CN114610059A - Yaw control method and device, rotorcraft and storage medium - Google Patents
Yaw control method and device, rotorcraft and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a yaw control method, a yaw control device, a rotor craft and a storage medium, wherein the method comprises the following steps: generating a control signal based on flight information of the rotorcraft in an imbalance state; and controlling the wing surface of the rotor wing on the same side with the unbalanced state deviation direction to deflect towards a first direction according to the control signal, controlling the wing surface of the rotor wing on the opposite side with the unbalanced state deviation direction to deflect towards a second direction opposite to the first direction, and carrying out yaw control on the rotor wing aircraft in the unbalanced state. The yaw control method is mainly based on the airfoils, the airfoils are respectively installed on the outer sides of the two rotors, aerodynamic force of the airfoils under the action of rotor downwash is changed through control over the airfoils, and yaw control of an aircraft is achieved based on differential deflection of the airfoils on two sides, so that yaw moment around a center of mass is generated, decoupling of control channels is achieved while three-rotor yaw is achieved, and design difficulty of a flight control system is reduced.
Description
Technical Field
The present invention relates to the field of aerospace technologies, and in particular, to a yaw control method, a yaw control apparatus, a corresponding rotorcraft, and a corresponding computer storage medium.
Background
The control of a rotary-wing aircraft, such as a helicopter, based on rotors, however, a rotary-wing aircraft with three electric rotors only has three rotors, namely two front rotors and a tail rotor, and the flight controller of the rotary-wing aircraft can only solve three control quantities of rotating speed, while the complete control of the rotary-wing aircraft requires at least four control quantities, which are mainly lack of control in the yaw direction, and at the moment, new independent control quantities are required to be introduced to realize yaw control.
In the related art of yaw control, control is mainly achieved by rotating a rotor, but in this way, a yaw control channel for achieving yaw control is coupled with other channels (such as pitch, roll, vertical and other control channels) seriously, which results in great design difficulty and poor effect of a flight controller.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed to provide a yaw control method, a yaw control device, a corresponding rotorcraft and a corresponding computer storage medium that overcome or at least partially address the above-mentioned problems.
The embodiment of the invention discloses a yaw control method, which relates to a rotor craft, wherein the rotor craft comprises two side rotors, the two side rotors are provided with airfoils, and the yaw control method is applied to a flight controller of the rotor craft and comprises the following steps:
generating a control signal based on flight information of the rotorcraft in an imbalance state;
and controlling the wing surface of the rotor wing on the same side with the unbalanced state deviation direction to deflect towards a first direction according to the control signal, controlling the wing surface of the rotor wing on the opposite side with the unbalanced state deviation direction to deflect towards a second direction opposite to the first direction, and carrying out yaw control on the rotor wing aircraft in the unbalanced state.
Optionally, the generating a control signal based on flight information that the rotorcraft is in an unbalanced state includes:
acquiring flight information of the rotor aircraft in a non-equilibrium state; the flight information comprises remote control commands and sensor information;
generating a yaw virtual control quantity based on the remote controller command in the non-equilibrium state and the sensor information;
and resolving the yaw virtual control quantity to obtain first control plane deflection information of the rotor wing on one side and second control plane deflection information of the rotor wing on the other side, and generating a control signal by adopting the first control plane deflection information and the second control plane deflection information.
Optionally, the first control plane deflection information and the second control plane deflection information are in an inverse relationship; the first control surface deflection information comprises a first control surface deflection angle, the second control surface deflection information comprises a second control surface deflection angle, and the sum of the first control surface deflection angle and the second control surface deflection angle is zero.
Optionally, controlling the wing surface of the non-equilibrium state deviation direction homolateral rotor to deflect towards a first direction and controlling the wing surface of the non-equilibrium state deviation direction contralateral rotor to deflect towards a second direction opposite to the first direction according to the control signal, and performing yaw control on the rotor craft in the non-equilibrium state, including:
generating a yawing moment in a deflection direction opposite to the unbalanced state deflection direction based on controlling the wing surface of the rotor on the same side to deflect towards a first direction and controlling the wing surface of the rotor on the other side to deflect towards a second direction opposite to the first direction; wherein the first direction and/or the second direction is different from and not opposite to the non-equilibrium state deflection direction;
and controlling the rotor craft in the unbalanced state to recover to the balanced state by adopting the yawing moment in the yawing direction opposite to the unbalanced state deflection direction, so as to realize the yawing control of the rotor craft.
Optionally, the generating a yaw moment in a yaw direction opposite to the unbalanced-state deflection direction includes:
a yaw moment in a yaw direction opposite to the yaw direction is generated by a first lift force provided by the airfoil deflecting in a first direction and opposite to the first direction and by a second lift force provided by the airfoil deflecting in a second direction.
Optionally, generating a yaw moment in a yaw direction opposite to the unbalanced-state deflection direction based on controlling the wing surfaces of the rotors on the same side to deflect in a first direction and controlling the wing surfaces of the rotors on the other side to deflect in a second direction opposite to the first direction, comprises:
if the rotor craft is in the non-equilibrium state, the rotor craft deflects leftwards from the equilibrium state, the wing surface of the left rotor wing is controlled to deflect towards a first direction, and the wing surface of the right rotor wing is controlled to deflect towards a second direction opposite to the first direction, so that a yaw moment deflected rightwards is generated;
and/or, if the rotorcraft is in an unbalanced state such that the rotorcraft deflects rightward from a balanced state, controlling the airfoil of the right rotor to deflect in a first direction, and controlling the airfoil of the left rotor to deflect in a second direction opposite the first direction, generating a yaw force in response to the leftward deflection.
Optionally, the airfoil of the rotor is implemented based on a steering engine of the rotorcraft driving a control surface on the airfoil.
The embodiment of the invention also discloses a yaw control device, which relates to a rotor craft, wherein the rotor craft comprises two side rotors, the two side rotors are provided with airfoils, and the yaw control device is applied to a flight controller of the rotor craft and comprises:
the control signal generation module is used for generating a control signal based on the flight information of the rotor aircraft in the non-equilibrium state;
and the yaw control module is used for controlling the wing surface of the rotor wing on the same side in the unbalanced state deflection direction to deflect towards a first direction according to the control signal, controlling the wing surface of the rotor wing on the opposite side in the unbalanced state deflection direction to deflect towards a second direction opposite to the first direction, and carrying out yaw control on the rotor wing aircraft in the unbalanced state.
Optionally, the control signal generating module includes:
the flight information acquisition sub-module is used for acquiring flight information of the rotor craft in a non-equilibrium state; the flight information comprises remote control instructions and sensor information;
the yaw virtual control quantity generation submodule is used for generating yaw virtual control quantity based on the remote controller command in the non-equilibrium state and the sensor information;
and the yaw virtual control quantity calculating submodule is used for calculating the yaw virtual control quantity to obtain first control plane deflection information of the rotor wing on one side and second control plane deflection information of the rotor wing on the other side, and generating a control signal by adopting the first control plane deflection information and the second control plane deflection information.
Optionally, the first control plane deflection information and the second control plane deflection information are in an inverse relationship; the first control surface deflection information comprises a first control surface deflection angle, the second control surface deflection information comprises a second control surface deflection angle, and the sum of the first control surface deflection angle and the second control surface deflection angle is zero.
Optionally, the yaw control module comprises:
the yawing moment generation submodule is used for generating yawing moment in a deflection direction opposite to the unbalanced state deflection direction on the basis of controlling the wing surfaces of the rotors on the same side to deflect in a first direction and controlling the wing surfaces of the rotors on the other side to deflect in a second direction opposite to the first direction; wherein the first direction and/or the second direction is different from and not opposite to the non-equilibrium state deflection direction;
and the balanced state recovery submodule is used for adopting the yawing moment in the deflection direction opposite to the unbalanced state deflection direction to control the rotor craft in the unbalanced state to recover to the balanced state, so that the yawing control of the rotor craft is realized.
Optionally, the yaw moment generating submodule includes:
the lift force providing unit is used for generating a yaw moment of a deflection direction opposite to the deflection direction of the unbalanced state through a first lift force opposite to the first direction provided by the airfoil deflecting towards the first direction and a second lift force opposite to the second direction provided by the airfoil deflecting towards the second direction.
Optionally, the yaw moment generation submodule includes:
a yaw moment generating unit for controlling the wing surface of the left rotor to deflect in a first direction and the wing surface of the right rotor to deflect in a second direction opposite to the first direction to generate a yaw moment deflecting to the right when the rotorcraft is in an unbalanced state and the rotorcraft deflects to the left from a balanced state;
and the yawing moment generating unit is further used for controlling the wing surface of the right rotor to deflect towards a first direction and controlling the wing surface of the left rotor to deflect towards a second direction opposite to the first direction to generate a yawing force deflecting towards the left when the rotorcraft is in an unbalanced state and the rotorcraft deflects towards the right from a balanced state.
Optionally, the airfoil of the rotor is implemented based on a steering engine of the rotorcraft driving a control surface on the airfoil.
The embodiment of the invention also discloses a rotor craft, which comprises: the yaw control apparatus, the processor, the memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of any of the yaw control methods.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of any yaw control method are realized.
The embodiment of the invention has the following advantages:
in an embodiment of the present invention, in the yaw control method for a rotorcraft, airfoils are installed on two side rotors of the rotorcraft, and a control signal generated from flight information of the rotorcraft in an unbalanced state controls the airfoils of the same side rotors to deflect in a first direction in a direction of unbalanced state deflection, and controls the airfoils of opposite side rotors in the direction of unbalanced state deflection to deflect in a second direction opposite to the first direction, so as to perform yaw control on the rotorcraft in the unbalanced state. The yaw control method mainly based on the airfoils comprises the steps that the airfoils are arranged on the outer sides of the two rotors respectively, aerodynamic force of the airfoils under the action of rotor downwash is changed through control over the airfoils, and the yaw control of the aircraft is realized by generating yaw moment around the center of mass based on differential deflection of the airfoils on two sides, so that decoupling of each control channel is realized while fast and effective control over three-rotor yaw is realized, and the design difficulty of a flight control system is reduced.
Drawings
FIG. 1 is a flow chart of the steps of an embodiment of a yaw control method of the present invention;
FIGS. 2A-2B are schematic illustrations of an installation of an airfoil provided in accordance with an embodiment of the invention;
FIG. 3 is a flowchart illustrating steps of another embodiment of a yaw control method of the present invention;
FIG. 4 is a schematic diagram of the generation of control surface deflection information provided by the embodiment of the invention;
FIG. 5 is a block diagram of an embodiment of a yaw control apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The flight controller of the rotor craft with the three electric rotors can only solve to obtain three rotating speed control quantities, and the control in the yaw direction is lacked, so that a new independent control quantity needs to be introduced to realize yaw control. In the related art of yaw control, essentially, control is mainly realized by rotating rotors, yaw control can be realized by tilting the tail rotor left and right, yaw control can be realized by controlling the two rotors on the front side to perform differential tilting, the two modes of controlling the rotating rotors are mostly verified and applied to small multi-rotor aircrafts, and the large multi-rotor aircrafts to which the mode can be applied are fewer and even not available on the large multi-rotor aircrafts.
The rotary wing is controlled in a mode of rotating the rotary wing, the whole tilting of the rotary wing is mostly realized by adopting a robot joint, and the control force required by the tilting is usually large due to overlarge rotary inertia during the tilting, so that the overlarge control force is difficult to bear by a common robot joint, and meanwhile, the control response of an aircraft body is extremely poor due to the overlarge inertia, the oscillation is easy to occur, and the expected flight attitude is difficult to realize; because yaw control needs to control three rotors of the aircraft to tilt, the response speed of a tilting motor is slower by more than two orders of magnitude compared with the response speed of other control quantities (namely other three rotating speed control quantities including the rotating speed of a right front side motor, the rotating speed of a left front side motor and the rotating speed of a rear side motor), and the flying attitude is difficult to timely recover and respond when interfered due to the slow response of the tilting control, the anti-interference capability of the aircraft is reduced, and the flying safety of the aircraft is further damaged; and because yaw control needs to control three rotors of the aircraft to tilt, the yaw control channel is seriously coupled with other channels (such as pitching, rolling, vertical and other control channels), so that the design difficulty of the flight controller is high, and the effect of the flight controller is poor.
One of the core ideas of the embodiment of the invention is that based on a yaw control mode of the airfoil, the airfoil is arranged on the outer sides of the two rotors at the front side, the control surfaces on the airfoil are controlled by using the steering engine so as to change the aerodynamic force of the airfoil under the action of rotor downwash, and the yaw moment around the center of mass is generated through differential deflection of the control surfaces at the two sides, so that the yaw control of the aircraft is realized, the decoupling of each control channel is realized while the fast and effective control of three-rotor yaw is realized, and the design difficulty of a control system is reduced. The steering engine can be used for driving a small control surface to generate large lifting force and further generate larger yawing moment, and the effect of control force can be amplified, so that the load burden of the steering engine is reduced, and the control effect is improved; meanwhile, the control speed of the steering engine is obviously higher than that of the tilting servo motor, and the rapid control can be realized, so that the dynamic response of the aircraft is ensured; in addition, the deflection of the control surface does not cause the change of force/moment on other degrees of freedom of the machine body, namely, the yaw control does not influence other control channels, and the decoupling control of each control channel can be realized, so that the design complexity of a control system is greatly reduced.
Referring to fig. 1, a flow chart of steps of an embodiment of a yaw control method according to the present invention is shown, and the method is applied to a flight controller of a rotorcraft, and may specifically include the following steps:
in the embodiment of the invention, the aerodynamic force of the airfoil under the action of the rotor wing downwash flow can be changed by controlling the airfoil based on the yaw control mode of the airfoil, so that the yaw moment around the center of mass is generated based on the differential deflection of the airfoils on two sides, the yaw control of the aircraft is realized, the decoupling of each control channel is realized while the fast and effective control of the three-rotor-wing yaw is realized, and the design difficulty of a control system is reduced.
In one embodiment of the present invention, a control signal may be generated based on flight information of the rotorcraft in the unbalanced state, and the generated control signal may be mainly used to control the rotorcraft to generate a yaw moment in a preset yaw direction, and the yaw moment may be used to control the whole body of the rotorcraft to tilt, so as to perform yaw control on the rotorcraft in the unbalanced state based on the yaw moment.
In practical applications, the rotorcraft controlled based on the yaw moment is different from a common rotorcraft with three electric rotors, and two rotors of the rotorcraft can be provided with airfoils, and specifically, referring to fig. 2A to 2B, schematic installation diagrams of the airfoils provided by the embodiment of the present invention are shown.
As shown in fig. 2A, it may be a top view of an aircraft with wings installed on its rotor, and assuming that the rotorcraft is an electric three-rotor aircraft, it may include a left rotor, a right rotor, and a tail rotor, and at this time, wings may be installed mainly on the outer sides of two rotors on the front side of the aircraft, that is, left outer wings and right outer wings may be installed on the original left and right rotors of the aircraft, respectively. As shown in fig. 2B, it may be a rear view of an aircraft with a wing surface installed on its rotor, where the left outer wing and the right outer wing are installed with control surfaces respectively, and the control surfaces are mainly driven based on a steering engine, that is, the wing surface of the rotor is mainly realized based on the control surface on the steering engine driving wing surface of the rotorcraft.
And 102, controlling the wing surface of the rotor wing on the same side with the unbalanced state deflection direction to deflect towards a first direction and controlling the wing surface of the rotor wing on the opposite side with the unbalanced state deflection direction to deflect towards a second direction opposite to the first direction according to the control signal, and carrying out yaw control on the rotor wing aircraft in the unbalanced state.
The yaw moment may refer to a dynamic derivative of the yaw moment caused by rolling motion of the aircraft, and in the embodiment of the invention, the rolling motion of the aircraft can be represented as differential deflection control on two control surfaces.
The differential deflection control of the two control surfaces can be mainly realized by that when one side of the wing surface deflects in one direction, the wing surface on the other side needs to deflect in the other direction, and the deflection directions of the two wing surfaces are opposite.
Specifically, according to the yaw moment generated by the control signal, the control of the deflection of the wing surface of the non-equilibrium state deflection direction homolateral rotor wing to the first direction and the control of the deflection of the wing surface of the non-equilibrium state deflection direction contralateral rotor wing to the second direction opposite to the first direction can be realized on the basis of the control signal, so that the yaw control of the rotor craft in the non-equilibrium state can be realized on the basis of the control.
In an embodiment of the present invention, in the yaw control method for a rotorcraft, airfoils are installed on two side rotors of the rotorcraft, and a control signal generated from flight information of the rotorcraft in an unbalanced state controls the airfoils of the same side rotors to deflect in a first direction in a direction of unbalanced state deflection, and controls the airfoils of opposite side rotors in the direction of unbalanced state deflection to deflect in a second direction opposite to the first direction, so as to perform yaw control on the rotorcraft in the unbalanced state. The yaw control method is mainly based on the airfoils, the airfoils are respectively installed on the outer sides of the two rotors, aerodynamic force of the airfoils under the action of rotor downwash is changed through control over the airfoils, and yaw control of an aircraft is achieved based on differential deflection of the airfoils on two sides, so that yaw moment around a center of mass is generated, decoupling of control channels is achieved while three-rotor yaw is achieved, and design difficulty of a flight control system is reduced.
Referring to fig. 3, a flow chart illustrating steps of another embodiment of a yaw control method of the present invention is shown, which is applied to a flight controller of a rotorcraft, and may specifically include the following steps:
in one embodiment of the invention, wing surfaces can be arranged on the outer sides of two rotary wings at the front side, the control surfaces on the wing surfaces are controlled by a steering engine so as to change the aerodynamic force of the wing surfaces under the action of the rotor downwash, and the yaw moment around the center of mass is generated through the differential deflection of the control surfaces at the two sides, so that the yaw control of the aircraft is realized, and the control surfaces on the wing surfaces at the two sides are required to be controlled for the differential deflection of the control surfaces at the two sides.
The control of the control surfaces is mainly realized by control signals aiming at the control surfaces on two sides, and specific control signals can be generated based on flight information of the rotorcraft in a non-equilibrium state.
In practical application, the flight information of the rotorcraft in the unbalanced state may be acquired, the acquired flight information may include a remote controller instruction and sensor information, where the remote controller instruction may include, for example, an instruction to control the pitch, roll, rise or fall of the rotorcraft, the sensor information may include information related to the flight attitude of the rotorcraft detected by an acceleration sensor, a gyroscope sensor, and the like, a yaw virtual control quantity may be generated based on the remote controller instruction and the sensor information in the unbalanced state, at this time, the yaw virtual control quantity may be solved to obtain first control plane deflection information of a rotor on one side and second control plane deflection information of a rotor on the other side, and a control signal is generated by using the first control plane deflection information and the second control plane deflection information, that is, the generated control signal may carry control plane deflection information of rotors on both sides, so as to control the rotors at two sides to perform differential tilting.
Specifically, referring to fig. 4, a schematic diagram of generating control surface deflection information according to an embodiment of the present invention is shown, and the control surface deflection information may be divided into a controller and a hybrid controller in flight control of an entire aircraft, where the controller may be configured to receive a remote controller instruction and sensor information, and generate virtual control quantities of four channels, including a vertical virtual control quantity, a roll virtual control quantity, a pitch virtual control quantity, and a yaw virtual control quantity; the virtual control quantity can generate 5 actual control quantities through the hybrid controller, wherein the actual control quantities comprise the rotating speed of a right front side motor, the rotating speed of a left front side motor, the rotating speed of a rear side motor, a left control surface deflection angle and a right control surface deflection angle. It should be noted that the calculation of the rotation speeds of the three motors only depends on the virtual control amount of vertical/roll/pitch (not a one-to-one correspondence), and the yaw angles of the left control surface and the right control surface only depend on the virtual control amount of yaw.
The first control plane deflection information of the rotor on one side obtained by resolving the yaw virtual control quantity and the second control plane deflection information of the rotor on the other side can be in an opposite number relationship, and the control plane deflection information obtained by resolving based on the yaw virtual control quantity can be represented as a deflection angle, namely the first control plane deflection information can comprise a first control plane deflection angle, the second control plane deflection information can comprise a second control plane deflection angle, so that the left control plane deflection angle and the right control plane deflection angle can be in an opposite number relationship, namely the sum of the first control plane deflection angle and the second control plane deflection angle is zero. The first control surface deflection angle can be expressed as a left control surface deflection angle, and the second control surface deflection angle can be expressed as a right control surface deflection angle.
Let θ beleftFor left rudder surface deflection angle, thetarightFor the right control surface deflection angle, Ctr _ yaw is a yaw virtual control quantity, and the basic numerical relation that the left control surface deflection angle and the right control surface deflection angle conform to can be as follows:
θleft＝Ctr_yaw
θright＝-Ctr_yaw
it should be noted that, in practical solution, the linear correspondence is not so simple, and a nonlinear correspondence is obtained according to theoretical analysis, but θleftIs always in conjunction with thetarightIn an inverse relationship, i.e. the sum of the two is 0, e.g. left rudder surfaceAnd 5deg is deflected, the right control surface can be deflected by-5 deg, and the signs of the two can be used for indicating that the deflection directions of the two are opposite.
the generated control signal can be mainly used for controlling the rotary wing aircraft to generate a yaw moment with a preset yaw direction, and the yaw moment can be used for controlling the whole body of the aircraft to tilt so as to carry out yaw control on the rotary wing aircraft in a non-equilibrium state based on the yaw moment.
The yaw moment can refer to the dynamic derivative of the yaw moment caused by the rolling motion of the aircraft, and in the embodiment of the invention, the rolling motion of the aircraft can be represented as differential deflection control of two control surfaces.
In practical application, the differential deflection control of the two control surfaces can be mainly realized by that when one side of the wing surface deflects in a certain direction, the wing surface on the other side needs to deflect in the other direction, and the deflection directions of the two wing surfaces are opposite.
Specifically, based on controlling the wing surface of the rotor wing on the same side to deflect towards a first direction and controlling the wing surface of the rotor wing on the other side to deflect towards a second direction opposite to the first direction, the yawing moment of the deflecting direction opposite to the unbalanced state deflecting direction is generated.
The first direction and/or the second direction are different from and not opposite to the unbalanced state deflection direction, and the yawing moment in the deflection direction opposite to the unbalanced state deflection direction realizes the differential deflection control of the control surfaces at two sides, and mainly provides the lift force opposite to the deflection direction of the deflected wing surface through the deflected wing surface to generate. In particular, it may be embodied that a yaw moment in a yaw direction opposite to the unbalanced state deflection direction is generated by a first lift force opposite to the first direction provided by the airfoil deflecting in the first direction and by a second lift force opposite to the second direction provided by the airfoil deflecting in the second direction.
As an example, when the attitude of the aircraft is deflected left from a balanced state, i.e., the rotorcraft is in an unbalanced state such that the rotorcraft is deflected left from the balanced state, the airfoil surface of the left rotor may be controlled to deflect in a first direction, and controlling the wing of the right rotor to deflect towards a second direction opposite to the first direction, generating a yaw moment deflecting towards the right, wherein the first direction can be backward, the second direction can be forward, then the control surface on the left outer wing can be controlled to deflect backward, the control surface on the right outer wing can be controlled to deflect forward, so that the left outer wing generates forward lift force and the right outer wing generates backward lift force under the action of the rotor wing downwash, therefore, right yaw moment is generated on the body center of the rotor craft, the body of the rotor craft is restored to a balanced state, and yaw control is achieved.
As yet another example, when the attitude of the aircraft is deflected to the right from a balanced state, i.e., the rotorcraft is in an unbalanced state, and the rotorcraft is deflected to the right from the balanced state, the airfoil of the right-hand rotor may be controlled to deflect in a first direction, and controlling the wing of the left rotor to deflect towards a second direction opposite to the first direction, generating a yaw force deflecting towards the left, wherein the first direction can be backward, the second direction can be forward, then the control surface on the left outer wing can be controlled to deflect forward, the control surface on the right outer wing can be controlled to deflect backward, so that the left outer wing generates backward lift force and the right outer wing generates forward lift force under the action of the rotor wing downwash, therefore, a leftward yawing moment is generated on the mass center of the body, so that the body of the rotor craft is restored to a balanced state, and yawing control is realized.
And step 303, controlling the rotor craft in the unbalanced state to recover to the balanced state by adopting a yawing moment in a yawing direction opposite to the unbalanced state deflection direction, so as to realize yawing control of the rotor craft.
The yawing moment can be used for controlling the tilting of the whole aircraft body of the aircraft, specifically, the yawing moment in the deflection direction opposite to the unbalanced state deflection direction can be adopted to control the differential deflection of the control surfaces on two sides to generate the yawing moment around the center of mass, and the yawing control of the aircraft is realized.
The yaw control that is performed may be embodied as controlling the return of the rotorcraft in an unbalanced state to a balanced state.
In a preferred embodiment, the airfoil surface of the rotor is mainly realized based on a control surface on a steering engine driving airfoil surface of a rotorcraft, namely, the yaw control of the rotorcraft can be controlled by a flight controller of the rotorcraft, but the rotation of the control surface on the airfoil surface is particularly driven by the steering engine, namely, the flight controller can obtain a control signal sent to the steering engine by calculation based on the flight attitude of the rotorcraft.
In practical application, the flight controller judges that the current flight attitude deflects leftwards/rightwards from a balanced state based on a remote controller instruction and sensor information, then a left control surface deflection angle and a right control surface deflection angle can be obtained through resolving according to a steering engine yaw control quantity, and a control signal carrying information of the left control surface deflection angle and the right control surface deflection angle is transmitted to the steering engine so as to be used for controlling the aircraft to generate a yaw moment to the right/left. The method specifically comprises the steps that according to the deflection angle of a left control surface and the deflection angle of a right control surface, the control surfaces on the left outer side wing are respectively controlled to deflect forwards, and the control surfaces on the right outer side wing are controlled to deflect backwards to obtain a left yawing moment; or the control surface on the left outer wing deflects backwards, the control surface on the right outer wing is controlled to deflect forwards to obtain a right yaw moment, and then the rotor craft in the unbalanced state is controlled to recover to the balanced state based on the generated yaw moment, so that the yaw control of the rotor craft is realized.
In the embodiment of the invention, the steering engine can be used for driving the small control surface to generate large lifting force and further generate larger yawing moment, so that the effect of control force can be amplified, the load burden of the steering engine is reduced, and the control effect is improved; meanwhile, the control speed of the steering engine is obviously higher than that of the tilting servo motor, and the rapid control can be realized, so that the dynamic response of the aircraft is ensured; in addition, the deflection of the control surface does not cause the change of force/moment on other degrees of freedom of the machine body, namely, the yaw control does not influence other control channels, and the decoupling control of each control channel can be realized, so that the design complexity of a control system is greatly reduced.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those of skill in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the embodiments of the invention.
Referring to fig. 5, a block diagram of an embodiment of a yaw control apparatus according to the present invention is shown, and relates to a rotorcraft including two rotors with airfoils mounted thereon, and a flight controller applied to the rotorcraft, and may specifically include the following modules:
a control signal generation module 501, configured to generate a control signal based on flight information that the rotorcraft is in an unbalanced state;
and the yaw control module 502 is used for controlling the wing surface of the non-equilibrium deflection direction homonymy rotor to deflect towards a first direction and controlling the wing surface of the non-equilibrium deflection direction contralateral rotor to deflect towards a second direction opposite to the first direction according to the control signal so as to carry out yaw control on the rotor craft in the non-equilibrium state.
In one embodiment of the present invention, the control signal generation module 501 may include the following sub-modules:
the flight information acquisition sub-module is used for acquiring flight information of the rotor craft in a non-equilibrium state; the flight information comprises remote control instructions and sensor information;
the yaw virtual control quantity generation submodule is used for generating yaw virtual control quantity based on the remote controller command in the non-equilibrium state and the sensor information;
and the yaw virtual control quantity calculating submodule is used for calculating the yaw virtual control quantity to obtain first control plane deflection information of the rotor wing on one side and second control plane deflection information of the rotor wing on the other side, and generating a control signal by adopting the first control plane deflection information and the second control plane deflection information.
In one embodiment of the present invention, the first control plane deflection information and the second control plane deflection information are in an inverse relationship; the first control surface deflection information comprises a first control surface deflection angle, the second control surface deflection information comprises a second control surface deflection angle, and the sum of the first control surface deflection angle and the second control surface deflection angle is zero.
In one embodiment of the invention, the yaw control module 502 may include the following sub-modules:
the yawing moment generation submodule is used for generating yawing moment in a deflection direction opposite to the unbalanced state deflection direction on the basis of controlling the wing surfaces of the rotors on the same side to deflect in a first direction and controlling the wing surfaces of the rotors on the other side to deflect in a second direction opposite to the first direction; wherein the first direction and/or the second direction is different from and not opposite to the non-equilibrium state deflection direction;
and the balanced state recovery submodule is used for adopting the yawing moment in the deflection direction opposite to the unbalanced state deflection direction to control the rotor craft in the unbalanced state to recover to the balanced state, so that the yawing control of the rotor craft is realized.
In one embodiment of the invention, the yaw moment generation submodule may comprise the following units:
the lift force providing unit is used for generating a yaw moment of a deflection direction opposite to the deflection direction of the unbalanced state through a first lift force opposite to the first direction provided by the airfoil deflecting towards the first direction and a second lift force opposite to the second direction provided by the airfoil deflecting towards the second direction.
In one embodiment of the invention, the yaw moment generating submodule may comprise the following units:
a yaw moment generating unit for controlling the wing surface of the left rotor to deflect in a first direction and the wing surface of the right rotor to deflect in a second direction opposite to the first direction to generate a yaw moment deflecting to the right when the rotorcraft is in an unbalanced state and the rotorcraft deflects to the left from a balanced state;
and the yawing moment generating unit is further used for controlling the wing surface of the right rotor to deflect towards a first direction and controlling the wing surface of the left rotor to deflect towards a second direction opposite to the first direction to generate a yawing force deflecting towards the left when the rotorcraft is in an unbalanced state and the rotorcraft deflects towards the right from a balanced state.
In one embodiment of the invention, the airfoil surface of the rotor is realized based on a steering engine of the rotorcraft driving a control surface on the airfoil surface.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a rotorcraft, including:
the yaw control device comprises the yaw control device, a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the yaw control method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition. The rotor craft provided by the embodiment of the invention can be any aircraft with three rotors, and the aircraft can be in a flying car form adopting three rotors, so that the embodiment of the invention is not limited.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above yaw control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiments in the present specification are all described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same and similar between the embodiments may be referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The yaw control method, the yaw control apparatus, the corresponding rotorcraft and the corresponding computer storage medium provided by the present invention are described in detail above, and specific examples are applied herein to illustrate the principles and embodiments of the present invention, and the above descriptions of the embodiments are only used to help understand the method and the core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of yaw control, involving a rotorcraft comprising two rotors with wings for application to a flight controller of the rotorcraft, the method comprising:
generating a control signal based on flight information that the rotorcraft is in an imbalance state;
and controlling the wing surface of the wing on the same side to deflect towards a first direction according to the control signal, and controlling the wing surface of the wing on the opposite side to deflect towards a second direction opposite to the first direction according to the deflection direction of the unbalanced state, so as to carry out yaw control on the rotor craft in the unbalanced state.
2. The method of claim 1, wherein generating a control signal based on the flight information that the rotary wing aircraft is in the imbalance state comprises:
acquiring flight information of the rotor craft in a non-equilibrium state; the flight information comprises remote control commands and sensor information;
generating a yaw virtual control quantity based on the remote controller command in the non-equilibrium state and the sensor information;
and resolving the virtual yaw control quantity to obtain first control plane deflection information of the rotor wing on one side and second control plane deflection information of the rotor wing on the other side, and generating a control signal by adopting the first control plane deflection information and the second control plane deflection information.
3. The method according to claim 2, characterized in that the first control plane deflection information is in an inverse relationship to the second control plane deflection information; the first control surface deflection information comprises a first control surface deflection angle, the second control surface deflection information comprises a second control surface deflection angle, and the sum of the first control surface deflection angle and the second control surface deflection angle is zero.
4. The method of claim 1 or 2, wherein controlling the wing surfaces of the non-equilibrium biased-direction ipsilateral rotor to deflect in a first direction and the wing surfaces of the non-equilibrium biased-direction contralateral rotor to deflect in a second direction opposite to the first direction according to the control signal to perform yaw control on the rotorcraft in the non-equilibrium state comprises:
generating a yawing moment in a deflection direction opposite to the unbalanced state deflection direction based on controlling the wing surface of the rotor on the same side to deflect towards a first direction and controlling the wing surface of the rotor on the other side to deflect towards a second direction opposite to the first direction; wherein the first direction and/or the second direction is different from and not opposite to the non-equilibrium state deflection direction;
and controlling the rotor craft in the unbalanced state to recover to the balanced state by adopting the yawing moment in the yawing direction opposite to the unbalanced state deflection direction, so as to realize the yawing control of the rotor craft.
5. The method of claim 4, wherein generating a yaw moment in a yaw direction opposite to the imbalance biasing direction comprises:
a yaw moment in a yaw direction opposite to the yaw direction is generated by a first lift force provided by the airfoil deflecting in a first direction and opposite to the first direction and by a second lift force provided by the airfoil deflecting in a second direction.
6. The method of claim 4 or 5, wherein generating a yaw moment in a yaw direction opposite to the unbalanced deflection direction based on controlling the wing surfaces of the one side rotor to deflect in a first direction and the wing surface of the other side rotor to deflect in a second direction opposite to the first direction comprises:
if the rotor craft is in the non-equilibrium state, the rotor craft deflects left from the equilibrium state, the wing surface of the left rotor wing is controlled to deflect towards a first direction, and the wing surface of the right rotor wing is controlled to deflect towards a second direction opposite to the first direction, and a yaw moment deflected towards the right is generated;
and/or, if the rotorcraft is in an unbalanced state such that the rotorcraft deflects rightward from a balanced state, controlling the airfoil of the right rotor to deflect in a first direction, and controlling the airfoil of the left rotor to deflect in a second direction opposite the first direction, generating a yaw force in response to the leftward deflection.
7. A method according to claim 1 or 2 or 3 or 5, wherein the airfoil of the rotor is implemented based on a steering engine of the rotorcraft driving a control surface on the airfoil.
8. A yaw control apparatus, characterized in that it relates to a rotorcraft, said rotorcraft including two side rotors, the wings being mounted to the two side rotors, and being applied to a flight control of the rotorcraft, said apparatus comprising:
the control signal generation module is used for generating a control signal based on the flight information of the rotor aircraft in the non-equilibrium state;
and the yaw control module is used for controlling the wing surface of the wing on the same side in the unbalanced state deviation direction to deflect towards a first direction according to the control signal, controlling the wing surface of the wing on the opposite side in the unbalanced state deviation direction to deflect towards a second direction opposite to the first direction, and carrying out yaw control on the rotor craft in the unbalanced state.
9. A rotary wing aircraft, comprising: yaw controlling apparatus according to claim 8, a processor, a memory and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the yaw controlling method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the yaw controlling method according to any one of the claims 1-7.
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