation being less than its safety value 0.9 x delta after deceleratione_max. And after the alarm elimination condition is met, the alarm of the system is eliminated, and the airplane normally executes the task.
Example 2
In a certain surveying and mapping flight mission, the altitude of a flying point is 3500m, the temperature of a flight environment is 5 ℃, and the ground speed boundary of a certain type of oil-driven unmanned helicopter in the environment is VrefAirspeed boundary is Vaero_maxAttitude boundary of pitch angle is low head thetatrim_maxThe longitudinal pitch control margin is deltae_max. Due to airflow disturbance factors, the unmanned helicopter triggers airspeed out-of-range alarm in the process of accelerating flight, and under the action of the protection method, the unmanned helicopter system automatically adjusts the flight speed to be within a safety range, so that the flight safety is ensured.
As shown in fig. 12-14, the ground speed of the unmanned aerial vehicle exceeds the boundary V of the ground speed at 5' 17 ″refAirspeed 5' 23 "beyond airspeed boundary Vaero_max. And then, the ground speed and the airspeed simultaneously exceed the boundary and continue for a period of time, the airspeed out-of-range alarm condition is met, the longitudinal pitch control and pitch angle postures are in the normal range, and the system triggers an alarm signal after T1 time.
As shown in fig. 15, the alarm time is less than time T3 of the secondary trigger speed protection strategy. A speed protection strategy is triggered in the flight. After the alarm is triggered, the forward speed instruction of the airplane automatically reduces delta V.
The pitch angle in the whole process is minimum to be 0.8 multiplied by theta of a safety valuetrim_max(ii) a Longitudinal variation less than its safety value of 0.9 x deltae_max(ii) a The space velocity is less than the safety value of 0.8 x V at 5' 36 ″aero_max. And when the alarm elimination condition is met, the alarm is eliminated after the system T2 time, and the airplane normally executes the task.
Example 3
In a certain power patrol flight mission, the altitude of a flying point is 2500m, the temperature of a flight environment is 5 ℃, and the ground speed boundary of a certain oil-driven unmanned helicopter in the environment is VrefAirspeed boundary is Vaero_maxAttitude boundary of pitch angle is low head thetatrim_maxThe longitudinal pitch control margin is deltae_max. Due to airflow disturbance factors, the unmanned helicopter triggers variable-pitch out-of-range alarm in the accelerating flight process, and under the action of the protection method, the unmanned helicopter system automatically adjusts the flight speed to be within a safety range, so that the flight safety is ensured.
As shown in fig. 16-18, the ground speed of the drone exceeds the ground speed boundary V at 6' 35 ″refLongitudinal variation at 6' 35 "beyond the longitudinal variation boundary deltae_max. And then, the ground speed and the longitudinal displacement simultaneously exceed the boundary for T1 time, the displacement out-of-boundary alarm condition is met, the airspeed and pitch angle postures are in the normal range, and the system triggers an alarm signal.
As shown in fig. 19, the alarm time is greater than the time 3 × T3 for three triggers of the speed protection strategy. The three-time speed protection strategy is triggered in the flight. After the alarm is triggered, a speed protection strategy is triggered three times, the delta V is automatically reduced every time, the interval T3 seconds every time, and the speed command is reduced by 3 x delta V.
Speed variation boundary is VrefAirspeed boundary is Vaero_maxAttitude boundary of pitch angle is low head thetatrim_maxThe longitudinal pitch control margin is deltae_max。
Airspeed less than airspeed safety value of 0.8Vaero_max(ii) a The pitch angle is less than the safety value 0.8 multiplied by theta after the ground speed is reducedtrim_max(ii) a Longitudinal variation less than its safety value of 0.9 x deltae_max(ii) a Ground speed less than 0.8 x Vref. The alarm elimination condition is met and the system eliminates the alarm after time T2. And as the third speed protection strategy is triggered, the airplane interrupts the current task and safely returns.
By integrating the 3 actual flight cases, the flight control system can monitor and arbitrate the flight state in real time during the ground speed control flight of the unmanned helicopter, can effectively judge and identify the alarm signal, starts a corresponding speed protection strategy, can automatically control the flight speed of the unmanned helicopter to return to the safety range, and ensures the flight safety. The method effectively improves the reliability, safety and environmental adaptability of the oil-driven unmanned helicopter system.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.

Claims (10)

1. An automatic protection method for the flight speed of an oil-driven unmanned helicopter is characterized by comprising the following steps:
step 1, storing a height-speed flight envelope, a pitching attitude trim curve and a longitudinal variable pitch trim curve of different aircraft under the conditions of different aircraft weights, flight environment temperatures and flight altitude into a database;
step 2, acquiring the current flight environment temperature and flight altitude of the unmanned helicopter;
step 3, according to the current weight of the airplane, the temperature of the flying environment and the flying altitude information, a database is inquired by adopting a linear difference method to obtain an airspeed boundary, a pitch angle attitude boundary and a longitudinal variable pitch control boundary of the current unmanned helicopter;
step 4, respectively judging whether the current pitch angle attitude, flight airspeed and longitudinal variable-pitch manipulated variable of the unmanned helicopter are in an alarm state or not through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable-pitch border crossing judgment algorithm;
step 5, if any value of the pitch angle attitude, the flying airspeed and the longitudinal variable pitch manipulated variable is in an alarm state, executing step 6, otherwise executing step 2;
and 6, starting a speed protection strategy until the flying airspeed of the unmanned helicopter is adjusted to be within an allowable range, and continuing to execute the step 2.
2. The automatic protection method for the flight speed of the oil-driven unmanned helicopter according to claim 1, characterized in that the step 3 specifically comprises:
according to the current weight of the airplane, the flying environment temperature and the flying altitude, the current altitude-speed flying envelope data is obtained from a database by adopting a linear difference method, and the current airspeed boundary V of the unmanned helicopter is obtained through the altitude-speed flying envelope dataaero_max；
Obtaining current pitch angle attitude trim curve data from a database by adopting a linear difference method according to the current aircraft weight, the flight environment temperature and the flight altitude, and then obtaining the current pitch angle attitude trim curve data according to an airspeed boundary Vaero_maxAcquiring the current pitch angle attitude boundary theta of the unmanned helicoptertrim_max；
According to the current weight of the airplane, the temperature of the flying environment and the flying altitude, the linear difference method is adopted to obtain the current longitudinal variable-pitch trim curve data from the database, and then according to an airspeed boundary Vaero_maxObtaining the current longitudinal variable pitch control boundary delta of the unmanned helicoptere_max。
3. The method for automatically protecting the flight speed of the oil-driven unmanned helicopter according to claim 2, wherein the step 4 of judging whether the current pitch angle attitude of the unmanned helicopter is in an alarm state by the attitude out-of-range judgment algorithm specifically comprises the following steps:
step 4-1-1, if the last pitch angle attitude is in a normal state, executing step 4-1-2, otherwise executing step 4-1-3;
step 4-1-2, judging whether the conditions a and b are simultaneously met within the continuous T1 time: a. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefB, the pitch angle attitude of the unmanned helicopter is lowered and exceeds a pitch angle attitude boundary thetatrim_maxIf the conditions a and b are met simultaneously, determining that the pitch angle attitude is out of range, and determining that the current pitch angle attitude of the unmanned helicopter is in an alarm state, otherwise, determining that the current pitch angle attitude of the unmanned helicopter is in a normal state;
and 4-1-3, judging whether one of the conditions c and d is met within the continuous T2 time: c. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefD, pitch angle attitude lowering of unmanned helicopter is not more than 0.8 multiplied by thetatrim_maxAnd if one of the conditions c and d is met, confirming that the pitch angle attitude is in a normal state, otherwise, confirming that the pitch angle attitude is in an alarm state.
4. The automatic protection method for the flight speed of the oil-driven unmanned helicopter according to claim 2, wherein the step 4 of judging whether the current flight airspeed of the unmanned helicopter is in an alarm state by an airspeed transgression judgment algorithm comprises the following steps:
step 4-2-1, if the airspeed at the last time is in a normal state, executing step 4-2-2, otherwise executing step 4-2-3;
step 4-2-2, judging whether the conditions of e and f are met simultaneously within the continuous T1 time: e. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefF, the flight airspeed of the unmanned helicopter exceeds an airspeed boundary Vaero_maxIf the conditions of e and f are met simultaneously, determining that the flying airspeed is out of range, wherein the flying airspeed is in an alarm state, and otherwise, the flying airspeed is in a normal state;
step 4-2-3, judging whether one of the conditions g and h is met within the continuous T2 time: g. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefH, the flying airspeed of the unmanned helicopter is not more than 0.8 multiplied by Vaero_maxIf one of the conditions g and h is satisfied, the flight airspeed is determined to be normalAnd otherwise, the state is an alarm state.
5. The method for automatically protecting the flight speed of the oil-driven unmanned helicopter according to claim 1, wherein the step 4 of judging whether the current longitudinal displacement manipulated variable of the unmanned helicopter is in an alarm state by a displacement out-of-range judgment algorithm specifically comprises the following steps:
step 4-3-1, if the last longitudinal displacement manipulated variable is in a normal state, executing step 4-3-2, otherwise executing step 4-3-3;
step 4-3-2, judging whether the conditions of i and j are simultaneously met within the continuous T1 time: i. the flight ground speed of the unmanned helicopter is greater than a preset safe speed reference value VrefJ, the longitudinal variable-pitch control amount of the unmanned helicopter is larger than the longitudinal variable-pitch control boundary deltae_maxIf the conditions of i and j are met, the longitudinal variable-pitch manipulated variable is determined to be out of range, the longitudinal variable-pitch manipulated variable is in an alarm state, and otherwise, the longitudinal variable-pitch manipulated variable is in a normal state;
step 4-3-3, judging whether one of the k and l conditions is met within the continuous T2 time: k. the flying ground speed of the unmanned helicopter is not more than 0.8 multiplied by VrefL, the longitudinal variable pitch control quantity of the unmanned helicopter is not more than 0.9 multiplied by deltae_maxIf one of the k and l conditions is satisfied, the longitudinal variable pitch manipulated variable is determined to be in a normal state, otherwise, the longitudinal variable pitch manipulated variable is in an alarm state.
6. The method for automatically protecting the flight speed of the oil-driven unmanned helicopter according to claim 1, wherein the step of starting the speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within an allowable range comprises the following steps:
step 6-1, setting a ground speed reduction value delta V, reducing the set delta V by an airplane ground speed command, inputting the reduced delta V to a speed closed-loop control system of the unmanned helicopter, and resetting a timer to start timing;
6-2, the speed closed-loop control system starts to automatically regulate and control the ground speed and the attitude of the unmanned helicopter according to an input airplane ground speed instruction, if the ground speed of the unmanned helicopter is converged and the control deviation is within a set error range within preset regulation and control time, the closed-loop control is finished, and the step 6-3 is executed; if the timing exceeds the preset regulation and control time, finishing the closed-loop control, and executing the step 6-3;
step 6-3, judging whether the current airspeed is lower than 0.8 XVrefIf it is less than 0.8 XVrefThe protection is complete, otherwise step 6-1 continues.
7. The automatic protection method for the flight speed of the oil-driven unmanned helicopter according to claim 6, characterized in that the speed closed-loop control system adopts a closed-loop control system based on an inner/outer loop, and comprises a speed controller, an attitude controller, a rudder system and the unmanned helicopter; the speed controller calculates an expected pitch angle attitude command according to the input ground speed command and the acceleration and ground speed signals of the unmanned helicopter and outputs the expected pitch angle attitude command to the attitude controller; the attitude controller calculates a longitudinal periodic variable pitch instruction according to the pitch angle attitude control instruction and the collected angular velocity and attitude signals of the unmanned helicopter and outputs the longitudinal periodic variable pitch instruction to a rudder system; the rudder system adjusts the attitude and the ground speed of the unmanned helicopter according to the longitudinal periodic pitch-changing instruction, then the acceleration and ground speed signals of the unmanned helicopter act on the speed controller, and the angular speed and the attitude of the unmanned helicopter act on the attitude controller.
8. The automatic protection method for the flying speed of the oil-driven unmanned helicopter according to claim 6, characterized in that the ground speed reduction value Δ V is 5 m/s.
9. An automatic protection system for the flight speed of an oil-driven unmanned helicopter is characterized by comprising a parameter setting module, a database, a flight environment acquisition module, a boundary acquisition module, a state judgment module, an arbitration judgment module and a speed protection module; wherein:
the database is used for storing a height-speed flight envelope, a pitching attitude trim curve and a longitudinal variable pitch trim curve under the conditions of different airplane weights, flight environment temperatures and flight altitude;
the flight environment acquisition module is used for acquiring the current flight environment temperature and flight altitude of the unmanned helicopter through airborne sensing equipment;
the boundary acquisition module is used for acquiring an airspeed boundary, a pitch angle attitude boundary and a longitudinal variable pitch control boundary of the current unmanned helicopter;
the state judgment module respectively acquires the current states of a pitch angle attitude, a flight airspeed and a longitudinal variable pitch manipulation quantity of the unmanned helicopter through an attitude border crossing judgment algorithm, an airspeed border crossing judgment algorithm and a variable pitch border crossing judgment algorithm;
the arbitration judging module judges whether to start a speed protection strategy through logical AND or logical NOT according to the states of the pitch angle attitude, the flight airspeed and the longitudinal variable pitch manipulated variable of the state judging module;
the speed protection module is used for starting a speed protection strategy until the flight airspeed of the unmanned helicopter is adjusted to be within an allowable range.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 8 are implemented when the computer program is executed by the processor.
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