CN114740874A - Unmanned aerial vehicle rocket boosting launching rolling attitude control method - Google Patents
Unmanned aerial vehicle rocket boosting launching rolling attitude control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to a method for controlling a rolling attitude in rocket-assisted launching of an unmanned aerial vehicle. The unmanned aerial vehicle rocket boosting launching rolling attitude control method comprises the following steps: collecting the roll angle rate, the yaw angle rate, the roll angle and the flight speed of the unmanned aerial vehicle by using a flight control computer; inputting the roll angle rate, the yaw rate, the roll angle, the flight speed, the set roll angle control instruction and the reference speed instruction into a horizontal course control system, and performing real-time control law resolving by using a flight control computer to obtain the control quantity of the deflection angle of the control surface of the aileron and the control quantity of the deflection angle of the control surface of the rudder; and respectively driving the aileron steering engine and the rudder steering engine to move according to the deflection angle control quantity of the aileron control surface and the deflection angle control quantity of the rudder control surface so as to adjust the rolling attitude of the unmanned aerial vehicle. The control method can realize the stable control of the rolling attitude in the launching process of the unmanned aerial vehicle, thereby realizing the safe launching of the unmanned aerial vehicle.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control, in particular to a method for controlling rocket boosting, launching, rolling and attitude of an unmanned aerial vehicle.
Background
Currently, unmanned aerial vehicles are widely used in military and civilian fields. Rocket-assisted zero-length launching is a common unmanned aerial vehicle launching mode. The launching mode is not restricted by a takeoff field, the maneuverability is strong, and the application range of the unmanned aerial vehicle is enlarged. The rocket boosting launching process is a key link of the flight process of the unmanned aerial vehicle and plays a decisive role in safe flight. The rotation of the propeller during zero-length launch generates a torque opposite to the direction of rotation, i.e., propeller reaction torque. The propeller reaction torque can influence the roll attitude of the unmanned aerial vehicle at the initial launching stage, and the too large reaction torque can cause the roll angle of the unmanned aerial vehicle to be too large in the launching process, so that the risk that the unmanned aerial vehicle is high, and the wing tips of the wings touch the ground or even fail to launch is caused. The traditional non-dynamic pressure correction control strategy cannot achieve a good inhibiting effect on the roll angle under the low speed at the initial launching stage.
Disclosure of Invention
In order to reduce the influence of the propeller reaction torque on the rolling attitude in the launching process of the rocket-assisted zero-length launching unmanned aerial vehicle, the main aim of the invention is to provide a method for controlling the rolling attitude in the rocket-assisted launching of the unmanned aerial vehicle.
In order to achieve the above object, the present application provides a method for controlling a rolling attitude in rocket-assisted launching of an unmanned aerial vehicle, comprising:
step S1: collecting the roll angle rate, the yaw angle rate, the roll angle and the flight speed of the unmanned aerial vehicle by using a flight control computer;
step S2: inputting the roll angle rate, the yaw rate, the roll angle, the flight speed, the set roll angle control command and the reference speed command into a lateral course control system, and performing real-time control law resolving by using a flight control computer to obtain the control quantity of the control surface deflection angle of the aileron and the control quantity of the control surface deflection angle of the rudder;
step S3: and respectively driving the aileron steering engine and the rudder steering engine to move according to the deflection angle control quantity of the aileron control surface and the deflection angle control quantity of the rudder control surface so as to adjust the rolling attitude of the unmanned aerial vehicle.
Further, in step S2, the control law calculation formula of the rudder control surface deflection angle control amount is:
Δδr＝Krr
wherein: delta deltarThe control quantity of the deflection angle of the rudder surface of the rudder is obtained; krIs a yaw rate amplification factor; r is the yaw rate.
Further, in the step S2, if the flight speed is less than the reference speed, the control law of the flap control plane deflection angle control amount is calculated as:
wherein, Delta deltaaThe deflection angle control quantity of the aileron control surface is obtained; kpRoll rate amplification factor; kφRoll angle amplification factor; kφiIs a roll angle integral control coefficient; p is the roll rate; v is the flying speed; vrefIs a reference speed; phi is a rolling angle; phi is agIs a roll angle command; and delta phi is the roll angle deviation amount.
Further, Kr、Kp、KφAnd KφiThe method is obtained through control law design and simulation.
Further, the steps of control law design and simulation include:
obtaining a control coefficient selection range meeting performance requirements according to linearized simulation time domain analysis and frequency domain analysis;
carrying out simulation time domain analysis by utilizing a six-degree-of-freedom nonlinear model to obtain Kr、Kp、KφAnd Kφi。
Further, in step S2, if the flight speed is equal to or higher than the reference speed, the control law of the flap control surface deflection angle control amount is calculated as:
Δδa＝Kpp+Kφ(φ-φg)+Kφi∫(φ-φg)dtΔφ＝φ-φg
wherein, Delta deltaaThe deflection angle control quantity of the aileron control surface is obtained; k ispRoll rate amplification factor; kφA roll angle amplification factor; kφiIs a roll angle integral control coefficient; p is the roll rate; v is the flying speed; phi is a rolling angle; phi is agIs a roll angle command; and delta phi is the roll angle deviation amount.
Further, in step S1, the roll rate and the yaw rate of the drone are obtained by using an angle rate gyro measurement.
Further, in step S1, the roll angle of the drone is measured by using the attitude and heading system.
Further, in step S1, the flying speed of the drone is measured by an airspeed sensor.
Furthermore, the aileron steering engine and the rudder steering engine both serve as a servo steering engine.
By applying the technical scheme, the method for controlling the rolling attitude in the rocket-assisted launching of the unmanned aerial vehicle can effectively control the servo control surface by using a dynamic pressure correction strategy under the condition of low and medium dynamic pressure in the zero-length launching process, and realize the stable control of the rolling attitude in the launching process, thereby realizing safe launching.
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The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a method for controlling a roll attitude in rocket-assisted launch of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of course decision making during rocket-assisted launching of an unmanned aerial vehicle disclosed in an embodiment of the present application;
FIG. 3 is a schematic diagram of a lateral direction control system during rocket-assisted launching of an unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating calculation of an aileron control surface deflection angle control amount and a rudder control surface deflection angle control amount in a rocket-assisted launch process of an unmanned aerial vehicle disclosed in the embodiments of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
Referring to fig. 1 to 4, according to an embodiment of the present application, an unmanned aerial vehicle rocket boosting launching rolling attitude control method is provided, which can effectively control a servo control surface by using a dynamic pressure correction strategy under a low-dynamic pressure condition in a zero-length launching process, so as to realize stable control of a rolling attitude in a launching process, thereby realizing safe launching.
Specifically, the unmanned aerial vehicle rocket boosting launching rolling attitude control method is implemented by using a lateral heading control system shown in fig. 3, and the lateral heading control system is provided with a flight control computer, an aileron steering engine, a rudder steering engine, an angular rate gyro, a heading attitude system and an airspeed sensor. The flight control computer collects real-time measurement information and instruction information of each sensor, resolves according to a current control law and outputs control quantities of an aileron channel and a rudder channel; the aileron steering engine and the rudder steering engine respectively execute the current corresponding servo motion commands; the angular rate gyro measurement is used for obtaining the roll angular rate and the yaw angular rate of the unmanned aerial vehicle at the moment; the attitude and heading system is used for measuring and obtaining the roll angle of the unmanned aerial vehicle at the moment; and the airspeed sensor is used for measuring the airspeed of the unmanned aerial vehicle at the moment.
In the process of actually launching the unmanned aerial vehicle, the rotation of the propeller can generate a torque opposite to the rotating direction in the zero-length launching process of rocket boosting of the unmanned aerial vehicle, namely, the propeller reaction torque. Due to the action of the reaction torque of the propeller of the unmanned aerial vehicle, large transverse rolling attitude changes can occur in the launching process, and the unmanned aerial vehicle can yaw. The risk that the unmanned aerial vehicle falls to the high, the wing tips of the wings touch the ground and even the launch fails can occur due to the overlarge rolling attitude. Therefore, the adopted control strategy is to control the unmanned aerial vehicle to keep the attitude stable as much as possible without overlarge attitude change.
The rolling moment can be corrected by the deflection of the aileron control surface during the launching process, and partial reactive torque can be counteracted by adjusting the lateral installation angle of the rocket. When the speed is low in the initial launching stage and the non-dynamic pressure correction control strategy is matched with the rocket installation angle to jointly control the horizontal heading attitude, the rolling attitude changes greatly, and the control effect is not ideal. Especially when the propeller absorbs large power and rotates at low speed, the propeller will have the problem of increasing the magnitude of the reaction torque. The effect of joint control using rocket setting angle adjustment and non-dynamic pressure correction control strategies on roll attitude suppression is very limited. The method and the device adopt a brand-new dynamic pressure correction control strategy to further inhibit the rolling attitude in the launching process on the basis of the control strategy, so that the stable control of the rolling attitude in the launching process is realized.
As shown in fig. 2, in the process of actually launching the unmanned aerial vehicle, when the unmanned aerial vehicle enters a zero-length launching state, each launching instruction is in place, and a launching-section dynamic pressure correction control strategy is executed. The unmanned aerial vehicle is accelerated under the thrust action of the rocket booster, the flight speed of the unmanned aerial vehicle is accelerated from a static state to approach a set reference speed, the current flight speed of the unmanned aerial vehicle is judged at the moment, if the current flight speed is smaller than the set reference speed, a dynamic pressure correction control strategy is continuously executed, and if the current flight speed is larger than the set reference speed, a non-dynamic pressure correction control strategy is executed. When the unmanned aerial vehicle boosting rocket falls off, whether the speed, the height and the posture of the unmanned aerial vehicle meet safety conditions or not is judged, and if yes, the launching section is finished to execute a stable climbing section control strategy.
In the non-dynamic pressure correction control strategy, the control law of the aileron channel adopts a roll angle control loop through a horizontal course control system to increase the system damping and control the horizontal attitude. The roll angle control loop feeds back the roll rate, roll angle, and roll angle integral to the aileron channel. The roll angle rate feedback is used for increasing roll damping, so that the roll angle is smoothly transited; the roll angle feedback is used for controlling the stable roll attitude; the roll angle integral feedback is used for improving the roll attitude control precision and eliminating attitude static error.
In the dynamic pressure correction control strategy, the control law of the aileron channel is increased on the basis of the rolling angle amplification factor and the rolling angle integral control factor based on the non-dynamic pressure correction control strategy
And a link playing a role of further inhibiting rolling under a low dynamic pressure condition, wherein V is the flight speed of the unmanned aerial vehicle, and V is the flight speed of the unmanned aerial vehiclerefIs the reference velocity.
In the dynamic pressure correction control strategy and the non-dynamic pressure correction control strategy, the control law of the rudder channel increases course damping by feeding back the yaw rate to the rudder in the course control system.
Specifically, the unmanned aerial vehicle rocket-assisted launching roll attitude control method in the present application has 3 steps, namely step S1, step S2, and step S3.
Step S1: and acquiring the roll angle rate, the yaw angle rate, the roll angle and the flight speed of the unmanned aerial vehicle by using the flight control computer.
In the step, parameters such as a roll angle, a roll angle rate, a yaw rate, a flight speed and the like used in the course attitude control law can be measured by corresponding sensors. Specifically, the roll angular rate and the yaw angular rate of the unmanned aerial vehicle are obtained by measuring through an angular rate gyro; the rolling angle of the man-machine is measured by using a navigation attitude system; the flight speed of the unmanned aerial vehicle is measured by an airspeed sensor.
Step S2: and (4) inputting the roll angle rate, the yaw angle rate, the roll angle, the flight speed, the set roll angle control instruction and the reference speed instruction in the step (S1) into a horizontal heading control system, and performing real-time control law resolving by using a flight control computer to obtain the control quantity of the deflection angle of the control surface of the aileron and the control quantity of the deflection angle of the control surface of the rudder.
If the flying speed is less than the reference speed, i.e. V < VrefAnd then, a control law resolving formula of the deflection angle control quantity of the control surface of the aileron is as follows:
if the flying speed is greater than or equal to the reference speed, namely V is greater than or equal to VrefAnd then, a control law resolving formula of the deflection angle control quantity of the control surface of the aileron is as follows:
Δδa＝Kpp+Kφ(φ-φg)+Kφi∫(φ-φg)dtΔφ＝φ-φg
the control law resolving formula of the rudder control surface deflection angle control quantity is as follows:
Δδr＝Krr
in the above formula, Δ δaAn aileron control quantity; delta deltarIs a rudder control variable; kpRoll rate amplification factor; krIs a yaw rate amplification factor; kφRoll angle amplification factor; kφiIs a roll angle integral control coefficient; p is the roll rate; r is the yaw rate; v is the speed; vrefIs a reference speed; phi is a rolling angle; phi is a unit ofgIs a roll angle command; and delta phi is the roll angle deviation amount. Kr、Kp、KφAnd KφiThe method is obtained through control law design and simulation. Specifically, the steps of control law design and simulation include: obtaining a control coefficient selection range meeting performance requirements according to linearized simulation time domain analysis and frequency domain analysis; carrying out simulation time domain analysis by utilizing a six-degree-of-freedom nonlinear model to obtain Kr、Kp、KφAnd KφiThus, the selection and optimization of the control coefficient are completed.
Step S3: and respectively driving the aileron steering engine and the rudder steering engine to move according to the control quantity of the deflection angle of the control surface of the aileron and the control quantity of the deflection angle of the control surface of the rudder so as to adjust the rolling attitude of the unmanned aerial vehicle.
In the step, the corresponding servo steering engine is driven to move according to the aileron control surface deflection angle control quantity and the rudder control surface deflection angle control quantity obtained by the calculation in the step S2, so that the attitude of the unmanned aerial vehicle can be controlled to a desired value in the shortest time, the attitude stable control in the launching process is realized, and finally the safe launching is successfully realized. Optionally, the aileron steering engine and the rudder steering engine in the embodiment both serve as the steering engine, so that the control precision is high and the stability is good.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects: the control method can effectively control the servo control surface by using a dynamic pressure correction strategy under the condition of low and medium dynamic pressure in the zero-length launching process, and realizes the stable control of the rolling attitude in the launching process, thereby realizing the safe launching of the unmanned aerial vehicle.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An unmanned aerial vehicle rocket boosting launching rolling attitude control method is characterized by comprising the following steps:
step S1: collecting the roll angle rate, the yaw angle rate, the roll angle and the flight speed of the unmanned aerial vehicle by using a flight control computer;
step S2: inputting the roll angle rate, the yaw rate, the roll angle, the flight speed, the set roll angle control instruction and the reference speed instruction into a horizontal course control system, and performing real-time control law resolving by using a flight control computer to obtain the control quantity of the deflection angle of the control surface of the aileron and the control quantity of the deflection angle of the control surface of the rudder;
step S3: and respectively driving an aileron steering engine and a rudder steering engine to move according to the aileron control surface deflection angle control quantity and the rudder control surface deflection angle control quantity so as to adjust the rolling attitude of the unmanned aerial vehicle.
2. The unmanned rocket launch-assisted rolling attitude control method according to claim 1, wherein in step S2, the control law of rudder control surface deflection angle control quantity is calculated by the formula:
Δδr＝Krr
wherein: delta deltarThe control quantity of the deflection angle of the rudder surface of the rudder is obtained; krIs a yaw rate amplification factor; r is the yaw rate.
3. The method for controlling the roll attitude in rocket-assisted launch of unmanned aerial vehicle according to claim 2, wherein in step S2, if the flight speed is less than the reference speed, the formula for resolving the control law of the amount of flap control surface deflection angle control is:
wherein, Delta deltaaThe deflection angle control quantity of the aileron control surface is obtained; kpRoll rate amplification factor; kφRoll angle amplification factor; kφiIs a roll angle integral control coefficient; p is the roll rate; v is the flying speed; vrefIs a reference speed; phi is a rolling angle; phi is agIs a roll angle command; and delta phi is the roll angle deviation amount.
4. The unmanned rocket-assisted launching roll attitude control method according to claim 3, wherein K isr、Kp、KφAnd KφiThe method is obtained through control law design and simulation.
5. The unmanned aerial vehicle rocket assisted launching roll attitude control method according to claim 4, wherein the steps of control law design and simulation include:
obtaining a control coefficient selection range meeting performance requirements according to linearized simulation time domain analysis and frequency domain analysis;
carrying out simulation time domain analysis by utilizing a six-degree-of-freedom nonlinear model to obtain Kr、Kp、KφAnd Kφi。
6. The unmanned rocket launch-assisted rolling attitude control method according to any one of claims 1 to 5, wherein in said step S2, if the flying speed is greater than or equal to the reference speed, the control law of the flap control plane deflection angle control quantity is calculated as:
Δδa＝Kpp+Kφ(φ-φg)+Kφi∫(φ-φg)dtΔφ＝φ-φg
wherein, Delta deltaaThe deflection angle control quantity of the aileron control surface is obtained; k ispRoll rate amplification factor; kφRoll angle amplification factor; kφiIs a roll angle integral control coefficient; p is the roll rate; v is the flying speed; phi is a rolling angle; phi is agIs a roll angle command; and delta phi is the roll angle deviation amount.
7. The unmanned aerial vehicle rocket-assisted launching roll attitude control method according to any one of claims 1 to 5, wherein in step S1, the roll angular rate and yaw angular rate of the unmanned aerial vehicle are obtained by angular rate gyro measurement.
8. The unmanned aerial vehicle rocket-assisted launching roll attitude control method according to any one of claims 1 to 5, wherein in step S1, the roll angle of the unmanned aerial vehicle is measured by using an attitude and heading system.
9. The unmanned aerial vehicle rocket-assisted launching roll attitude control method according to any one of claims 1 to 5, wherein in step S1, the flying speed of the unmanned aerial vehicle is measured by an airspeed sensor.
10. A method for controlling rocket-assisted launch and roll attitude of an unmanned aerial vehicle according to any one of claims 1 to 5, wherein said aileron steering engine and said rudder steering engine both serve as steering engines.
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