CN114200952B - Fixed wing unmanned aerial vehicle descending flight test system and method - Google Patents
Fixed wing unmanned aerial vehicle descending flight test system and method Download PDFInfo
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- CN114200952B CN114200952B CN202111222984.4A CN202111222984A CN114200952B CN 114200952 B CN114200952 B CN 114200952B CN 202111222984 A CN202111222984 A CN 202111222984A CN 114200952 B CN114200952 B CN 114200952B
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000010687 lubricating oil Substances 0.000 claims description 31
- 239000003921 oil Substances 0.000 claims description 17
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a descending flight test system and method of a fixed wing unmanned aerial vehicle, comprising the following steps: the system comprises a descending state switching module, a detection module and a control module, wherein the fixed wing unmanned aerial vehicle acquires a descending flight instruction in the process of executing a mission flight, switches into a descending flight test state, detects initial descending speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle in the descending flight test state, judges whether the descending flight test state meets preset descending flight test requirements, switches the fixed wing unmanned aerial vehicle from the descending flight test state to a flat flight state if the descending flight test state is not met, and then descends stepwise. Through the initial descent speed, the flying airflow state and the engine working state parameters, the large and medium fixed wing unmanned aerial vehicle is safely controlled to enter a descending flight test state, and stability in the flight process can be ensured.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a descending flight test system and method of a fixed wing unmanned aerial vehicle.
Background
The fixed wing unmanned aerial vehicle is an unmanned aerial vehicle with fixed parameters such as wing position, sweepback angle and the like of an airplane, is different from unmanned aerial vehicles such as a rotor wing, a flapping wing and the like, has the advantages of long flight distance, large cruising area, high flight speed, high flight height, automatic flight of a settable route, automatic landing of a settable recovery point coordinate and the like, and is widely applied to industries such as logistics, disaster relief and the like due to the advantages.
However, the flying height of the fixed wing unmanned aerial vehicle is often required to be lowered in the process of executing the mission, and the flying safety of the unmanned aerial vehicle is even affected when the lowering is bad.
Therefore, how to improve the safety of the fixed-wing unmanned aerial vehicle in the descending flight test, so as to reliably execute the flight task of the fixed-wing unmanned aerial vehicle is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In order to improve safety of the fixed-wing unmanned aerial vehicle in a descending flight test, and accordingly reliably execute a flight task of the fixed-wing unmanned aerial vehicle, the application provides a descending flight test system and method of the fixed-wing unmanned aerial vehicle.
In a first aspect, the present application provides a fixed wing unmanned aerial vehicle's decline flight test system, adopts following technical scheme:
a fixed wing unmanned aerial vehicle's decline flight test system, includes:
the descending state switching module is used for acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle and controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state;
the detection module is used for detecting and obtaining initial descent speed, flying airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle when the descent state switching module controls the fixed wing unmanned aerial vehicle to enter a descent flight test state;
the control module is used for keeping the initial descent speed and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
and the descending state switching module is further used for controlling the fixed wing unmanned aerial vehicle to change from the descending flight test state to the flat flight state when the descending flight test state does not meet the preset descending flight test requirement.
Through adopting above-mentioned technical scheme, through initial decline speed, flight air current state and engine operating condition parameter, the large and medium-sized fixed wing unmanned aerial vehicle of control safety gets into decline flight test state, can guarantee the in-process stationarity of flight.
Optionally, the down state switching module includes: an instruction interface unit and a falling state switching unit;
the instruction interface unit is used for acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle;
the descending state switching unit is used for controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state according to the descending flight instruction.
By adopting the technical scheme, the fixed wing unmanned aerial vehicle is switched to the descending flight test state after the descending flight instruction is acquired, the deflection angle of the elevator of the fixed wing unmanned aerial vehicle is controlled, the descending speed is kept to descend at the most favorable attack angle, and the stability of the fixed wing unmanned aerial vehicle in the state of switching to the descending flight test state is ensured.
Optionally, the detection module includes: airspeed detection unit, weather detection unit, and engine detection unit;
the airspeed detection unit is used for detecting and obtaining the initial descent speed of the fixed wing unmanned aerial vehicle;
the weather detection unit is used for detecting and obtaining the flying airflow state of the fixed wing unmanned aerial vehicle, wherein the flying airflow state is a calm airflow state or an unclean airflow state;
the engine detection unit is used for detecting and obtaining engine working state parameters of the fixed wing unmanned aerial vehicle, wherein the engine working state parameters comprise engine rotation speed, engine air inlet pressure, engine oil consumption per hour, engine kilometer oil consumption, engine cylinder head temperature and engine lubricating oil inlet temperature.
By adopting the technical scheme, the initial descent speed, the flying airflow state and the engine working state parameters of the fixed wing unmanned aerial vehicle are detected, and the unmanned aerial vehicle can safely descend to fly.
Optionally, the control module includes: an engine adjustment unit is provided for adjusting the engine,
the engine adjusting unit is used for judging whether the engine air inlet pressure meets the preset descending state parameter standard required by the descending flight test according to the initial descending speed of the fixed wing unmanned aerial vehicle;
and the engine adjusting unit is further used for adjusting the throttle of the fixed wing unmanned aerial vehicle to enable the engine air inlet pressure to meet the descending state parameter standard when the engine air inlet pressure does not meet the descending state parameter standard.
By adopting the technical scheme, the initial descent speed is kept, the working state of the engine is adjusted, and the stability and safety in the descent process are ensured.
Optionally, the control module includes: an air flow state judging unit and a descending speed adjusting unit,
the air flow state judging unit is used for judging whether the flying air flow state is a calm air flow state or not;
the descending speed adjusting unit is used for judging whether the initial descending speed exceeds a descending flying speed first threshold corresponding to the calm air flow state or not when the flying air flow state is the calm air flow state; when the initial descent speed exceeds a descent flight speed first threshold corresponding to the calm airflow state, adjusting the initial descent speed to a first descent speed; when the initial descent speed does not exceed the descent flight speed first threshold corresponding to the calm airflow state, not adjusting the initial descent speed;
the descent speed adjusting unit is further configured to determine whether the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state when the flight airflow state is the unsteady airflow state; when the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state, adjusting the initial descent speed to a second descent speed; when the initial descent speed does not exceed the descent flight speed second threshold value corresponding to the unsteady airflow state, not adjusting the initial descent speed;
wherein the first threshold value of the descending flying speed is greater than the second threshold value of the descending flying speed.
By adopting the technical scheme, the influence of the flight airflow state factors is considered in the descending flight test, and the standard is customized for the flight airflows in different states, so that the safety of the fixed-wing unmanned aerial vehicle in descending flight is ensured, and the success rate of executing the flight tasks is also improved.
Optionally, the engine adjusting unit is further configured to determine, according to a current descent speed of the fixed wing unmanned aerial vehicle, whether the engine intake pressure meets a descent state parameter standard required by the preset descent flight test, where the current descent speed is the initial descent speed, the first descent speed or the second descent speed;
and the engine adjusting unit is further used for adjusting the throttle of the fixed wing unmanned aerial vehicle to enable the engine air inlet pressure to meet the descending state parameter standard when the engine air inlet pressure does not meet the descending state parameter standard.
By adopting the technical scheme, after the descending speed is adjusted according to the flying airflow state, the engine rotating speed is kept unchanged, and the throttle of the fixed wing unmanned aerial vehicle is continuously adjusted along with the reduction of the descending height, so that the air inlet pressure of the engine meets the requirements at all heights, and the descending flying is safely realized.
Optionally, the engine adjusting unit is further configured to determine whether the engine cylinder head temperature is lower than the preset cylinder head temperature alarm value required by the descent flight test when the engine intake pressure meets the descent state parameter standard;
the engine adjusting unit is further used for controlling the fairing panel of the engine to be closed when the temperature of the cylinder head of the engine is lower than the alarm value of the temperature of the cylinder head.
By adopting the technical scheme, the flow of radiating air is regulated and the working temperature of the engine is regulated by controlling the fairing louver of the engine, so that the safety of the engine is ensured.
Optionally, the engine adjusting unit is further configured to determine whether the engine oil inlet temperature is lower than the preset oil inlet temperature alarm value required by the descending flight test when the engine cylinder head temperature is not lower than the cylinder head temperature alarm value;
and the engine adjusting unit is also used for controlling the throttle of the lubricating oil radiator of the engine to be closed when the lubricating oil inlet temperature of the engine is lower than the lubricating oil inlet temperature alarm value.
By adopting the technical scheme, the oil temperature is kept within the normal working range by controlling the air door of the lubricating oil radiator of the engine, so that the safety of the engine gauge is ensured.
Optionally, the control module further includes: a temperature judgment unit, which is used for judging the temperature of the liquid crystal display,
the temperature judging unit is used for judging whether the temperature of the cylinder head of the engine and the temperature of the lubricating oil inlet of the engine meet the preset descending flight test requirement or not after the fairing panel and the lubricating oil radiator air door are closed;
and the descending state switching module is further used for controlling the fixed wing unmanned aerial vehicle to change from the descending flight test state to the flat flight state when the temperature of the engine cylinder head and the temperature of the engine lubricating oil inlet do not meet the preset descending flight test requirement.
Through adopting above-mentioned technical scheme, fixed wing unmanned aerial vehicle realizes highly falling through the ladder conversion mode of descending flight test state to the flat state that flies, guarantee steady safe decline.
In a second aspect, the present application provides a method for a descent flight test of a fixed-wing unmanned aerial vehicle, which is applied to a descent flight test system of the fixed-wing unmanned aerial vehicle as described above, and adopts the following technical scheme:
acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle, and controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state;
when the descent state switching module controls the fixed wing unmanned aerial vehicle to enter a descent flight test state, detecting and obtaining initial descent speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle;
maintaining the initial descent speed, and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
when the descending flight test state does not meet the preset descending flight test requirement, the fixed wing unmanned aerial vehicle is controlled to be switched into a flat flight state from the descending flight test state.
By adopting the technical scheme, the safety of the fixed wing unmanned aerial vehicle in the descending flight test is improved, so that the flight task of the fixed wing unmanned aerial vehicle can be reliably executed.
In summary, the present application includes the following beneficial technical effects:
and in the process of executing the mission flight, the fixed wing unmanned aerial vehicle acquires a descending flight instruction, switches into a descending flight test state, detects initial descending speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle in the descending flight test state, judges whether the descending flight test state meets the preset descending flight test requirement, switches the fixed wing unmanned aerial vehicle from the descending flight test state to a flat flight state if the descending flight test state does not meet the preset descending flight test requirement, and then descends stepwise. Through the initial descent speed, the flying airflow state and the engine working state parameters, the large and medium fixed wing unmanned aerial vehicle is safely controlled to enter a descending flight test state, and stability in the flight process can be ensured.
Drawings
Fig. 1 is a first structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 2 is a second structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 3 is a third structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 4 is a fourth structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 5 is a fifth structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 6 is a sixth structural schematic diagram of a descent flight test system of a fixed wing unmanned aerial vehicle provided by the invention.
Fig. 7 is a schematic flow chart of a method for testing a fixed-wing unmanned aerial vehicle in descending flight.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail by means of the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The embodiment of the application discloses a fixed wing unmanned aerial vehicle's decline flight test system.
Referring to fig. 1, a descent flight test system of a fixed wing unmanned aerial vehicle includes:
the descending state switching module 101 is configured to obtain a descending flight instruction of the fixed-wing unmanned aerial vehicle, and control the fixed-wing unmanned aerial vehicle to enter a descending flight test state;
the detection module 102 is configured to detect and obtain initial descent speed, a flight airflow state and engine operating state parameters of the fixed-wing unmanned aerial vehicle when the descent state switching module controls the fixed-wing unmanned aerial vehicle to enter a descent flight test state;
the control module 103 is used for keeping the initial descent speed, and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
the descent state switching module 101 is further configured to control the fixed wing unmanned aerial vehicle to switch from the descent flight test state to the flat flight state when the descent flight test state does not meet the preset descent flight test requirement.
The implementation principle of the embodiment is as follows: the descending state switching module 101 acquires a descending flight instruction of the fixed wing unmanned aerial vehicle, the detection module 102 detects and obtains initial descending speed, a flying airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle when the descending state switching module controls the fixed wing unmanned aerial vehicle to keep descending speed to enter a descending flight test state, the control module 103 judges whether the descending flight test state meets preset descending flight test requirements according to the initial descending speed, the flying airflow state and the engine working state parameters, and the descending state switching module 101 controls the fixed wing unmanned aerial vehicle to change from the descending flight test state to a flat flight state and then to descend stepwise according to the descending flight test requirements when the descending flight test state does not meet the preset descending flight test requirements. Through the initial descent speed, the flying airflow state and the engine working state parameters, the large and medium fixed wing unmanned aerial vehicle is safely controlled to enter a descending flight test state, and stability in the flight process can be ensured.
In connection with the embodiment shown in fig. 1, as shown in fig. 2, in some preferred embodiments of the present invention, the down state switching module 101 includes: an instruction interface unit 201 and a falling state switching unit 202;
the instruction interface unit 201 is configured to obtain a descent flight instruction of the fixed wing unmanned aerial vehicle;
the descent state switching unit 202 is configured to control the fixed wing unmanned aerial vehicle to enter a descent flight test state according to the descent flight command.
By adopting the above technical solution, when the fixed wing unmanned aerial vehicle is under normal conditions, the instruction interface unit 201 obtains the descending flight instruction, and determines whether the fixed wing unmanned aerial vehicle can enter the descending flight according to the current flight state of the fixed wing unmanned aerial vehicle, such as whether the fixed wing unmanned aerial vehicle is in the air or is in a flat flight, because the aircraft descends at the attack angle close to the most favorable attack angle, the descending state switching unit 202 controls the elevator deflection angle of the fixed wing unmanned aerial vehicle according to the descending flight instruction and the flight state, enters the descending flight test state according to the most favorable attack angle, and the descending angle is not large, so the descending speed of the fixed wing unmanned aerial vehicle is kept the same as the flat flight speed before descending. The most favorable attack angle is the attack angle corresponding to the maximum lift-drag ratio, and the stability of the fixed wing unmanned aerial vehicle in the state of switching to the descending flight test is ensured.
In connection with the embodiment shown in fig. 1, as shown in fig. 3, in some preferred embodiments of the present invention, the detection module 102 includes: airspeed detection unit 301, weather detection unit 302, and engine detection unit 303;
the airspeed detection unit 301 is configured to detect and obtain an initial descent speed of the fixed-wing unmanned aerial vehicle;
the weather detection unit 302 is configured to detect and obtain a flying airflow state of the fixed-wing unmanned aerial vehicle, where the flying airflow state is a calm airflow state or an unsteady airflow state;
the engine detection unit 303 is configured to detect and obtain an engine operating state parameter of the fixed wing unmanned aerial vehicle, where the engine operating state parameter includes an engine rotational speed, an engine intake pressure, an engine oil consumption per hour, an engine kilometer oil consumption, an engine cylinder head temperature, and an engine lubricating oil intake temperature.
By adopting the above technical solution, the airspeed detection unit 301 is commonly referred to as an airspeed meter, and detects the descent speed of the fixed-wing unmanned aerial vehicle, where the descent speed is the indicated airspeed of the airspeed meter. The weather detection unit 302 is commonly known as a weather radar, and can detect the type (rain, snow, hail, etc.), distribution, movement and evolution of precipitation in the air during the flight, and can make predictions on future distribution and intensity thereof. The engine detection unit 303 detects and obtains the engine working state parameters of the fixed wing unmanned aerial vehicle, and transmits the detection result to the control module. The initial descent speed, the flying airflow state and the engine working state parameters of the fixed wing unmanned aerial vehicle are detected, and the unmanned aerial vehicle can safely descend and fly.
In connection with the embodiment shown in fig. 1, as shown in fig. 4, in some preferred embodiments of the present invention, the control module 103 includes: the engine adjustment unit 401 is provided with a control unit,
the engine adjusting unit 401 is configured to determine, according to an initial descent speed of the fixed-wing unmanned aerial vehicle, whether an air intake pressure of the engine meets a descent state parameter standard required by a preset descent flight test;
the engine adjusting unit 401 is further configured to adjust the throttle of the fixed wing unmanned aerial vehicle so that the engine intake pressure meets the descent state parameter standard when the engine intake pressure does not meet the descent state parameter standard.
By adopting the above technical scheme, the initial descent speed is maintained, the engine adjusting unit 401 is further used for adjusting the engine according to the preset descent state parameter standard required by the descent flight test by combining the detected current engine air inlet pressure, specifically, the engine speed is kept unchanged, and along with the decrease of the descent height, the throttle of the fixed wing unmanned aerial vehicle is gradually adjusted, so that the engine air inlet pressure meets the requirements on all heights, and the safety and stability of the descent flight are ensured. Specifically, the falling state parameter criteria are shown in the following table 1, and of course, not limited to the table values, but may be set to other values according to actual requirements.
TABLE 1 drop Rate 1.5 m/s
| Descent speed (km/h) | Rotating speed n (R/min) | Air inlet pressure pk (mmHg) | Oil consumption per hour qh (l/h) | Oil consumption per kilometer qkm (l/km) |
| 200 | 1500 | 650 | 147.5 | 0.711 |
| 180 | 1500 | 540 | 110 | 0.571 |
| 160 | 1500 | 420 | 75 | 0.447 |
Optionally, in combination with the embodiment shown in fig. 4, as shown in fig. 5, in some preferred embodiments of the present invention, the control module 103 further includes: an air flow state judging unit 501 and a descent speed adjusting unit 502,
an airflow state determination unit 501 for determining whether the flying airflow state is a calm airflow state;
a descent speed adjustment unit 502, configured to determine whether the initial descent speed exceeds a descent flight speed first threshold corresponding to the calm airflow state when the flight airflow state is the calm airflow state; when the initial descent speed exceeds a first threshold value of the descent flying speed corresponding to the calm airflow state, adjusting the initial descent speed to be the first descent speed; when the initial descent speed does not exceed the first threshold value of the descent flight speed corresponding to the calm airflow state, not adjusting the initial descent speed;
the descent speed adjustment unit 502 is further configured to determine whether the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state when the flight airflow state is the unsteady airflow state; when the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state, adjusting the initial descent speed to a second descent speed; when the initial descent speed does not exceed the descent flight speed second threshold value corresponding to the unsteady airflow state, not adjusting the initial descent speed;
wherein the first threshold descent speed is greater than the second threshold descent speed.
By adopting the above technical solution, the airflow state determining unit 501 determines whether the airflow state is a calm airflow state according to the airflow state of the fixed-wing unmanned aerial vehicle detected by the weather detecting unit 302, and the descent speed adjusting unit 502 determines and adjusts the initial descent speed according to the airflow state and the detected initial descent speed, specifically, in the calm airflow state, the descent flight speed of the fixed-wing unmanned aerial vehicle should not exceed 220 km/h, and in the calm airflow state, the descent flight speed of the fixed-wing unmanned aerial vehicle should not exceed 190 km/h. In the descending flight test, the influence of the flight airflow state factors is considered, and the standard is customized for the flight airflows in different states, so that the safety of the fixed-wing unmanned aerial vehicle in descending flight is ensured, and the success rate of executing the flight task is also improved.
Optionally, in some embodiments of the present invention, the engine adjusting unit 401 is further configured to determine, according to a current descent speed of the fixed wing unmanned aerial vehicle, whether the engine intake pressure meets a preset descent state parameter standard required by a descent flight test, where the current descent speed is an initial descent speed, a first descent speed or a second descent speed;
the engine adjusting unit 401 is further configured to adjust the throttle of the fixed wing unmanned aerial vehicle so that the engine intake pressure meets the descent state parameter standard when the engine intake pressure does not meet the descent state parameter standard.
By adopting the above technical scheme, after the descent speed is judged and adjusted according to different air flow states, the engine adjusting unit 401 combines the detected current engine air inlet pressure to adjust the engine according to the preset descent state parameter standard required by the descent flight test.
Optionally, in some embodiments of the present invention, the engine adjusting unit 401 is further configured to determine whether the engine cylinder head temperature is lower than a preset cylinder head temperature alarm value required by a descent flight test when the engine intake pressure meets a descent state parameter standard;
the engine adjusting unit 401 is further configured to control the engine cowl louver to be closed when the engine cylinder head temperature is lower than the cylinder head temperature warning value.
By adopting the above technical scheme, after the air inlet pressure of the engine meets the descending state parameter standard, the engine adjusting unit 401 further judges whether the detected cylinder head temperature of the engine is lower than a cylinder head temperature alarm value required by a preset descending flight test, and if the detected cylinder head temperature alarm value is lower than the cylinder head temperature alarm value, the engine fairing louver is controlled to be closed. The fairing fin is a component part of an aeroengine heat radiation system, the appearance of the engine is complex, when air flows through the engine, the resistance is large, in order to reduce the resistance of the engine, a fairing is arranged outside the engine, a damper for controlling the circulation of heat radiation air is arranged at the outlet of the fairing, and a certain aircraft is provided with a damper for controlling the circulation of heat radiation air, the damper is called a fin, and the aperture of the fin is controlled by a special electric door in a cabin, so that the flow of heat radiation air can be adjusted and the working temperature of the engine can be adjusted. Specifically, the cylinder head temperature alarm value is 120 ℃, and of course, not only is the value limited, but also other values can be set according to actual requirements.
Optionally, in some embodiments of the present invention, the engine adjusting unit 401 is further configured to determine whether the engine oil inlet temperature is lower than a preset oil inlet temperature alarm value required by a falling flight test when the engine cylinder head temperature is not lower than the cylinder head temperature alarm value;
the engine adjusting unit 401 is further configured to control the engine's oil radiator damper to be closed when the engine's oil inlet temperature is lower than the oil inlet temperature alarm value.
By adopting the above technical scheme, after the engine cylinder head temperature is not lower than the cylinder head temperature alarm value, the engine adjusting unit 401 further judges whether the engine lubricating oil inlet temperature is lower than the lubricating oil inlet temperature alarm value required by the preset descending flight test, and if the engine lubricating oil inlet temperature is lower than the lubricating oil inlet temperature alarm value, the throttle of the lubricating oil radiator of the engine is controlled to be closed. The lubricating oil radiator is used for cooling lubricating oil and keeping the oil temperature within a normal working range. In high-power intensified engines, because of the large thermal load, an oil radiator must be installed, and when the engine is running, because the viscosity of engine oil becomes thin with the increase of temperature, the lubricating ability is reduced, so some engines are installed with an oil radiator, which has the function of reducing the temperature of lubricating oil and keeping a certain viscosity of lubricating oil, and the oil radiator is arranged in a lubricating system circulation oil path. Specifically, the oil inlet temperature alarm value is 50 ℃, and of course, the value is not limited to the value, and can be set to other values according to actual requirements.
In connection with the embodiment shown in fig. 5, as shown in fig. 6, in some preferred embodiments of the present invention, the control module 103 further includes: the temperature judgment unit 601 is configured to judge the temperature of the liquid,
the temperature judging unit 601 is configured to judge whether the engine cylinder head temperature and the engine lubricating oil inlet temperature meet a preset requirement of a descending flight test after the fairing louver and the lubricating oil radiator damper are closed;
the descent state switching module 101 is further configured to control the fixed wing unmanned aerial vehicle to change from the descent flight test state to the flat flight state when both the engine cylinder head temperature and the engine oil inlet temperature do not meet the preset descent flight test requirement.
By adopting the above technical scheme, after the fairing panel and the lubricating oil radiator damper are both closed, the temperature judging unit 601 judges that the engine cylinder head temperature and the engine lubricating oil inlet temperature still continuously drop, and then the drop state switching module 101 controls the fixed wing unmanned aerial vehicle to switch from the drop flight test state to the flat flight state. The fixed wing unmanned aerial vehicle realizes the height descent through the ladder conversion mode of descending flight test state to the flat flight state, ensures steady and safe descent.
In the embodiments shown in fig. 1 to 6, the descent flight test system of the fixed-wing unmanned aerial vehicle is specifically described, and the descent flight test method of the fixed-wing unmanned aerial vehicle applied to the system is described below by way of example.
Referring to fig. 7, a method for testing a fixed-wing unmanned aerial vehicle in a descending flight test of the fixed-wing unmanned aerial vehicle according to the present application is applied to the system for testing a descending flight of a fixed-wing unmanned aerial vehicle according to any of the above embodiments, and includes:
s701, acquiring a descending flight instruction of the fixed-wing unmanned aerial vehicle, and controlling the fixed-wing unmanned aerial vehicle to enter a descending flight test state;
s702, when a descending state switching module controls the fixed wing unmanned aerial vehicle to enter a descending flight test state, detecting and obtaining initial descending speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle;
s703, maintaining the initial descent speed, and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
and S704, when the descending flight test state does not meet the preset descending flight test requirement, controlling the fixed wing unmanned aerial vehicle to switch into a flat flight state from the descending flight test state.
The implementation principle of the embodiment is as follows: and in the process of executing the mission flight, the fixed wing unmanned aerial vehicle acquires a descending flight instruction, switches into a descending flight test state, detects initial descending speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle in the descending flight test state, judges whether the descending flight test state meets the preset descending flight test requirement, switches the fixed wing unmanned aerial vehicle from the descending flight test state to a flat flight state if the descending flight test state does not meet the preset descending flight test requirement, and then descends stepwise. Through the initial descent speed, the flying airflow state and the engine working state parameters, the large and medium fixed wing unmanned aerial vehicle is safely controlled to enter a descending flight test state, and stability in the flight process can be ensured.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the application, in which any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (8)
1. A fixed wing unmanned aerial vehicle's decline flight test system, characterized in that includes:
the descending state switching module is used for acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle and controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state;
the detection module is used for detecting and obtaining initial descent speed, flying airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle when the descent state switching module controls the fixed wing unmanned aerial vehicle to enter a descent flight test state;
the control module is used for keeping the initial descent speed and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
the descending state switching module is further configured to control the fixed wing unmanned aerial vehicle to change from the descending flight test state to a flat flight state when the descending flight test state does not meet a preset descending flight test requirement;
the control module includes: an engine adjustment unit is provided for adjusting the engine,
the engine adjusting unit is used for judging whether the engine air inlet pressure meets the preset descending state parameter standard required by the descending flight test according to the initial descending speed of the fixed wing unmanned aerial vehicle;
the engine adjusting unit is further used for adjusting the throttle of the fixed wing unmanned aerial vehicle to enable the engine air inlet pressure to meet the descending state parameter standard when the engine air inlet pressure does not meet the descending state parameter standard;
the control module further includes: an air flow state judging unit and a descending speed adjusting unit,
the air flow state judging unit is used for judging whether the flying air flow state is a calm air flow state or not;
the descending speed adjusting unit is used for judging whether the initial descending speed exceeds a descending flying speed first threshold corresponding to the calm air flow state or not when the flying air flow state is the calm air flow state; when the initial descent speed exceeds a descent flight speed first threshold corresponding to the calm airflow state, adjusting the initial descent speed to a first descent speed; when the initial descent speed does not exceed the descent flight speed first threshold corresponding to the calm airflow state, not adjusting the initial descent speed;
the descent speed adjusting unit is further configured to determine whether the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state when the flight airflow state is the unsteady airflow state; when the initial descent speed exceeds a descent flight speed second threshold corresponding to the unsteady airflow state, adjusting the initial descent speed to a second descent speed; when the initial descent speed does not exceed the descent flight speed second threshold value corresponding to the unsteady airflow state, not adjusting the initial descent speed;
wherein the first threshold value of the descending flying speed is greater than the second threshold value of the descending flying speed.
2. The fixed wing unmanned aerial vehicle descent flight test system of claim 1, wherein the descent state switching module comprises: an instruction interface unit and a falling state switching unit;
the instruction interface unit is used for acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle;
the descending state switching unit is used for controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state according to the descending flight instruction.
3. The fixed wing unmanned aerial vehicle descent flight test system of claim 1, wherein the detection module comprises: airspeed detection unit, weather detection unit, and engine detection unit;
the airspeed detection unit is used for detecting and obtaining the initial descent speed of the fixed wing unmanned aerial vehicle;
the weather detection unit is used for detecting and obtaining the flying airflow state of the fixed wing unmanned aerial vehicle, wherein the flying airflow state is a calm airflow state or an unclean airflow state;
the engine detection unit is used for detecting and obtaining engine working state parameters of the fixed wing unmanned aerial vehicle, wherein the engine working state parameters comprise engine rotation speed, engine air inlet pressure, engine oil consumption per hour, engine kilometer oil consumption, engine cylinder head temperature and engine lubricating oil inlet temperature.
4. The fixed wing unmanned aerial vehicle descent flight test system of claim 1,
the engine adjusting unit is further configured to determine, according to a current descent speed of the fixed wing unmanned aerial vehicle, whether the engine intake pressure meets a descent state parameter standard required by the preset descent flight test, where the current descent speed is the initial descent speed, the first descent speed or the second descent speed;
and the engine adjusting unit is further used for adjusting the throttle of the fixed wing unmanned aerial vehicle to enable the engine air inlet pressure to meet the descending state parameter standard when the engine air inlet pressure does not meet the descending state parameter standard.
5. The fixed wing unmanned aerial vehicle descent flight test system of claim 4,
the engine adjusting unit is further used for judging whether the engine cylinder head temperature is lower than a cylinder head temperature alarm value required by the preset descending flight test when the engine air inlet pressure meets the descending state parameter standard;
the engine adjusting unit is further used for controlling the fairing panel of the engine to be closed when the temperature of the cylinder head of the engine is lower than the alarm value of the temperature of the cylinder head.
6. The fixed wing unmanned aerial vehicle descent flight test system of claim 5,
the engine adjusting unit is further used for judging whether the engine lubricating oil inlet temperature is lower than the lubricating oil inlet temperature alarm value required by the preset descending flight test when the engine cylinder head temperature is not lower than the cylinder head temperature alarm value;
and the engine adjusting unit is also used for controlling the throttle of the lubricating oil radiator of the engine to be closed when the lubricating oil inlet temperature of the engine is lower than the lubricating oil inlet temperature alarm value.
7. The fixed wing unmanned aerial vehicle descent flight test system of claim 6, wherein the control module further comprises: a temperature judgment unit, which is used for judging the temperature of the liquid crystal display,
the temperature judging unit is used for judging whether the temperature of the cylinder head of the engine and the temperature of the lubricating oil inlet of the engine meet the preset descending flight test requirement or not after the fairing panel and the lubricating oil radiator air door are closed;
and the descending state switching module is further used for controlling the fixed wing unmanned aerial vehicle to change from the descending flight test state to the flat flight state when the temperature of the engine cylinder head and the temperature of the engine lubricating oil inlet do not meet the preset descending flight test requirement.
8. A method for a fixed-wing unmanned aerial vehicle to be used in a system for a fixed-wing unmanned aerial vehicle to be used in a descending flight test according to claims 1 to 7, comprising:
acquiring a descending flight instruction of the fixed wing unmanned aerial vehicle, and controlling the fixed wing unmanned aerial vehicle to enter a descending flight test state; when the descent state switching module controls the fixed wing unmanned aerial vehicle to enter a descent flight test state, detecting and obtaining initial descent speed, a flight airflow state and engine working state parameters of the fixed wing unmanned aerial vehicle;
maintaining the initial descent speed, and judging whether the descent flight test state meets the preset descent flight test requirement according to the initial descent speed, the flight airflow state and the engine working state parameters;
when the descending flight test state does not meet the preset descending flight test requirement, the fixed wing unmanned aerial vehicle is controlled to be switched into a flat flight state from the descending flight test state.
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