CN113716071B - Sliding test method and system for fixed-wing unmanned aerial vehicle - Google Patents
Sliding test method and system for fixed-wing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113716071B CN113716071B CN202111053996.9A CN202111053996A CN113716071B CN 113716071 B CN113716071 B CN 113716071B CN 202111053996 A CN202111053996 A CN 202111053996A CN 113716071 B CN113716071 B CN 113716071B
- Authority
- CN
- China
- Prior art keywords
- sliding
- sliding test
- test
- plan
- turning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The application discloses a gliding test method and a system for a fixed wing unmanned aerial vehicle, wherein the method comprises the following steps: obtaining the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle; when the fixed-wing unmanned aerial vehicle carries out a sliding test plan, collecting real-time data of the fixed-wing unmanned aerial vehicle; judging whether the sliding test plan meets the requirements of the sliding test or not according to the real-time data and the sliding test environment information; and if the sliding test plan does not meet the requirements of the sliding test, carrying out emergency treatment on the sliding test plan. The application is used for improving the sliding test reliability and safety of the fixed-wing unmanned aerial vehicle.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a sliding test method and a sliding test system for a fixed-wing unmanned aerial vehicle.
Background
In recent years, as the amount of freight increases, the demand for the increase in freight capacity rises. The problems of more lines and wider remote areas of domestic freight transportation cause serious defects of medium and small freight transportation quantity.
With the development of the unmanned aerial vehicle technology, the application of large and medium-sized fixed wing unmanned aerial vehicles to freight transportation becomes a research hot tide. In the research process of the unmanned aerial vehicle, the gliding is an important step influencing the safe takeoff of the unmanned aerial vehicle, so that the gliding test is an important test step in the research of the unmanned aerial vehicle.
However, at present, no complete sliding test method exists, so that the situation of sliding test failure often occurs in the sliding test process, the flight safety of the unmanned aerial vehicle is even affected in severe cases, and the reliability and the safety of the sliding test are lacked.
Disclosure of Invention
In order to improve the reliability and safety of the sliding test of the fixed-wing unmanned aerial vehicle, the application provides a sliding test method and a sliding test system for the fixed-wing unmanned aerial vehicle.
In a first aspect, the application provides a gliding test method for a fixed-wing unmanned aerial vehicle, which adopts the following technical scheme:
a taxi test method for a fixed wing drone, comprising:
obtaining sliding test environment information and a sliding test plan of the fixed-wing unmanned aerial vehicle;
when the fixed-wing unmanned aerial vehicle carries out the gliding test plan, acquiring real-time data of the fixed-wing unmanned aerial vehicle;
judging whether the sliding test plan meets the requirements of the sliding test or not according to the real-time data and the sliding test environment information;
and if the sliding test plan does not meet the sliding test requirement, performing emergency treatment on the sliding test plan.
By adopting the technical scheme, the sliding test environmental information and the sliding test plan of the fixed-wing unmanned aerial vehicle are obtained, when the sliding test plan is carried out, the real-time data of the fixed-wing unmanned aerial vehicle are collected, whether the sliding test plan meets the sliding test requirements or not is judged according to the real-time data and the sliding test environmental information, and when the sliding test requirements are not met, the sliding test plan is subjected to emergency treatment, wherein firstly, the emergency treatment is carried out, so that the flight safety of the fixed-wing unmanned aerial vehicle is improved; and secondly, after emergency treatment is carried out on the sliding test plan, optimization of the sliding test is realized, and reliability is improved.
Optionally, obtaining the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle includes:
acquiring ground environment information of a sliding test site of a fixed-wing unmanned aerial vehicle, wherein the ground environment information comprises a ground type;
acquiring wind direction information and wind force information of the sliding test site;
obtaining sliding test environment information according to the ground environment information, the wind direction information and the wind power information;
and acquiring a sliding test plan of the fixed-wing unmanned aerial vehicle, wherein the sliding test plan is a straight sliding plan or a turning sliding plan.
By adopting the technical scheme, the main sources of the sliding test environment information of the fixed-wing unmanned aerial vehicle are the ground environment information of a sliding test place, the wind direction information and the wind power information of the sliding test place, and the sliding test plan is a route plan which needs to carry out a sliding test and can be a straight sliding plan or a turning sliding plan. The important indexes of the sliding test are fully considered.
Optionally, the determining whether the coasting test plan meets the coasting test requirements according to the real-time data and the coasting test environment information includes:
determining the sliding test plan to be a straight sliding plan or a turning sliding plan;
when the sliding test plan is the linear sliding plan, selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the sliding test environment information;
judging whether the real-time data meets the requirements of the linear sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; if not, the sliding test plan does not meet the requirements of the sliding test;
when the sliding test plan is the turning sliding plan, selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information;
judging whether the real-time data meets the requirements of the turning sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; and if not, the sliding test plan does not meet the requirements of the sliding test.
By adopting the technical scheme, the sliding test plan is a straight sliding plan or a turning sliding plan, the corresponding sliding test requirements are determined firstly, and then judgment is carried out, so that the different sliding test requirements are considered to be different for different sliding.
Optionally, the selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the sliding test environment information includes:
analyzing the sliding test environment information to obtain ground environment information, wind direction information and wind power information;
determining the ground type of the sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the linear sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind force information, wherein the linear sliding type is linear downwind, linear downside wind, linear upwind or linear upside wind;
selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the ground type and the linear sliding type, wherein the linear sliding test requirement comprises a first requirement item, a second requirement item, a third requirement item and a fourth requirement item, the first requirement item is inertia sliding which is not allowed to lose power, the second requirement item is that the brake is not allowed to fail, the third requirement item is that the emergency brake is not allowed when the speed exceeds a threshold speed, and the fourth requirement item is that the brake which exceeds a threshold number of times is not allowed when the speed exceeds a threshold distance.
By adopting the technical scheme, four requirements required by a linear sliding test are explained, and the first requirement item does not depend on inertia sliding without power, so that the unmanned aerial vehicle can be prevented from standing upside down; the second requirement item is that the unmanned aerial vehicle can not be braked and fails in sliding, so that the unmanned aerial vehicle is easy to crash; the third requirement item is that when the speed exceeds the threshold speed and the unmanned aerial vehicle slides at a high speed, sudden braking is avoided, and the unmanned aerial vehicle is prevented from turning forwards; the fourth requirement item is that when the sliding distance exceeds the threshold value, the brake does not exceed the threshold value for times so as to prevent the brake disc from being burnt out.
Optionally, the selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information includes:
analyzing the sliding test environment information to obtain ground environment information, wind direction information and wind power information;
determining the ground type of a sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the turning sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind power information, wherein the turning sliding type is turning downwind, turning downside wind, turning upwind or turning upside wind;
selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the ground type and the turning sliding type, wherein the turning sliding test requirement comprises a fifth requirement item and a sixth requirement item, the fifth requirement item is used for reducing the speed and prohibiting one wheel from being braked, and the sixth requirement item is used for ensuring that the turning radius is not less than the half span length.
By adopting the technical scheme, two requirements required by a turning and sliding test are explained, and the fifth requirement item is that the speed is reduced when the vehicle turns and one wheel is prohibited to be braked, so that a near-emergency turning and a side-tipping of the vehicle body are caused arbitrarily; the sixth requirement is that the turning radius is not less than the semi-span length, and sharp turns are also avoided.
Optionally, the determining whether the real-time data meets the requirement of the linear sliding test includes:
acquiring engine parameters, brake parameters and sliding parameters according to the real-time data;
judging whether the engine can provide power according to the engine parameters;
if the power can not be provided, the first requirement item can not be met, and the real-time data can not meet the requirements of the linear sliding test;
if the brake parameter can normally provide power, the first requirement item is met, and whether the brake fails or not is judged according to the brake parameter;
if the brake fails, the second requirement item cannot be met, and the real-time data is determined not to meet the requirements of the linear sliding test;
if the brake is not invalid, the second requirement item is met, the current speed is determined according to the sliding parameters, and whether the current speed exceeds a threshold speed is judged;
if the current speed exceeds the threshold speed, judging whether sudden braking occurs according to the braking parameters;
if sudden braking occurs, the third requirement item cannot be met, and the real-time data are determined not to meet the requirements of the linear sliding test;
if the current speed does not exceed the threshold speed or sudden braking does not occur, the third requirement item is met, the current sliding distance is determined according to the sliding parameters, and whether the current sliding distance exceeds the threshold distance or not is judged;
if the current sliding distance exceeds the threshold distance, judging whether the accumulated braking times exceed the threshold times according to the braking parameters;
if the accumulated braking times exceed the threshold times, the fourth requirement item cannot be met, and the real-time data are determined not to meet the requirements of the linear sliding test;
and if the current sliding distance does not exceed the threshold distance or the accumulated braking times do not exceed the threshold times, the fourth requirement item is met, and the real-time data is determined to meet the requirements of the linear sliding test.
Through adopting above-mentioned technical scheme, through with the power of engine, whether the brake is inefficacy, speed, emergency braking, brake number of times and glide distance, these factors establish ties and contact, have formed the complete judgement basis that satisfies the experimental requirement of straight line glide, the improvement of more detail the standard of straight line glide test, be favorable to fixed wing unmanned aerial vehicle's safe flight.
Optionally, the determining whether the real-time data meets the requirements of the turning coasting test includes:
obtaining turning parameters and braking parameters according to the real-time data;
determining whether the turning speed is less than the sliding speed according to the turning parameters;
if the turning speed is not less than the sliding speed, the fifth requirement item cannot be met, and the real-time data is determined not to meet the turning sliding test requirement;
if the turning speed is less than the sliding speed, judging whether a wheel is completely braked according to the brake parameter;
if one wheel is completely braked, the fifth requirement item cannot be met, and the real-time data are determined not to meet the requirements of the turning sliding test;
if one wheel is not completely braked, the fifth requirement item is met, and whether the turning radius is not less than the half-span length or not is determined according to the turning parameter;
if the turning radius is not smaller than the semi-span length, the sixth requirement item is met, and the real-time data are determined to meet the turning sliding test requirement;
and if the turning radius is smaller than the semi-span length, the sixth requirement item cannot be met, and the real-time data are determined not to meet the turning sliding test requirement.
Through adopting above-mentioned technical scheme, through the brake condition, the turning radius with turning speed, unmanned aerial vehicle wheel, establish ties and contact, formed the complete judgement foundation that satisfies the experimental requirement of turning taxi, ensured that the fuselage can not take place to turn on one's side in the turning taxi test, be favorable to fixed wing unmanned aerial vehicle's safe flight.
In a second aspect, the application provides a taxi test system for a fixed-wing drone, which adopts the following technical scheme:
the obtaining module is used for obtaining the gliding test environment information and the gliding test plan of the fixed-wing unmanned aerial vehicle;
the data acquisition module is used for acquiring real-time data of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle carries out the gliding test plan;
the judging module is used for judging whether the sliding test plan meets the sliding test requirement or not according to the real-time data and the sliding test environment information;
and the emergency processing module is used for carrying out emergency processing on the sliding test plan when the sliding test plan does not meet the requirements of the sliding test.
By adopting the technical scheme, the obtaining module obtains the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle, the data collecting module collects the real-time data of the fixed-wing unmanned aerial vehicle when the sliding test plan is carried out, the judging module judges whether the sliding test plan meets the sliding test requirements or not according to the real-time data and the sliding test environment information, and the emergency processing module carries out emergency processing on the sliding test plan when the sliding test requirements are not met, so that firstly, the emergency processing is carried out, and the flight safety of the fixed-wing unmanned aerial vehicle is improved; and secondly, after emergency treatment is carried out on the sliding test, the sliding test can be optimized, and the reliability is improved.
To sum up, the application comprises the following beneficial technical effects:
acquiring the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle, acquiring real-time data of the fixed-wing unmanned aerial vehicle when the sliding test plan is carried out, judging whether the sliding test plan meets the sliding test requirements or not according to the real-time data and the sliding test environment information, and carrying out emergency treatment on the sliding test plan when the sliding test requirement is not met, wherein firstly, the emergency treatment is carried out to improve the flight safety of the fixed-wing unmanned aerial vehicle; and secondly, after emergency treatment is carried out on the sliding test plan, optimization of the sliding test is realized, and reliability is improved.
Drawings
Fig. 1 is a schematic flow diagram of a taxi testing method for a fixed-wing drone according to the present application.
Fig. 2 is a schematic flow chart of the present application for determining that a coasting test plan meets coasting test requirements.
Fig. 3 is a schematic flow chart of the present application for determining whether real-time data meets the requirements of the linear sliding test.
Fig. 4 is a schematic flow chart of the present application for determining whether the real-time data meets the requirements of the cornering coast test.
Fig. 5 is a schematic structural diagram of a taxi testing system for a fixed-wing drone according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses a sliding test method for a fixed wing unmanned aerial vehicle.
Referring to fig. 1, the method includes:
101, obtaining the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle.
When the fixed-wing unmanned aerial vehicle is subjected to a sliding test, a sliding test place needs to be arranged by a manufacturer, an enterprise or an organization, sliding test environment information can comprise weather and place information, specifically can be ground environment information, wind direction, wind force information and the like of the sliding test place, and can be types of cement, hard grasslands and the like, and can also be types of wet and soft grasslands, loose and snow and the like. The sliding test plan is a route plan for performing a sliding test, and can be a straight sliding plan or a turning sliding plan.
And 102, when the fixed-wing unmanned aerial vehicle carries out a gliding test plan, acquiring real-time data of the fixed-wing unmanned aerial vehicle.
When the fixed-wing unmanned aerial vehicle is subjected to a gliding test plan, in order to avoid failure of the gliding test, the fixed-wing unmanned aerial vehicle needs to be monitored in real time to obtain real-time data, wherein the real-time data are related to gliding and can be data such as rotating speed, brake and rudder, namely elevator.
And 103, judging whether the sliding test plan meets the requirements of the sliding test or not according to the real-time data and the sliding test environment information.
The method comprises the steps of judging whether a sliding test plan meets sliding test requirements or not according to real-time data and sliding test environment information, wherein the sliding test requirements are made by considering the sliding process safety of the fixed-wing unmanned aerial vehicle, can be made in advance by an unmanned aerial vehicle engineer, can also be obtained according to industrial standards, can also be made through field factors, and the specific obtaining mode is not limited. Only whether the coasting test plan meets the coasting test requirements needs to be judged, and if not, step 104 is executed.
It should be noted that, when satisfied, the natural glide test plan is successful without any adjustment and processing.
And 104, carrying out emergency treatment on the sliding test plan.
When the sliding test plan does not meet the requirements of the sliding test, the sliding test is indicated to be problematic, and then emergency treatment is required.
The implementation principle of the embodiment is as follows: acquiring the sliding test environment information and the sliding test plan of the fixed-wing unmanned aerial vehicle, acquiring real-time data of the fixed-wing unmanned aerial vehicle when the sliding test plan is carried out, judging whether the sliding test plan meets the sliding test requirements or not according to the real-time data and the sliding test environment information, and carrying out emergency treatment on the sliding test plan when the sliding test requirement is not met, wherein firstly, the emergency treatment is carried out to improve the flight safety of the fixed-wing unmanned aerial vehicle; and secondly, after emergency treatment is carried out on the sliding test plan, optimization of the sliding test is realized, and reliability is improved.
In the above embodiment shown in fig. 1, how to specifically determine that the coasting test plan meets the coasting test requirements in step 103 is not described in detail, and is described below with reference to the embodiment shown in fig. 2.
As shown in fig. 2, the specific steps include:
and 201, determining the sliding test plan to be a straight sliding plan or a turning sliding plan.
When a coasting test plan is performed, the coasting test plan is mainly divided into a straight coasting plan and a turning coasting plan. Typically, when a straight taxi is initiated, the throttle is reduced, the speed is adjusted (typically 1000-1200 rpm for cement or hard grass, 1200-1400 rpm for wet and soft grass or loose snow), and the direction is maintained with a rudder or brake. When the side wind slides, the ailerons are controlled to the side wind direction, and the elevator inclines upwards when the side wind slides or the side wind is against; the elevator is the 'control surface' for controlling the lift of the airplane, when the head of the airplane needs to be raised or lowered, the elevator in the horizontal tail wing acts, and the elevator is the steerable wing surface part in the horizontal tail wing and acts for pitching the airplane. The elevator deflects downwards when the downwind or the downside wind is larger;
when the vehicle slides in a turning way, the rudder is controlled to be fully deflected, then the brake is used for controlling the turning, the angular speed is controlled to be proper during the turning, and the rudder is used in advance according to the magnitude of the angular speed of the turning and the brake is used for quitting the turning; when the aircraft turns against the wind, the accelerator needs to be reduced before turning, and when the aircraft turns, the aircraft is controlled not to be overlarge in angular speed by using a reverse rudder (the side wind can cause a lateral torque to the rudder, for example, the aircraft turns left when the side wind turns, and the aircraft needs to be reversely pedaled to generate a right turning moment which is balanced with the right turning moment in order to keep the flight course), and the accelerator needs to be timely refueled when the aircraft turns. When the wind turns to the tailwind or the crosswind, the accelerator and the brake are used for controlling a certain speed before turning, the rudder is controlled to be fully deflected when the wind turns, if the wind speed is high, the ailerons are controlled to be in the reverse direction, the left-right brake pressure difference is controlled to control the angular speed, and when the trend of speed reduction exists, the accelerator is added in time. When the vehicle leaves the turn, the rudder and the brake are required to correct the direction in time, and after the tail wheel is straightened, the accelerator is required to be reduced in time to control the sliding speed; when the head of the airplane is in a sinking trend due to difficult control when the head of the airplane is in a turning direction, the accelerator is immediately retracted, the brake is released, and the rudder is controlled, so that the airplane turns to the upwind, and the airplane is strictly prevented from turning upside down.
202, when the slide test plan is a straight slide plan, selecting a corresponding straight slide test requirement from a preset slide test requirement library according to the slide test environment information.
When the sliding test plan is a linear sliding plan, selecting corresponding linear sliding test requirements from a preset sliding test requirement library according to sliding test environment information, wherein the preset sliding test requirement library is preset and is used for standardizing various requirements in the sliding test of the fixed-wing unmanned aerial vehicle and guaranteeing the success of the sliding test; the specific process is as follows:
analyzing the environment information of the sliding test to obtain ground environment information, wind direction information and wind power information;
determining the ground type of the sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the linear sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind power information, wherein the linear sliding type is linear downwind, linear downside wind, linear upwind or linear upside wind;
selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the ground type and the linear sliding type, wherein the linear sliding test requirement comprises a first requirement item, a second requirement item, a third requirement item and a fourth requirement item, the first requirement item is the inertia sliding which is not allowed to lose power, the second requirement item is the failure of the brake, the third requirement item is the emergency brake which is not allowed when the speed exceeds the threshold speed, and the fourth requirement item is the brake which is not allowed to exceed the threshold times when the distance exceeds the threshold. During straight sliding, the airplane is not required to be leaned on inertia sliding without power, and particularly under the condition of downwind or crosswind, the airplane is prevented from inverting; when the speed exceeds the threshold speed and slides at a high speed, sudden braking is avoided; when the sliding distance exceeds the threshold value, the brake is not too much so as to prevent the brake sheet from being burnt out; when the brake is failed during sliding, the speed should be reduced in time, the direction is kept by the rudder to avoid collision with obstacles, the cold air main switch and the movable rod rudder are required to be checked, and if the size of a field is limited, the airplane is stopped immediately to stop.
203, judging whether the real-time data meets the requirements of the linear sliding test, and if so, judging that the sliding test plan meets the requirements of the sliding test; and if not, the sliding test plan does not meet the requirements of the sliding test.
And 204, when the sliding test plan is a turning sliding plan, selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information.
When the coasting test plan is a turning coasting plan, selecting a corresponding turning coasting test requirement from a preset coasting test requirement library according to the coasting test environment information, wherein the preset coasting test requirement library is preset and specific:
analyzing the environment information of the sliding test to obtain ground environment information, wind direction information and wind power information;
determining the ground type of a sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the turning sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind power information, wherein the turning sliding type is turning downwind, turning downside wind, turning upwind or turning upside wind;
selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the ground type and the turning sliding type, wherein the turning sliding test requirement comprises a fifth requirement item and a sixth requirement item, the fifth requirement item is a speed reduction and one wheel is prohibited to be braked, otherwise, an emergency turning is caused, and the body of the airplane turns laterally; a sixth requirement is that the turning radius is not less than the semi-span length.
205, judging whether the real-time data meets the requirements of the turning sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; and if not, the sliding test plan does not meet the requirements of the sliding test.
The implementation principle of the embodiment is as follows: determining that the sliding test plan is a straight sliding plan or a turning sliding plan, when the sliding test plan is the straight sliding plan, selecting a corresponding straight sliding test requirement from a preset sliding test requirement library according to sliding test environment information, judging whether real-time data meet the straight sliding test requirement, and if so, determining that the sliding test plan meets the sliding test requirement; if the real-time data does not meet the requirements of the turning sliding test, the sliding test plan does not meet the requirements of the sliding test, when the sliding test plan is the turning sliding plan, the corresponding requirements of the turning sliding test are selected from a preset sliding test requirement library according to the sliding test environment information, whether the real-time data meets the requirements of the turning sliding test is judged, and if the real-time data meets the requirements of the turning sliding test is judged; and if not, the sliding test plan does not meet the requirements of the sliding test. The sliding test plan is a straight sliding plan or a turning sliding plan, corresponding sliding test requirements are determined firstly, then judgment is carried out, and the different sliding test requirements are considered to be different aiming at different sliding.
With reference to the embodiment shown in fig. 2, a specific description is given on how to determine whether the real-time data meets the requirements of the linear sliding test, as shown in fig. 3, the steps include the following steps:
301, obtaining engine parameters, brake parameters and sliding parameters according to the real-time data.
302, judging whether the engine can provide power according to the engine parameters; if the power can not be provided, go to step 303; if the power can be normally supplied, go to step 304.
303, determining that the real-time data can not meet the requirements of the linear sliding test.
304, meeting the first requirement item, and judging whether the brake is invalid according to the brake parameters; if the brake fails, go to step 305; if the brake is not failed, go to step 306.
And 305, determining that the real-time data does not meet the requirements of the linear sliding test if the second requirement item cannot be met.
306, meeting the second requirement item, determining the current speed according to the sliding parameters, and judging whether the current speed exceeds the threshold speed; if the current speed exceeds the threshold speed, go to step 307; if the current speed does not exceed the threshold speed, step 309 is performed.
307, judging whether sudden braking occurs according to the braking parameters; if sudden braking occurs, go to step 308; if sudden braking does not occur, step 309 is executed.
And 308, determining that the real-time data does not meet the requirements of the linear sliding test.
309, meeting the third requirement item, determining the current sliding distance according to the sliding parameters, and judging whether the current sliding distance exceeds the threshold distance; if the current sliding distance exceeds the threshold distance, go to step 310; if the current glide distance does not exceed the threshold distance, go to step 312.
310, judging whether the accumulated braking times exceed threshold times according to the braking parameters; if the accumulated braking times exceeds the threshold times, executing step 311; if the accumulated braking frequency does not exceed the threshold frequency, go to step 312.
And 311, determining that the real-time data cannot meet the requirements of the linear sliding test.
And 312, meeting the fourth requirement item, and determining that the real-time data meets the requirements of the linear sliding test.
Through adopting above-mentioned technical scheme, through with the power of engine, whether the brake is inefficacy, speed, emergency braking, brake number of times and glide distance, these factors establish ties and contact, have formed the complete judgement basis that satisfies the experimental requirement of straight line glide, the improvement of more detail the standard of straight line glide test, be favorable to fixed wing unmanned aerial vehicle's safe flight.
With reference to the embodiment shown in fig. 2, how to specifically determine whether the real-time data meets the requirements of the cornering coast test is described, as shown in fig. 4, the steps include the following steps:
and 401, acquiring turning parameters and braking parameters according to the real-time data.
402, determining whether the turning speed is less than the sliding speed according to the turning parameters; if the turning speed is not less than the sliding speed, executing step 403; if the turning speed is less than the coasting speed, step 404 is executed.
And 403, determining that the real-time data cannot meet the requirements of the turning sliding test if the fifth requirement item cannot be met.
404, judging whether to completely brake a wheel according to the brake parameters; if one wheel is completely braked, go to step 403; if one wheel is not fully braked, step 405 is performed.
405, determining whether the turning radius is smaller than the semi-span length according to the turning parameters when the fifth requirement item is met; if the turning radius is not less than the semi-span length, go to step 406; if the turning radius is less than the semi-span length, step 407 is performed.
And 406, meeting the sixth requirement item, and determining that the real-time data meets the requirements of the turning sliding test.
407, the sixth requirement item cannot be met, and the real-time data is determined not to meet the requirements of the turning sliding test.
Through adopting above-mentioned technical scheme, through the brake condition, the turning radius with turning speed, unmanned aerial vehicle wheel, establish ties and contact, formed the complete judgement foundation that satisfies the experimental requirement of turning taxi, ensured that the fuselage can not take place to turn on one's side in the turning taxi test, be favorable to fixed wing unmanned aerial vehicle's safe flight.
In the above embodiment shown in fig. 1 to 4, the method for the gliding test of the fixed-wing drone is specifically described, and the following describes a system for the gliding test of the fixed-wing drone to which the method is applied by an embodiment, as shown in fig. 5, a system for the gliding test of the fixed-wing drone of the present application includes:
an obtaining module 501, configured to obtain sliding test environment information and a sliding test plan of a fixed-wing drone;
the data acquisition module 502 is used for acquiring real-time data of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle performs a gliding test plan;
the judging module 503 is configured to judge whether the sliding test plan meets the requirements of the sliding test according to the real-time data and the sliding test environment information;
and the emergency processing module 504 is used for performing emergency processing on the sliding test plan when the sliding test plan does not meet the requirements of the sliding test.
The implementation principle of the embodiment is as follows: the method comprises the steps that an obtaining module 501 obtains sliding test environment information and a sliding test plan of the fixed-wing unmanned aerial vehicle, a data collecting module 502 collects real-time data of the fixed-wing unmanned aerial vehicle when the sliding test plan is carried out, a judging module 503 judges whether the sliding test plan meets requirements of the sliding test or not according to the real-time data and the sliding test environment information, and an emergency processing module 504 carries out emergency processing on the sliding test plan when the sliding test requirement is not met, wherein firstly, the emergency processing is carried out, and the flight safety of the fixed-wing unmanned aerial vehicle is improved; and secondly, after emergency treatment is carried out on the sliding test, the sliding test can be optimized, and the reliability is improved.
In some preferred embodiments of the present application, the obtaining module is specifically configured to obtain ground environment information of a sliding test site of the fixed-wing drone, where the ground environment information includes a ground type; acquiring wind direction information and wind force information of a sliding test site; obtaining sliding test environment information according to the ground environment information, the wind direction information and the wind power information; and obtaining a sliding test plan of the fixed-wing unmanned aerial vehicle, wherein the sliding test plan is a straight sliding plan or a turning sliding plan.
In some preferred embodiments of the present application, the determining module is specifically configured to determine that the coasting test plan is a straight coasting plan or a turning coasting plan; when the sliding test plan is a linear sliding plan, selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the sliding test environment information; judging whether the real-time data meets the requirements of a linear sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; if not, the sliding test plan does not meet the requirements of the sliding test;
when the sliding test plan is a turning sliding plan, selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information; judging whether the real-time data meets the requirements of the turning sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; and if not, the sliding test plan does not meet the requirements of the sliding test.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (6)
1. A taxi test method for a fixed-wing drone, comprising:
obtaining sliding test environment information and a sliding test plan of the fixed-wing unmanned aerial vehicle;
when the fixed-wing unmanned aerial vehicle carries out the gliding test plan, acquiring real-time data of the fixed-wing unmanned aerial vehicle;
judging whether the sliding test plan meets the requirements of the sliding test or not according to the real-time data and the sliding test environment information;
if the sliding test plan does not meet the requirements of the sliding test, performing emergency treatment on the sliding test plan;
the gliding test environment information and the gliding test plan of obtaining the fixed wing unmanned aerial vehicle comprise:
acquiring ground environment information of a sliding test site of a fixed-wing unmanned aerial vehicle, wherein the ground environment information comprises a ground type;
acquiring wind direction information and wind force information of the sliding test site;
obtaining sliding test environment information according to the ground environment information, the wind direction information and the wind power information;
obtaining a sliding test plan of the fixed-wing unmanned aerial vehicle, wherein the sliding test plan is a straight sliding plan or a turning sliding plan;
the step of judging whether the sliding test plan meets the sliding test requirement or not according to the real-time data and the sliding test environment information comprises the following steps:
determining the sliding test plan to be a straight sliding plan or a turning sliding plan;
when the sliding test plan is the linear sliding plan, selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the sliding test environment information;
judging whether the real-time data meets the requirements of the linear sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; if not, the sliding test plan does not meet the requirements of the sliding test;
when the sliding test plan is the turning sliding plan, selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information;
judging whether the real-time data meets the requirements of the turning sliding test, if so, the sliding test plan meets the requirements of the sliding test; and if not, the sliding test plan does not meet the requirements of the sliding test.
2. A taxi test method for a fixed-wing drone according to claim 1, wherein the selecting a corresponding linear taxi test requirement from a library of pre-set taxi test requirements according to the taxi test environment information includes:
analyzing the sliding test environment information to obtain ground environment information, wind direction information and wind power information;
determining the ground type of a sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the linear sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind power information, wherein the linear sliding type is linear downwind, linear upwind or linear upwind;
selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the ground type and the linear sliding type, wherein the linear sliding test requirement comprises a first requirement item, a second requirement item, a third requirement item and a fourth requirement item, the first requirement item is inertia sliding which is not allowed to lose power, the second requirement item is not allowed to brake to fail, the third requirement item is not allowed to brake suddenly when sliding at a speed exceeding a threshold value, and the fourth requirement item is not allowed to brake for a time exceeding the threshold value when sliding at a distance exceeding the threshold value.
3. A taxi test method for fixed-wing drones according to claim 1, wherein selecting the corresponding turning taxi test requirement from a library of preset taxi test requirements according to the taxi test environment information comprises:
analyzing the sliding test environment information to obtain ground environment information, wind direction information and wind power information;
determining the ground type of a sliding test site according to the ground environment information, wherein the ground type is a hard ground or a soft ground;
determining the turning sliding type of the fixed-wing unmanned aerial vehicle according to the wind direction information and the wind power information, wherein the turning sliding type is turning downwind, turning downside wind, turning upwind or turning upside wind;
selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the ground type and the turning sliding type, wherein the turning sliding test requirement comprises a fifth requirement item and a sixth requirement item, the fifth requirement item is used for reducing the speed and prohibiting one wheel from being braked, and the sixth requirement item is used for ensuring that the turning radius is not less than the half span length.
4. A taxi test method for a fixed-wing drone according to claim 2, wherein said determining whether the real-time data meets the straight-line taxi test requirements includes:
acquiring engine parameters, brake parameters and sliding parameters according to the real-time data;
judging whether the engine can provide power according to the engine parameters;
if the power can not be provided, the first requirement item can not be met, and the real-time data is determined not to meet the requirements of the linear sliding test;
if the power can be normally supplied, the first requirement item is met, and whether the brake fails or not is judged according to the brake parameter;
if the brake fails, the second requirement item cannot be met, and the real-time data is determined not to meet the requirements of the linear sliding test;
if the brake is not invalid, the second requirement item is met, the current speed is determined according to the sliding parameters, and whether the current speed exceeds a threshold speed is judged;
if the current speed exceeds the threshold speed, judging whether sudden braking occurs according to the braking parameters;
if sudden braking occurs, the third requirement item cannot be met, and the real-time data are determined not to meet the requirements of the linear sliding test;
if the current speed does not exceed the threshold speed or sudden braking does not occur, the third requirement item is met, the current sliding distance is determined according to the sliding parameters, and whether the current sliding distance exceeds the threshold distance or not is judged;
if the current sliding distance exceeds the threshold distance, judging whether the accumulated braking times exceed the threshold times according to the braking parameters;
if the accumulated braking times exceed the threshold times, the fourth requirement item cannot be met, and the real-time data are determined not to meet the requirements of the linear sliding test;
and if the current sliding distance does not exceed the threshold distance or the accumulated braking times do not exceed the threshold times, the fourth requirement item is met, and the real-time data is determined to meet the requirements of the linear sliding test.
5. A taxi test method for fixed-wing drones according to claim 3, wherein said determining whether the real-time data meets the turn taxi test requirements comprises:
acquiring turning parameters and braking parameters according to the real-time data;
determining whether the turning speed is less than the sliding speed according to the turning parameters;
if the turning speed is not less than the sliding speed, the fifth requirement item cannot be met, and the real-time data is determined not to meet the turning sliding test requirement;
if the turning speed is less than the sliding speed, judging whether a wheel is completely braked according to the brake parameter;
if one wheel is completely braked, the fifth requirement item cannot be met, and the real-time data are determined not to meet the requirements of the turning sliding test;
if one wheel is not completely braked, the fifth requirement item is met, and whether the turning radius is smaller than the half-span length or not is determined according to the turning parameter;
if the turning radius is not smaller than the semi-span length, the sixth requirement item is met, and the real-time data are determined to meet the turning sliding test requirement;
and if the turning radius is smaller than the semi-span length, the sixth requirement item cannot be met, and the real-time data is determined not to meet the turning coasting test requirement.
6. A taxi test system for fixed wing drones, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring ground environment information of a sliding test site of the fixed-wing unmanned aerial vehicle, and the ground environment information comprises a ground type; acquiring wind direction information and wind force information of the sliding test site; obtaining sliding test environment information according to the ground environment information, the wind direction information and the wind power information; obtaining a sliding test plan of the fixed-wing unmanned aerial vehicle, wherein the sliding test plan is a straight sliding plan or a turning sliding plan;
the data acquisition module is used for acquiring real-time data of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle carries out the gliding test plan;
the judging module is used for determining that the sliding test plan is a straight sliding plan or a turning sliding plan; when the sliding test plan is the linear sliding plan, selecting a corresponding linear sliding test requirement from a preset sliding test requirement library according to the sliding test environment information; judging whether the real-time data meets the requirements of the linear sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; if not, the sliding test plan does not meet the requirements of the sliding test; when the sliding test plan is the turning sliding plan, selecting a corresponding turning sliding test requirement from a preset sliding test requirement library according to the sliding test environment information; judging whether the real-time data meets the requirements of the turning sliding test, if so, judging that the sliding test plan meets the requirements of the sliding test; if not, the sliding test plan does not meet the requirements of the sliding test;
and the emergency processing module is used for carrying out emergency processing on the sliding test plan when the sliding test plan does not meet the requirements of the sliding test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111053996.9A CN113716071B (en) | 2021-09-09 | 2021-09-09 | Sliding test method and system for fixed-wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111053996.9A CN113716071B (en) | 2021-09-09 | 2021-09-09 | Sliding test method and system for fixed-wing unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113716071A CN113716071A (en) | 2021-11-30 |
| CN113716071B true CN113716071B (en) | 2022-11-25 |
Family
ID=78682813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111053996.9A Active CN113716071B (en) | 2021-09-09 | 2021-09-09 | Sliding test method and system for fixed-wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113716071B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373647A (en) * | 2015-09-30 | 2016-03-02 | 成都飞机工业（集团）有限责任公司 | Method for identifying aerodynamic center through ground sliding test |
| CN106769089A (en) * | 2016-12-19 | 2017-05-31 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned plane during flying performance evaluation and the flight quality integrated method for real-time monitoring of assessment |
| CN109911244A (en) * | 2018-11-12 | 2019-06-21 | 中航通飞研究院有限公司 | A kind of large aircraft ground roll-out Analysis of Vibration Characteristic method |
| CN110069888A (en) * | 2019-05-06 | 2019-07-30 | 中国民航大学 | A kind of simulation of airdrome scene and method for optimizing route |
| CN110262549A (en) * | 2019-06-24 | 2019-09-20 | 亿航智能设备（广州）有限公司 | A kind of fixed-wing unmanned plane and its ground taxi control method, storage medium |
| CN112180972A (en) * | 2020-09-16 | 2021-01-05 | 西安羚控电子科技有限公司 | Unmanned aerial vehicle route determining method based on front wheel steering technology |
| CN112699478A (en) * | 2020-12-29 | 2021-04-23 | 中国航空工业集团公司西安飞机设计研究所 | Universal aircraft wing test load spectrum compiling method |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7216069B2 (en) * | 2001-01-19 | 2007-05-08 | Honeywell International, Inc. | Simulated visual glideslope indicator on aircraft display |
| FR2895074B1 (en) * | 2005-12-21 | 2008-02-15 | Thales Sa | FUNCTIONAL MONITOR FOR FLIGHT MANAGEMENT SYSTEM |
| US8109464B2 (en) * | 2007-03-08 | 2012-02-07 | The Ashman Group, Llc | Aircraft taxiing and secondary propulsion system |
| US8392045B2 (en) * | 2008-09-05 | 2013-03-05 | The Boeing Company | System and methods for aircraft preflight inspection |
| FR2959836B1 (en) * | 2010-05-07 | 2012-06-01 | Messier Bugatti | METHOD FOR MANAGING A LACET MOVEMENT OF A GROUNDING AIRCRAFT. |
| US9676475B2 (en) * | 2011-09-02 | 2017-06-13 | Borealis Technical Limited | System and method for maintaining aircraft ground travel speed and direction |
| CA2810801A1 (en) * | 2012-03-27 | 2013-09-27 | Alenia Aermacchi S.P.A. | Method for evaluating the structural compatibility of an aircraft for use on rough runways |
| US20140244076A1 (en) * | 2013-02-28 | 2014-08-28 | Honeywell International, Inc., Patent Services M/S Ab/2B | Stability based taxiing and turning method for aircraft with electric taxi system |
| GB2527016B (en) * | 2013-03-14 | 2019-12-25 | Borealis Tech Ltd | Cockpit control system for controlling ground travel in aircraft equipped with engine-free electric taxi system |
| CN107544530A (en) * | 2017-09-20 | 2018-01-05 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned plane independently drives into or out of control method |
| CN110364034A (en) * | 2019-08-26 | 2019-10-22 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned slide channel describes method and system |
-
2021
- 2021-09-09 CN CN202111053996.9A patent/CN113716071B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373647A (en) * | 2015-09-30 | 2016-03-02 | 成都飞机工业（集团）有限责任公司 | Method for identifying aerodynamic center through ground sliding test |
| CN106769089A (en) * | 2016-12-19 | 2017-05-31 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned plane during flying performance evaluation and the flight quality integrated method for real-time monitoring of assessment |
| CN109911244A (en) * | 2018-11-12 | 2019-06-21 | 中航通飞研究院有限公司 | A kind of large aircraft ground roll-out Analysis of Vibration Characteristic method |
| CN110069888A (en) * | 2019-05-06 | 2019-07-30 | 中国民航大学 | A kind of simulation of airdrome scene and method for optimizing route |
| CN110262549A (en) * | 2019-06-24 | 2019-09-20 | 亿航智能设备（广州）有限公司 | A kind of fixed-wing unmanned plane and its ground taxi control method, storage medium |
| CN112180972A (en) * | 2020-09-16 | 2021-01-05 | 西安羚控电子科技有限公司 | Unmanned aerial vehicle route determining method based on front wheel steering technology |
| CN112699478A (en) * | 2020-12-29 | 2021-04-23 | 中国航空工业集团公司西安飞机设计研究所 | Universal aircraft wing test load spectrum compiling method |
Non-Patent Citations (2)
| Title |
|---|
| 无人机低频刹车与地面滑跑稳定性研究;尹乔之;《中国博士学位论文全文数据库工程科技II辑》;20200115(第1期);全文 * |
| 某型飞机模型飞行试验地面滑跑控制研究;刘进，叶德章，方桂才，贾涛;《飞行力学》;20160922(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113716071A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105936278B (en) | Vehicle with a steering wheel | |
| US20190152582A1 (en) | FLIGHT CONTROL AUGMENTATION SYSTEM AND METHOD FOR HIGH ASPECT RATIO AIRCRAFT INCLUDING: MOTORGLIDER AIRCRAFT, OPTIONALLY PILOTED VEHICLES (OPVs) AND UNPILOTED AIR VEHICLES (UAVs) | |
| DE102012221837B4 (en) | Vibration dampening control method and drive train device by controlling engine torque from an electric vehicle | |
| CN109649390A (en) | A kind of autonomous follow the bus system and method for autonomous driving vehicle | |
| CN108657189A (en) | Line operating mode automatic Pilot steering and its control method are moved based on BP neural network and safe distance | |
| DE102014009066A1 (en) | Device and method for controlling the speed of a vehicle | |
| CN111267848B (en) | Vehicle formation control method and system with appointed convergence time | |
| DE102017111780A1 (en) | Ground vehicle-like control for a remote-controlled aircraft | |
| CN113320392B (en) | Control method and system for vehicle sliding energy recovery and storage medium | |
| CN103963966B (en) | The method and apparatus of the lateral control of aircraft for sliding | |
| CN109229160B (en) | Automatic control method and device for train coping with severe weather and vehicle-mounted equipment | |
| DE102012200263A1 (en) | Economic drive system for an electric vehicle and control method for the same | |
| DE102011089007A1 (en) | Lane keeping assistance system with an in-wheel system | |
| CN103754201A (en) | Brake control method of automatic vehicle-mounted train protection system | |
| CN208393354U (en) | Line operating condition automatic Pilot steering system is moved based on BP neural network and safe distance | |
| CN106649909A (en) | Dual-redundancy compensation type empennage control plane fault state control method | |
| CN109177972A (en) | A kind of vehicle flexible anti-collision system and its control method | |
| CN108528522A (en) | A kind of active safety control method after vehicle flat tire | |
| CN204989975U (en) | Self -driving car with driving safety ensures function | |
| CN113716071B (en) | Sliding test method and system for fixed-wing unmanned aerial vehicle | |
| CN101256410B (en) | Method for conversion of flight phase of unmanned vehicle | |
| WO2015193093A1 (en) | Device and method for automatically controlling the vehicle dynamics of a motor vehicle | |
| EP2516266B1 (en) | Device for stabilizing the guidance of a vehicle | |
| CN109592072B (en) | Water test flight method for large-scale amphibious aircraft | |
| CN106945666A (en) | Automobile energy-saving control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |