CN114013682B - Fixed-wing unmanned aerial vehicle takeoff test system and method - Google Patents
Fixed-wing unmanned aerial vehicle takeoff test system and method Download PDFInfo
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- CN114013682B CN114013682B CN202111234515.4A CN202111234515A CN114013682B CN 114013682 B CN114013682 B CN 114013682B CN 202111234515 A CN202111234515 A CN 202111234515A CN 114013682 B CN114013682 B CN 114013682B
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Abstract
The application relates to the field of unmanned aerial vehicles, in particular to a take-off test system and a take-off test method for a fixed-wing unmanned aerial vehicle, wherein the system comprises an environmental data acquisition module, a take-off test plan selection module and a take-off test control module; the environment data acquisition module is used for acquiring environment data of a test site where the fixed-wing unmanned aerial vehicle is located; the takeoff test plan selection module is used for selecting a target takeoff test plan from a preset takeoff test plan library based on the environmental data; the take-off test control module is used for acquiring take-off test data in real time when the fixed-wing unmanned aerial vehicle starts to execute a target take-off test plan, and then controlling the fixed-wing unmanned aerial vehicle according to the take-off test data so that the fixed-wing unmanned aerial vehicle finishes the target take-off test plan; this application selects different experimental plans of taking off according to environmental factor, can improve fixed wing unmanned aerial vehicle's the experimental reliability and the security of taking off.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a take-off test system and method for a fixed-wing unmanned aerial vehicle.
Background
The fixed wing unmanned aerial vehicle is suitable for border cruising, tactical reconnaissance, public security monitoring, anti-terrorism, smuggling, drug control, disaster monitoring, forest fire prevention, communication relay, meteorological monitoring, geographic information reconnaissance and the like, can complete the fields of battlefield reconnaissance and monitoring, positioning calibration, damage assessment, electronic warfare and the like, and is wide in application.
With the rising of freight volume and the rising demand for the improvement of freight capacity, the existing fixed wing unmanned aerial vehicle is used for freight transportation in a multi-mode manner, and in the research process of the unmanned aerial vehicle, a takeoff test is an important test step.
To above-mentioned correlation technique, the inventor thinks that fixed wing unmanned aerial vehicle receives environmental impact great when taking off, especially wind speed and wind direction, can influence unmanned aerial vehicle flight safety when serious, causes unmanned aerial vehicle to damage. But the reliability and the safety of the takeoff test are lacked at present.
Disclosure of Invention
In order to improve the reliability and safety of the take-off test of the fixed-wing unmanned aerial vehicle, the application provides a take-off test system and method of the fixed-wing unmanned aerial vehicle.
The utility model provides a fixed wing unmanned aerial vehicle test system that takes off adopts following technical scheme:
a take-off test system of a fixed wing unmanned aerial vehicle comprises an environmental data acquisition module, a take-off test plan selection module and a take-off test control module;
the environment data acquisition module is used for acquiring environment data of a test site where the fixed-wing unmanned aerial vehicle is located;
the takeoff test plan selection module is used for selecting a target takeoff test plan from a preset takeoff test plan library based on the environment data;
the take-off test control module is used for acquiring take-off test data in real time when the fixed-wing unmanned aerial vehicle starts to execute the target take-off test plan, and controlling the fixed-wing unmanned aerial vehicle according to the take-off test data so that the fixed-wing unmanned aerial vehicle completes the target take-off test plan.
Through adopting above-mentioned technical scheme, when fixed wing unmanned aerial vehicle carried out the experiment of taking off, acquire the environmental data in fixed wing unmanned aerial vehicle place test field, select the experimental plan of target take off from the experimental plan storehouse of taking off of predetermineeing based on the environmental data, when fixed wing unmanned aerial vehicle began to carry out the experimental plan of target take off, acquire the experimental data of taking off in real time, according to the experimental data of taking off, control fixed wing unmanned aerial vehicle for fixed wing unmanned aerial vehicle accomplishes the experimental plan of target take off. Because different takeoff test plans can be selected according to the environmental factors, the takeoff failure probability caused by the environmental factors is reduced; in the takeoff test planning process, the fixed wing unmanned aerial vehicle can be controlled according to real-time takeoff test data, and the reliability and the safety in the whole takeoff test planning process are improved.
Optionally, the environment data includes wind direction information, current wind speed information, and runway length information,
the environment data acquisition module includes: the system comprises a wind direction indicator, an anemoscope, a runway information receiving unit and an information integration unit;
the anemoscope is used for detecting wind direction information of a test site where the fixed-wing unmanned aerial vehicle is located;
the anemoscope is used for detecting the current wind speed information of the test site;
the runway information receiving unit is used for receiving runway length information of the test site;
and the information integration unit is used for integrating the wind direction information, the current wind speed information and the runway length information to obtain environment data.
By adopting the technical scheme, the wind direction information, the current wind speed information and the runway length information are obtained according to the anemoscope, the anemoscope and the runway information receiving unit, and then the wind direction information, the current wind speed information and the runway length information are arranged by the information integration unit to obtain the environmental data, so that the environmental data are integrated, and the data processing is more convenient.
Optionally, the takeoff test system for the fixed-wing unmanned aerial vehicle further includes: a storage module;
the storage module is used for storing the preset takeoff test plan library, and the preset takeoff test plan library comprises a crosswind takeoff test plan, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan;
the selection condition of the crosswind takeoff test plan is that the fixed-wing unmanned aerial vehicle is influenced by crosswind; the selection condition of the first take-off test plan is that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, and the current wind speed is greater than a preset wind speed value; the second takeoff test plan has the selection conditions that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than a wind speed preset value, and the length of the runway is greater than a runway length preset value; and selecting conditions of the third takeoff test plan are that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than a wind speed preset value, and the runway length is not greater than a runway length preset value.
By adopting the technical scheme, the takeoff test plan is divided into four different takeoff test plans, and the proper takeoff test plan is selected according to whether the takeoff test plan is influenced by crosswind, whether the wind speed is greater than the wind speed preset value or not and whether the runway length is greater than the runway length preset value or not, so that the takeoff test can be more suitable for environmental factors, and the reliability and the safety of the takeoff test of the fixed-wing unmanned aerial vehicle can be improved.
Optionally, the takeoff test plan selecting module includes: the system comprises an environmental data analysis unit and a takeoff test plan selection unit;
the environment data analysis unit is used for analyzing the environment data to obtain wind direction information, current wind speed information and runway length information;
the take-off test plan selecting unit is used for judging whether the fixed-wing unmanned aerial vehicle is influenced by crosswind or not according to the wind direction information; when the fixed-wing unmanned aerial vehicle is influenced by crosswind, acquiring a crosswind takeoff test plan from a preset takeoff test plan library of the storage module, and taking the crosswind takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further used for obtaining the current wind speed according to the current wind speed information and judging whether the current wind speed is larger than a preset wind speed value or not when the fixed-wing unmanned aerial vehicle is not influenced by crosswind; when the current wind speed is larger than the wind speed preset value, acquiring a first takeoff test plan from a preset takeoff test plan library of the storage module, and taking the first takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further used for obtaining the length of the runway according to the information of the length of the runway when the current wind speed is not greater than the preset wind speed value, and judging whether the length of the runway is greater than the preset length value of the runway or not; when the runway length is larger than the preset runway length value, acquiring a second takeoff test plan from a preset takeoff test plan library of the storage module, and taking the second takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further configured to, when the runway length is not greater than the runway length preset value, obtain a third takeoff test plan from a preset takeoff test plan library of the storage module, and use the third takeoff test plan as a target takeoff test plan.
By adopting the technical scheme, whether crosswind exists in a test field or not needs to be judged, wherein the crosswind refers to the orthogonal component of the flight direction and the wind direction of the unmanned aerial vehicle, and the influence of the crosswind on the normal takeoff of the unmanned aerial vehicle is large; when crosswind exists, a crosswind takeoff test plan needs to be selected, the fixed wing unmanned aerial vehicle can still normally test and fly under the crosswind condition by utilizing the crosswind takeoff test plan, and when crosswind does not exist, a first takeoff test plan is selected for takeoff; when the wind speed is greater than a preset wind speed value, for example, the wind speed is greater than 10m/s, a first takeoff test plan is selected, if the wind speed is less than 10m/s, the current runway length is judged, if the runway length is greater than a preset runway length value, a second takeoff test plan is executed, and if the runway length is not greater than the preset runway length value, a third takeoff test plan is executed; the second takeoff test plan or the third takeoff test plan can be determined according to the length of the runway, so that the takeoff test can be more suitable for environmental factors, and the reliability and the safety of the takeoff test of the fixed-wing unmanned aerial vehicle can be improved.
Optionally, the takeoff test control module includes: the test data detection unit and the takeoff test control unit;
the test data detection unit is used for acquiring takeoff test data of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle executes the target takeoff test plan in real time;
and the take-off test control unit is used for controlling the fixed-wing unmanned aerial vehicle according to the take-off test data, so that the fixed-wing unmanned aerial vehicle completes the target take-off test plan.
Through adopting above-mentioned technical scheme, when fixed wing unmanned aerial vehicle takes off the experiment, can carry out the target test plan of taking off, then acquire take off experimental data, according to take off experimental data control fixed wing unmanned aerial vehicle's the process of taking off, for example according to terrain clearance, whether control fixed wing unmanned aerial vehicle should adjust flying speed, through taking off experimental data, can automatic control fixed wing unmanned aerial vehicle's the test process of taking off.
Optionally, the target takeoff test plan is the crosswind takeoff test plan,
the take-off test control unit is further configured to generate a crosswind flap deflection instruction and an engine power crosswind switching instruction when the fixed-wing unmanned aerial vehicle executes the crosswind take-off test plan, control the flap of the fixed-wing unmanned aerial vehicle not to deflect according to the crosswind flap deflection instruction, and control the engine power of the fixed-wing unmanned aerial vehicle to be switched to take-off power according to the engine power crosswind switching instruction.
Through adopting above-mentioned technical scheme, at the experimental in-process of taking off of unmanned aerial vehicle, if meet under the circumstances of crosswind, do not deflect the wing flap of unmanned aerial vehicle, then control fixed wing unmanned aerial vehicle's engine switches to the power of taking off to deal with the circumstances of crosswind, make the experiment of taking off can be adapted to environmental factor more, can improve fixed wing unmanned aerial vehicle's the experimental reliability and the security of taking off.
Optionally, the takeoff test control unit is further configured to determine that the fixed-wing drone is in a takeoff running stage or an off-horizon flight stage according to the takeoff test data; when the fixed-wing unmanned aerial vehicle is in the takeoff running stage, generating a first crosswind takeoff instruction, controlling a steering device or an empennage device of the fixed-wing unmanned aerial vehicle according to the first crosswind takeoff instruction, and realizing windward turning through the steering device or windward inclining through the empennage device;
the takeoff test control unit is further configured to generate a second crosswind takeoff instruction when the fixed-wing unmanned aerial vehicle is in the off-horizon flight stage, and control the fixed-wing unmanned aerial vehicle to drift downwind according to the second crosswind takeoff instruction.
Through adopting above-mentioned technical scheme, at unmanned aerial vehicle experimental in-process of taking off, if meet under the circumstances of crosswind, then need carry out different operations to unmanned aerial vehicle in the different stages that the crosswind takes off, when taking off the roll stage, turn and the windward bank of leaning is carried out through controlling unmanned aerial vehicle, when liftoff flat flight stage, carry out the drift of following the wind through controlling unmanned aerial vehicle, thereby the circumstances of coming to deal with the crosswind, make the experimental ability of taking off adapt to environmental factor more, can improve the experimental reliability and the security of taking off of fixed wing unmanned aerial vehicle.
Optionally, the target takeoff test plan is the first takeoff test plan,
the take-off test control unit is further configured to generate a first flap deflection instruction and a first switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the first take-off test plan, control the flap of the fixed wing unmanned aerial vehicle not to deflect according to the first flap deflection instruction, and control the engine power to be switched to the rated power according to the first switching instruction of the engine power;
the takeoff test control unit is also used for judging whether the ground clearance of the fixed wing unmanned aerial vehicle reaches a first height threshold value; and when the ground clearance reaches the first height threshold value, generating a second switching instruction of the engine power, and controlling the engine power to be switched to the cruising power according to the second switching instruction of the engine power.
By adopting the technical scheme, when the first flying test plan is executed, the first flying test plan comprises that the flap of the unmanned aerial vehicle is not deflected, and when the ground clearance of the fixed-wing unmanned aerial vehicle reaches a first height threshold value, the engine of the fixed-wing unmanned aerial vehicle is controlled to be switched to a preset cruise power state according to a second switching instruction; when carrying out the first test plan of flying together, can come real-time adjustment unmanned aerial vehicle's the flight condition and the power of engine according to unmanned aerial vehicle's flying height, can improve fixed wing unmanned aerial vehicle's the experimental reliability and the security of taking off.
Optionally, the target takeoff test plan is the second takeoff test plan or the third takeoff test plan,
the take-off test control unit is further configured to generate a second flap deflection instruction and a third switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the second take-off test plan, control flap deflection of the fixed wing unmanned aerial vehicle by 25 degrees according to the second flap deflection instruction, and control engine power to be switched to rated power according to the third switching instruction of the engine power;
or the like, or, alternatively,
the takeoff test control unit is further configured to generate a third flap deflection instruction and a fourth switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the third takeoff test plan, control flap deflection of the fixed wing unmanned aerial vehicle by 30 degrees according to the third flap deflection instruction, and control engine power to be switched to takeoff power according to the fourth switching instruction of engine power.
By adopting the technical scheme, when the unmanned aerial vehicle executes the second takeoff test plan, the second takeoff test plan comprises the step of deflecting the wing flap of the unmanned aerial vehicle by 25 degrees, then the engine of the fixed wing unmanned aerial vehicle is controlled to be switched to the rated power running state, then the takeoff running distance and the takeoff height corresponding to the weight of the body of the unmanned aerial vehicle are obtained according to the weight of the body of the unmanned aerial vehicle, and different takeoff running distances and different takeoff heights are selected according to the weight of the body of the unmanned aerial vehicle; when unmanned aerial vehicle carries out the third test plan of taking off, the third test plan of taking off includes that the wing flap to unmanned aerial vehicle deflects 30 degrees, then control fixed wing unmanned aerial vehicle's engine switches to rated power running state, then according to unmanned aerial vehicle's fuselage weight, acquire take off the roll-off distance that fuselage weight corresponds and take off the height, according to unmanned aerial vehicle's fuselage weight, select different roll-off distances and take off the height to can be adapted to the experiment of taking off to the unmanned aerial vehicle of different weight.
In a second aspect, the application provides a take-off test method for a fixed-wing unmanned aerial vehicle, which adopts the following technical scheme:
a take-off test method for a fixed-wing unmanned aerial vehicle, which is applied to the take-off test system for the fixed-wing unmanned aerial vehicle in the above claim, and comprises the following steps:
acquiring environmental data of a test site where the fixed-wing unmanned aerial vehicle is located;
selecting a target takeoff test plan from a preset takeoff test plan library based on the environmental data;
and when the fixed-wing unmanned aerial vehicle starts to execute the target takeoff test plan, acquiring takeoff test data in real time, and controlling the fixed-wing unmanned aerial vehicle according to the takeoff test data, so that the fixed-wing unmanned aerial vehicle finishes the target takeoff test plan.
Through adopting above-mentioned technical scheme, when fixed wing unmanned aerial vehicle carried out the experiment of taking off, acquire the environmental data in fixed wing unmanned aerial vehicle place test field, select the experimental plan of target take off from the experimental plan storehouse of taking off of predetermineeing based on the environmental data, when fixed wing unmanned aerial vehicle began to carry out the experimental plan of target take off, acquire the experimental data of taking off in real time, according to the experimental data of taking off, control fixed wing unmanned aerial vehicle for fixed wing unmanned aerial vehicle accomplishes the experimental plan of target take off. Because different takeoff test plans can be selected according to the environmental factors, the takeoff failure probability caused by the environmental factors is reduced; in the takeoff test planning process, the fixed wing unmanned aerial vehicle can be controlled according to real-time takeoff test data, and the reliability and the safety in the whole takeoff test planning process are improved.
In summary, the present application includes at least one of the following beneficial technical effects:
when the fixed wing unmanned aerial vehicle takes off the experiment, select the experimental plan of target takeoff from the experimental plan storehouse of preset takeoff based on environmental data, when fixed wing unmanned aerial vehicle begins to carry out the experimental plan of target takeoff, acquire the experimental data of taking off in real time, according to the experimental data of taking off, control fixed wing unmanned aerial vehicle for fixed wing unmanned aerial vehicle accomplishes the experimental plan of target takeoff. The takeoff failure probability caused by environmental factors is reduced; the fixed wing unmanned aerial vehicle can be controlled according to real-time takeoff test data, and the reliability and the safety of the whole takeoff test plan process are improved.
Drawings
Fig. 1 is a hardware architecture schematic diagram of a take-off test system of a fixed-wing drone according to an embodiment of the present application.
Fig. 2 is a diagram illustrating a specific hardware architecture of the environmental data acquisition module in fig. 1.
Fig. 3 is a schematic diagram of a specific hardware architecture of the takeoff test plan selecting module in fig. 1.
Fig. 4 is a schematic diagram of a specific hardware architecture of the takeoff test control module in fig. 1.
Fig. 5 is a flowchart of a takeoff test method of a fixed-wing drone according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
Referring to fig. 1, the embodiment of the application discloses a take-off test system for a fixed-wing unmanned aerial vehicle.
The take-off test system comprises an environmental data acquisition module, a take-off test plan selection module and a take-off test control module which are applied to a fixed wing unmanned aerial vehicle;
a fixed wing unmanned aerial vehicle is provided with an engine, a brake device, a control surface device, a flap, a tail wheel, a steering column and the like.
The environment data acquisition module is used for acquiring environment data of a test site where the fixed-wing unmanned aerial vehicle is located, wherein the located environment data comprises wind direction information, current wind speed information, runway length information and ground environment information; the way of acquiring the wind direction information, the current wind speed information, the runway length information and the ground environment information can be realized by a sensor.
Referring to fig. 2, the environment data acquiring module includes: the system comprises a anemoscope, an anemoscope, a runway information receiving unit and an information integration unit;
and the anemoscope is used for detecting wind direction information of a test site where the fixed-wing unmanned aerial vehicle is located.
And the anemoscope is used for detecting the current wind speed information of the test site.
And the runway information receiving unit is used for receiving the runway length information of the test site.
And the information integration unit is used for integrating the wind direction information, the current wind speed information and the runway length information to obtain environment data.
The storage module comprises hardware with a storage function, such as a cf flash memory card, an sm flash memory card, an sd flash memory card, an xd flash memory card, an mmc flash memory card, a micro hard disk and the like; a plurality of take-off test plans of the fixed-wing unmanned aerial vehicle and a program for enabling the fixed-wing unmanned aerial vehicle to carry out take-off tests are stored. The system comprises a preset takeoff test plan library, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan, wherein the preset takeoff test plan library comprises a crosswind takeoff test plan, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan;
the selection condition of the crosswind takeoff test plan is that the fixed wing unmanned aerial vehicle is influenced by crosswind; the first take-off test plan has the selection conditions that the fixed wing unmanned aerial vehicle is not influenced by crosswind and the current wind speed is greater than a preset wind speed value; the second takeoff test plan has the selection conditions that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than a preset wind speed value, and the length of the runway is greater than a preset runway length value; the third takeoff test plan has the selection conditions that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than the wind speed preset value, and the runway length is not greater than the runway length preset value.
The takeoff test plan comprises a crosswind takeoff test plan, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan; the four takeoff test plans are selected through environmental data; the takeoff test comprises a total of three phases: a roll-off phase, a ground-off level flight phase and a climb phase.
Referring to fig. 3, a takeoff test plan selection module is used for selecting the above four takeoff test plans according to the environmental data. The method comprises the following steps: the system comprises an environmental data analysis unit and a takeoff test plan selection unit;
and the environment data analysis unit is used for analyzing the environment data to obtain wind direction information, current wind speed information and runway length information.
The take-off test plan selection unit is used for judging whether the fixed wing unmanned aerial vehicle is influenced by crosswind or not according to the wind direction information; when the fixed-wing unmanned aerial vehicle is influenced by crosswind, acquiring a crosswind takeoff test plan from a preset takeoff test plan library of the storage module, and taking the crosswind takeoff test plan as a target takeoff test plan. The fixed wing unmanned aerial vehicle is also used for obtaining the current wind speed according to the current wind speed information and judging whether the current wind speed is greater than a wind speed preset value or not when the fixed wing unmanned aerial vehicle is not influenced by crosswind; and if the current wind speed is greater than the wind speed preset value, acquiring a first takeoff test plan from a takeoff test plan library preset in the storage module, and taking the first takeoff test plan as a target takeoff test plan.
The take-off test plan selecting unit is also used for obtaining the length of the runway according to the length information of the runway and judging whether the length of the runway is greater than the preset value of the length of the runway or not if the current wind speed is not greater than the preset value of the wind speed; and when the length of the runway is greater than the preset value of the length of the runway, acquiring a second takeoff test plan from a preset takeoff test plan library of the storage module, and taking the second takeoff test plan as a target takeoff test plan.
And the takeoff test plan selecting unit is also used for acquiring a third takeoff test plan from a preset takeoff test plan library of the storage module when the runway length is not greater than the preset runway length, and taking the third takeoff test plan as a target takeoff test plan.
The takeoff test control module comprises a single chip microcomputer, an MCU (microprogrammed control unit), a central processing unit and other chips and the like, and is used for acquiring takeoff test data in real time when the fixed-wing unmanned aerial vehicle starts to execute a target takeoff test plan, and controlling the fixed-wing unmanned aerial vehicle according to the takeoff test data so that the fixed-wing unmanned aerial vehicle completes the target takeoff test plan.
Referring to fig. 4, the takeoff test control module includes: the test data detection unit and the takeoff test control unit;
the test data detection unit is used for acquiring takeoff test data of the fixed wing unmanned aerial vehicle when executing a target takeoff test plan in real time;
and the take-off test control unit is used for controlling the fixed wing unmanned aerial vehicle according to the take-off test data so that the fixed wing unmanned aerial vehicle finishes a target take-off test plan.
The target takeoff test plan is a crosswind takeoff test plan,
the take-off test control unit is also used for generating a side wind flap deflection instruction and an engine power side wind switching instruction when the fixed wing unmanned aerial vehicle executes a side wind take-off test plan, controlling the flap of the fixed wing unmanned aerial vehicle not to deflect according to the side wind flap deflection instruction, and controlling the engine power of the fixed wing unmanned aerial vehicle to be switched to take-off power according to the engine power side wind switching instruction.
The take-off test control unit is also used for judging that the fixed wing unmanned aerial vehicle is in a take-off running stage or an off-horizon flying stage according to take-off test data; when the fixed-wing unmanned aerial vehicle is in a takeoff and running stage, a first crosswind takeoff instruction is generated, a steering device or an empennage device of the fixed-wing unmanned aerial vehicle is controlled according to the first crosswind takeoff instruction, and windward turning is achieved through the steering device or windward inclining is achieved through the empennage device.
And the take-off test control unit is also used for generating a second crosswind take-off instruction when the fixed-wing unmanned aerial vehicle is in a horizontal flight stage, and controlling the fixed-wing unmanned aerial vehicle to drift downwind according to the second crosswind take-off instruction.
The target takeoff test plan is a first takeoff test plan,
the take-off test control unit is also used for generating a first flap deflection instruction and a first switching instruction of engine power when the fixed wing unmanned aerial vehicle executes a first take-off test plan, controlling the flap of the fixed wing unmanned aerial vehicle not to deflect according to the first flap deflection instruction, and controlling the engine power to be switched to the rated power according to the first switching instruction of the engine power;
the take-off test control unit is also used for judging whether the ground clearance of the fixed wing unmanned aerial vehicle reaches a first height threshold value; and when the ground clearance reaches a first height threshold value, generating a second switching instruction of the engine power, and controlling the engine power to be switched to the cruising power according to the second switching instruction of the engine power.
The target takeoff test plan is a second takeoff test plan or a third takeoff test plan,
the take-off test control unit is also used for generating a second flap deflection instruction and a third switching instruction of the engine power when the fixed wing unmanned aerial vehicle executes a second take-off test plan, controlling the flap deflection of the fixed wing unmanned aerial vehicle by 25 degrees according to the second flap deflection instruction, and controlling the engine power to be switched to the rated power according to the third switching instruction of the engine power;
or the takeoff test control unit is further configured to generate a third flap deflection instruction and a fourth switching instruction of the engine power when the fixed wing unmanned aerial vehicle executes a third takeoff test plan, control flap deflection of the fixed wing unmanned aerial vehicle by 30 degrees according to the third flap deflection instruction, and control the engine power to be switched to the takeoff power according to the fourth switching instruction of the engine power.
When the engine is in a take-off power state, the rotating speed n is 2200r/min, and the air inlet pressure Pk is 1050 mm mercury columns.
The take-off test control method is used for controlling the fixed wing unmanned aerial vehicle to carry out a take-off test according to a take-off test plan corresponding to the fixed wing unmanned aerial vehicle, stably increasing the power of an engine and starting running.
In the initial stage of the takeoff running stage, the takeoff test control module controls a brake device of the fixed-wing unmanned aerial vehicle to adjust the takeoff direction of the unmanned aerial vehicle; and controlling a control surface device of the fixed-wing unmanned aerial vehicle to adjust the take-off direction of the unmanned aerial vehicle at the later stage of the take-off running stage.
A takeoff test result is obtained based on takeoff test data of the fixed-wing unmanned aerial vehicle; if the takeoff test data fall into the preset data threshold range, the takeoff test result of the fixed-wing unmanned aerial vehicle meets the requirement; otherwise, the takeoff test result of the fixed-wing unmanned aerial vehicle does not meet the requirement; for example, the ground clearance speed of the fixed wing unmanned aerial vehicle in the windfinding takeoff stage is 80 km/h, and the speed meeting the requirement is 82 km/h, so that the takeoff test result does not meet the requirement.
It should be noted that in any case, the drone may take off in a "three-point" state.
The specific operation of the three-point state takeoff is as follows: and the tail wheel is not lifted, and the steering column is kept at the neutral position until the unmanned aerial vehicle is lifted off the ground. Compared with the three-point state running of the corresponding condition, the two-point state running has the following specific operations: the ground-lift attack angle becomes smaller, and the sliding distance is generally increased by about 5%.
The implementation principle of the take-off test system of the fixed-wing unmanned aerial vehicle in the embodiment of the application is as follows: before the unmanned aerial vehicle is tested to fly, firstly, the environmental data of a test field is obtained, a proper takeoff test plan is selected through the environmental data, then, a takeoff test is carried out according to the takeoff test plan and a takeoff instruction, wherein the takeoff direction of the unmanned aerial vehicle is adjusted in the running stage of the takeoff test, and finally, a takeoff test result is obtained according to the takeoff test data, and whether the takeoff test meets the takeoff test requirements or not is judged.
In the process of a crosswind takeoff test, according to wind direction information and wind speed information acquired by an environment data acquisition module, when an included angle between the wind direction and the takeoff direction is 90 degrees, the wind speed is not more than 6m/s; and when the included angle between the wind direction and the takeoff direction is 45 degrees, the wind speed is not more than 8m/s. When crosswind exists during takeoff, acquiring and executing a crosswind takeoff test plan from the storage module, and sending a crosswind takeoff detection instruction to the crosswind takeoff stage detection module, wherein the stage of the fixed wing unmanned aerial vehicle in the crosswind takeoff test plan needs to be detected at the moment, and the stages of the crosswind takeoff test plan comprise a takeoff running stage and an off-the-ground flight stage.
During the crosswind takeoff test, attention is paid to:
1. the operation technology of the crosswind takeoff is complex, the takeoff running length is long, and after agreement is obtained, the original takeoff position and the takeoff running direction of the fixed-wing unmanned aerial vehicle can be selected alternatively according to the position and the direction of T-shaped cloth (lamps) so as to reduce the influence of the crosswind. However, the selected orientation of the fixed-wing drone should be safe to ensure take-off safety.
2. The speed of the crosswind flying off the ground is 5-10 km/h higher than the normal condition. For example: the ground speed of the fixed wing unmanned aerial vehicle with the takeoff weight of 5250 kilograms in a crosswind takeoff test is not less than 95-100 kilometers per hour. Fixed wing unmanned aerial vehicle ground connection once more after liftoff prevents that fixed wing unmanned aerial vehicle from receiving the side impact and damaging the unmanned aerial vehicle structure.
3. When the side wind takes off, the side of the wing which is not opened towards the leading edge slat is prevented from inclining at any time due to the opening of the leading edge slat on the windward side, if the side wind inclines, the aileron is applied, and if necessary, a rudder is used for correcting the inclining.
4. In the stage of horizontal flight from the ground, the fixed-wing unmanned aerial vehicle should tilt towards the wind blowing direction to maintain the flight direction.
When no crosswind exists during takeoff, adopting a first takeoff test plan, a second takeoff test plan and a third takeoff test plan;
judging whether the current wind speed is greater than a wind speed preset value or not according to the acquired wind speed information, for example, if the wind speed preset value is 10m/s, and if the current wind speed is greater than 10m/s, executing a first flight test plan; the first fly-by test plan is expressed in the following specific form: the fixed wing unmanned aerial vehicle does not have a flap, and the engine adopts rated power.
Analyzing according to the environment information to obtain the ground types of the test flight site, wherein the ground types comprise a soft ground, a sandy soil ground and a cement ground; when the test flight site belongs to soft ground, the sliding length of the fixed-wing unmanned aerial vehicle is controlled to be prolonged by a first numerical value; when the test flight site belongs to the sand ground, controlling the sliding length of the fixed-wing unmanned aerial vehicle to be prolonged by a second numerical value, wherein the second numerical value is larger than the first numerical value; when the test flight site belongs to a cement ground, controlling the sliding length of the fixed-wing unmanned aerial vehicle to shorten by a third numerical value; for example, the takeoff run length is increased by about 25% when taking off from soft ground, the takeoff run length is increased by 30-35% when taking off from sandy ground, and the takeoff run distance is reduced by about 13% when taking off from cement ground.
Obtaining the weight of a fixed wing unmanned aerial vehicle body, wherein the weight range of the body generally comprises 4750-5250kg; based on the weight of the fixed wing unmanned aerial vehicle, acquiring a take-off running distance and a take-off height corresponding to the weight of the fixed wing unmanned aerial vehicle from a storage module; along with the increase of the weight of the airplane body, the corresponding takeoff running distance and the corresponding takeoff height are gradually increased. And then controlling the fixed-wing unmanned aerial vehicle to sequentially enter a take-off running stage and a ground-off level flight stage.
When the fixed-wing unmanned aerial vehicle executes the first flying test plan, controlling the wing flap of the fixed-wing unmanned aerial vehicle not to deflect, and controlling the engine of the fixed-wing unmanned aerial vehicle to be switched to a rated power operation state.
Fixed wing unmanned aerial vehicle has the tendency of facing upward after liftoff, and at this moment, control module need control the steering column antedisplacement to overcome the problem of facing upward to guarantee that fixed wing unmanned aerial vehicle is in steady liftoff level flight stage.
When the fixed-wing drone is in a stable off-ground flight phase, the speed of the fixed-wing drone is rapidly increased, it needs to be ensured that the included angle between the flight direction of the fixed-wing drone and the horizontal plane belongs to a small track inclination angle, and the small track inclination angle is smaller as the angle under the relation between the ground speed coordinate system and the ground coordinate system.
When the flying speed of the fixed-wing unmanned aerial vehicle reaches a speed threshold, judging whether the ground clearance of the fixed-wing unmanned aerial vehicle reaches a first height threshold; when the ground clearance of the fixed-wing unmanned aerial vehicle reaches a first height threshold, judging whether the ground clearance of the fixed-wing unmanned aerial vehicle reaches a second height threshold; when the included angle between the flight direction of the fixed-wing unmanned aerial vehicle and the horizontal plane exceeds the included angle threshold range, the driving lever of the unmanned aerial vehicle is controlled to deflect, and the included angle between the flight direction of the unmanned aerial vehicle and the horizontal plane is made to fall into the included angle threshold range.
When the ground clearance of the fixed-wing unmanned aerial vehicle reaches a first height threshold value, an elevator adjusting sheet of the fixed-wing unmanned aerial vehicle is controlled, and the steering column of the fixed-wing unmanned aerial vehicle stops offsetting.
When the ground clearance of the fixed-wing unmanned aerial vehicle reaches a second height threshold value, controlling the engine of the fixed-wing unmanned aerial vehicle to switch to a preset cruising power state.
For example, the drone should climb at such a small track inclination angle while increasing speed, i.e., the speed increases to 135 km/h, and the drone should reach a height of 15 m, at which time the steering column force is removed using the elevator trim. Climbing is continued at a speed of 135-137 km/h (corresponding to a weight of 4750-5250kg fuselage for the drone). This speed is the most advantageous speed of climb. After the unmanned plane climbs to a certain (safe) height, the engine is softly adjusted to the selected cruising power state.
The takeoff performance corresponding to the first takeoff test plan is shown in table 1.
TABLE 1 first flight Performance Table of fixed-wing UAV
| Takeoff weight (kg) | 4750 | 5000 | 5250 |
| Ground clearance speed (km/h) | 80-85 | 82-87 | 85-90 |
| Distance to take off and run (m) | 180 | / | / |
| Take-off distance (m) | 490 | / | / |
Note: the drone should not lift below a specified speed, preventing the wheel from again grounding.
When the current wind speed is not greater than the wind speed preset value, namely the wind speed is not greater than 10m/s, the unmanned aerial vehicle can take off by placing the flap. The processing module judges whether the length of the current runway is larger than a preset value of the length of the runway or not, executes a second takeoff test plan when the length of the runway is larger than the preset value, and executes a third takeoff test plan when the length of the runway is not larger than the preset value.
And when the fixed-wing unmanned aerial vehicle executes the second takeoff test plan, controlling the flap of the fixed-wing unmanned aerial vehicle to deflect by 25 degrees, and controlling the engine of the fixed-wing unmanned aerial vehicle to be switched to a rated power operation state.
And when the fixed-wing unmanned aerial vehicle executes the third takeoff test plan, controlling the flap of the fixed-wing unmanned aerial vehicle to deflect by 30 degrees, and controlling the engine of the fixed-wing unmanned aerial vehicle to be switched to a takeoff power running state.
Along with the increase of the weight of the airplane body, the corresponding takeoff running distance and the corresponding takeoff height are gradually increased.
And controlling the fixed-wing unmanned aerial vehicle to sequentially enter a take-off running stage and a ground level flight stage based on the take-off running distance and the take-off height.
The takeoff performance corresponding to the second takeoff test plan is shown in table 2.
TABLE 2 second takeoff Performance Meter of fixed-wing UAV
| Takeoff weight (kg) | 4750 | 5000 | 5250 |
| Take-off distance (m) | 150 | 190 | 250 |
| Take-off distance (m) | 400 | 510 | 670 |
The takeoff performance corresponding to the third takeoff test plan is shown in table 3.
TABLE 3 third takeoff performance table of fixed-wing UAV (unmanned aerial vehicle)
| Takeoff weight (kg) | 4750 | 5000 | 5250 |
| Take-off distance (m) | 120 | 150 | 180 |
| Take-off distance (m) | 340 | 410 | 495 |
Compared with the take-off condition without flaps under the same other conditions, the take-off run distance and the take-off distance can be shortened by 20% by the third take-off test plan;
the unmanned aerial vehicle with the takeoff weight of 4750-5250 kilograms uses the rated engine or takeoff power state, and takes off in a three-point gliding state by placing flaps, and the ground speed of the unmanned aerial vehicle is 70-80 kilometers per hour. Compared with the takeoff without the flap, the takeoff with the flap has larger ground-lift capacity of the unmanned aerial vehicle. After the unmanned aerial vehicle leaves the ground, the driving rod is pushed forwards by corresponding force, so that the unmanned aerial vehicle is ensured to finish the stage of flying off the ground. When the speed is continuously increased in the stage of horizontal flight from the ground, the unmanned aerial vehicle climbs, so that the unmanned aerial vehicle increases the speed to 115 kilometers per hour and the height reaches 15-20 meters. Thereafter, the climb is continued with a speed of 115 km/h.
Starting from the height of 50 meters above the barrier, the unmanned aerial vehicle takes up the flap 2-3 times, and when the flap is fully retracted, the speed of the unmanned aerial vehicle is increased to 130-135 km/h. The control module controls an elevator adjusting sheet of the fixed wing unmanned aerial vehicle to eliminate steering column force. After the flaps are retracted, the fixed wing drone climbs to the specified height at the speed of 135-137 km/h.
It should be noted that:
1. when some drones take off with flaps, the slats will automatically open at some speed (about 50 km/h) in the middle of the roll, and will not fully close until the speed reaches 85 km/h. At this time, the action of the slat has no essential influence on the takeoff quality of the unmanned aerial vehicle. Only because the slat gap draws forth the air current and blows off upper airfoil boundary layer, lift increases, and unmanned aerial vehicle has the tendency off the ground in advance.
2. The use of either the upper or lower flaps alone is prohibited for take-off.
Referring to fig. 5, based on the hardware architecture, the embodiment of the present application further discloses a take-off test method for a fixed-wing drone, including steps S100 to S300:
step S100: and acquiring environmental data of a test site where the fixed-wing unmanned aerial vehicle is located.
The environmental data acquisition module acquires the environmental data and stores the environmental data in the storage module, and the environmental data acquisition module can be a sensor with a specific function, and the environmental data is acquired by the sensor.
Step S200: and selecting a target takeoff test plan from a preset takeoff test plan library based on the environmental data.
The takeoff test plan library comprises a crosswind takeoff test plan, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan; and selecting a target takeoff test plan according to the environment data.
Step S300: when the fixed-wing unmanned aerial vehicle starts to execute the target takeoff test plan, takeoff test data are acquired in real time, and the fixed-wing unmanned aerial vehicle is controlled according to the takeoff test data, so that the fixed-wing unmanned aerial vehicle completes the target takeoff test plan.
According to takeoff test data in a takeoff test process, the takeoff test data comprises ground clearance, takeoff running distance, takeoff distance, airplane ground clearance speed and the like; and controlling the fixed-wing unmanned aerial vehicle according to the test data to enable the fixed-wing unmanned aerial vehicle to stably complete the takeoff test.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (7)
1. The utility model provides a fixed wing unmanned aerial vehicle test system that takes off which characterized in that: the take-off test system comprises an environmental data acquisition module, a take-off test plan selection module and a take-off test control module;
the environment data acquisition module is used for acquiring environment data of a test site where the fixed-wing unmanned aerial vehicle is located;
the takeoff test plan selection module is used for selecting a target takeoff test plan from a preset takeoff test plan library based on the environment data;
the take-off test control module is used for acquiring take-off test data in real time when the fixed-wing unmanned aerial vehicle starts to execute the target take-off test plan, and controlling the fixed-wing unmanned aerial vehicle according to the take-off test data so that the fixed-wing unmanned aerial vehicle completes the target take-off test plan;
the environmental data includes wind direction information, current wind speed information, and runway length information,
the environment data acquisition module includes: the system comprises a wind direction indicator, an anemoscope, a runway information receiving unit and an information integration unit;
the anemoscope is used for detecting wind direction information of a test site where the fixed-wing unmanned aerial vehicle is located;
the anemoscope is used for detecting the current wind speed information of the test site;
the runway information receiving unit is used for receiving runway length information of the test site;
the information integration unit is used for integrating the wind direction information, the current wind speed information and the runway length information to obtain environment data;
fixed wing unmanned aerial vehicle test system that takes off still includes: a storage module;
the storage module is used for storing the preset takeoff test plan library, and the preset takeoff test plan library comprises a crosswind takeoff test plan, a first takeoff test plan, a second takeoff test plan and a third takeoff test plan;
the selection condition of the crosswind takeoff test plan is that the fixed-wing unmanned aerial vehicle is influenced by crosswind; the first take-off test plan is selected under the condition that the fixed-wing unmanned aerial vehicle is not influenced by crosswind and the current wind speed is greater than a wind speed preset value; the second takeoff test plan has the selection conditions that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than a preset wind speed value, and the length of the runway is greater than a preset runway length value; the third takeoff test plan has the selection conditions that the fixed-wing unmanned aerial vehicle is not influenced by crosswind, the current wind speed is not greater than a preset wind speed value, and the runway length is not greater than a preset runway length value;
the takeoff test plan selection module comprises: the system comprises an environmental data analysis unit and a takeoff test plan selection unit;
the environment data analysis unit is used for analyzing the environment data to obtain wind direction information, current wind speed information and runway length information;
the takeoff test plan selection unit is used for judging whether the fixed-wing unmanned aerial vehicle is influenced by crosswind or not according to the wind direction information; when the fixed-wing unmanned aerial vehicle is influenced by crosswind, acquiring a crosswind takeoff test plan from a preset takeoff test plan library of the storage module, and taking the crosswind takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further used for obtaining the current wind speed according to the current wind speed information and judging whether the current wind speed is larger than a preset wind speed value or not when the fixed-wing unmanned aerial vehicle is not influenced by crosswind; when the current wind speed is larger than the wind speed preset value, acquiring a first takeoff test plan from a preset takeoff test plan library of the storage module, and taking the first takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further used for obtaining the length of the runway according to the information of the length of the runway when the current wind speed is not greater than the preset wind speed value, and judging whether the length of the runway is greater than the preset length value of the runway or not; when the runway length is larger than the preset runway length value, acquiring a second takeoff test plan from a preset takeoff test plan library of the storage module, and taking the second takeoff test plan as a target takeoff test plan;
the takeoff test plan selecting unit is further configured to, when the runway length is not greater than the runway length preset value, obtain a third takeoff test plan from a preset takeoff test plan library of the storage module, and use the third takeoff test plan as a target takeoff test plan.
2. A take-off test system for a fixed wing drone of claim 1, wherein: the takeoff test control module comprises: the test data detection unit and the takeoff test control unit;
the test data detection unit is used for acquiring takeoff test data of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle executes the target takeoff test plan in real time;
and the take-off test control unit is used for controlling the fixed-wing unmanned aerial vehicle according to the take-off test data, so that the fixed-wing unmanned aerial vehicle completes the target take-off test plan.
3. The take-off test system for the fixed-wing unmanned aerial vehicle of claim 2, wherein: the target takeoff test plan is the crosswind takeoff test plan,
the take-off test control unit is further configured to generate a crosswind flap deflection instruction and an engine power crosswind switching instruction when the fixed-wing unmanned aerial vehicle executes the crosswind take-off test plan, control the flap of the fixed-wing unmanned aerial vehicle not to deflect according to the crosswind flap deflection instruction, and control the engine power of the fixed-wing unmanned aerial vehicle to be switched to take-off power according to the engine power crosswind switching instruction.
4. A take-off test system for a fixed wing drone of claim 3, wherein: the take-off test control unit is also used for judging that the fixed wing unmanned aerial vehicle is in a take-off running stage or an off-horizon flying stage according to the take-off test data; when the fixed-wing unmanned aerial vehicle is in the takeoff running stage, generating a first crosswind takeoff instruction, controlling a steering device or an empennage device of the fixed-wing unmanned aerial vehicle according to the first crosswind takeoff instruction, and realizing windward turning through the steering device or windward inclining through the empennage device;
the takeoff test control unit is further configured to generate a second crosswind takeoff instruction when the fixed-wing unmanned aerial vehicle is in the off-horizon flight stage, and control the fixed-wing unmanned aerial vehicle to drift downwind according to the second crosswind takeoff instruction.
5. The take-off test system for the fixed-wing unmanned aerial vehicle of claim 2, wherein: the target takeoff test plan is the first takeoff test plan,
the take-off test control unit is further configured to generate a first flap deflection instruction and a first switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the first take-off test plan, control the flap of the fixed wing unmanned aerial vehicle not to deflect according to the first flap deflection instruction, and control the engine power to be switched to the rated power according to the first switching instruction of the engine power;
the takeoff test control unit is also used for judging whether the ground clearance of the fixed wing unmanned aerial vehicle reaches a first height threshold value; and when the ground clearance reaches the first height threshold value, generating a second switching instruction of the engine power, and controlling the engine power to be switched to the cruising power according to the second switching instruction of the engine power.
6. A take-off test system for a fixed wing drone of claim 2, wherein: the target takeoff test plan is the second takeoff test plan or the third takeoff test plan,
the take-off test control unit is further configured to generate a second flap deflection instruction and a third switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the second take-off test plan, control flap deflection of the fixed wing unmanned aerial vehicle by 25 degrees according to the second flap deflection instruction, and control engine power to be switched to rated power according to the third switching instruction of the engine power;
or the like, or, alternatively,
the takeoff test control unit is further configured to generate a third flap deflection instruction and a fourth switching instruction of engine power when the fixed wing unmanned aerial vehicle executes the third takeoff test plan, control flap deflection of the fixed wing unmanned aerial vehicle by 30 degrees according to the third flap deflection instruction, and control engine power to be switched to takeoff power according to the fourth switching instruction of engine power.
7. A take-off test method of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps: a take-off test system of a fixed-wing unmanned aerial vehicle applied to any one of claims 1 to 6, comprising:
acquiring environmental data of a test site where the fixed-wing unmanned aerial vehicle is located;
selecting a target takeoff test plan from a preset takeoff test plan library based on the environmental data;
and when the fixed-wing unmanned aerial vehicle starts to execute the target takeoff test plan, acquiring takeoff test data in real time, and controlling the fixed-wing unmanned aerial vehicle according to the takeoff test data, so that the fixed-wing unmanned aerial vehicle finishes the target takeoff test plan.
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| CN107516451A (en) * | 2017-10-08 | 2017-12-26 | 景遥（上海）信息技术有限公司 | Fixed-wing UAV Intelligent flight training system |
| CN108045596A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | The flying quality inspection and detection system and method for a kind of fixed-wing unmanned plane |
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