CN115016514A - Full-autonomous flight control method for takeoff, cruise and landing of bionic flapping wing aircraft - Google Patents
Full-autonomous flight control method for takeoff, cruise and landing of bionic flapping wing aircraft Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
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Abstract
The invention relates to a take-off, cruise and landing fully-autonomous flight control method of a bionic flapping wing aircraft, which comprises the following steps: the flapping wing frequency, the rolling rudder and the pitching rudder of the bionic flapping wing aircraft are adjusted by adopting a PID control method through position-attitude hybrid control, so that the bionic flapping wing aircraft can realize the full-autonomous flight control of take-off, cruise and landing. The invention discloses a full-autonomous flight control method for taking off, cruising and landing of a bionic ornithopter, which realizes that the bionic ornithopter autonomously completes all flight processes including taking off, cruising and landing under the condition of not needing the control of a flying hand; in the flying process, the flapping wing air vehicle can fly according to a preset track, and the flapping wing air vehicle can automatically adjust the self attitude to keep stable flying.
Description
Technical Field
The invention relates to the technical field of bionic aircraft, in particular to a take-off, cruise and landing all-autonomous flight control method of a bionic flapping wing aircraft.
Background
Compared with fixed-wing aircraft and rotor aircraft, the bionic flapping-wing aircraft has the advantages of high maneuverability, high energy utilization rate, good bionic property and the like, and has great application potential in the aspects of military reconnaissance, environmental survey, performance exhibition and the like. When the flapping wing air vehicle is used, the requirement that the flapping wing air vehicle executes tasks in a long-distance beyond visual range exists certainly, so that the autonomous flight control method of the flapping wing air vehicle needs to be researched. Because people have limited research results on the unsteady airflow law, an accurate flapping wing aerodynamic model is difficult to establish, and the types of the currently developed flapping wing air vehicle prototypes are few, the research results on the autonomous flight control of the flapping wing air vehicle are few, and the research results mostly stay in the stages of theoretical analysis and simulation experiments.
Disclosure of Invention
The invention provides a full-autonomous flight control method for taking off, cruising and landing of a bionic flapping wing aircraft, and aims to at least solve one of the technical problems in the prior art.
The technical scheme of the invention relates to a take-off full-autonomous control method of a bionic flapping wing aircraft, which is characterized by comprising the following steps:
s110, enabling the bionic ornithopter to flap wings at a first frequency, and further throwing out the bionic ornithopter at a first elevation angle so as to enable the bionic ornithopter to obtain a first advancing speed;
s120, acquiring the acceleration of the bionic ornithopter, and flapping the wings of the bionic ornithopter at a second frequency to enable the flight height of the bionic ornithopter to rise when the acquired acceleration is larger than a first preset value, wherein the first preset value is used for determining whether the bionic ornithopter executes autonomous takeoff control;
s130, acquiring the flight height of the bionic ornithopter, and enabling the bionic ornithopter to enter a cruising stage when the flight height is larger than a second preset value.
The technical scheme of the invention also relates to a cruise all-autonomous control method of the bionic ornithopter, which is characterized by comprising the following steps of:
s210, enabling the bionic flapping wing aircraft in autonomous cruise flight to fly around an expected circle, wherein the expected circle comprises an expected circle radius and an expected circle center, and the expected circle is divided into a self-stabilizing area, a straight flying area, a circle-surrounding area and a dangerous area from inside to outside according to the expected circle center and the expected circle radius;
s220, acquiring the real-time position of the bionic flapping-wing aircraft, determining the area where the bionic flapping-wing aircraft is located, and executing corresponding cruise flight control;
the cruise flight control includes at least one of:
when the bionic flapping wing aircraft is positioned in the self-stabilizing area, the bionic flapping wing aircraft is close to the expected circle center, and the bionic flapping wing aircraft is controlled to be in a self-stabilizing flight mode, so that the bionic flapping wing aircraft keeps stable flight and further flies to the direct flight area;
when the bionic flapping wing aircraft is positioned in a straight flight area, the bionic flapping wing aircraft moves outwards along the radial direction in a straight flight mode, so that the bionic flapping wing aircraft flies to the expected circle;
when the bionic flapping wing aircraft is positioned in a circle-winding area, the bionic flapping wing aircraft is enabled to execute a circle-winding flight mode by taking the expected circle center as the center;
when the bionic ornithopter is positioned in a dangerous area, at least one of the processes of increasing the flight deflection angle of the bionic ornithopter, advancing in a straight-line flight mode along the radial direction inwards or dropping is adopted.
Further, still include:
and in the self-stabilizing flight mode, the course angle of the bionic ornithopter is not concerned, an expected rolling angle and an expected pitching angle are set to be zero, and when the attitude of the bionic ornithopter is obtained and deflects to one side in the rolling or pitching direction, the attitude is adjusted to the other side.
Further, still include:
the linear flight mode determines the deflection direction and the expected course deflection quantity of the bionic flapping-wing aircraft in the linear flight mode according to the value of the dot product by acquiring the dot product of the unit tangential vector and the unit course vector of the real-time position of the bionic flapping-wing aircraft;
when the dot product is a positive value, the deflection direction is right; when the dot product is a negative value, the deflection direction is left; the desired amount of heading deflection is determined by the absolute value of the dot product.
Further, still include:
the circle-winding flight mode obtains the dot product of a unit radial vector and a unit course vector of the real-time position of the bionic flapping-wing aircraft, and determines the deflection direction and the expected course deflection of the bionic flapping-wing aircraft in the circle-winding flight mode according to the value of the dot product;
the desired amount of course deflection for the round-robin flight mode is determined by an absolute value of the dot product, and the round-robin flight mode is controlled in a manner that includes at least one of:
when the dot product is a positive value, the deflection direction is right;
when the dot product is negative, the deflection direction is left.
Further, still include:
the method comprises the steps of adjusting the course of the bionic ornithopter by adjusting a roll angle, obtaining an expected roll angle of the bionic ornithopter according to expected course deflection, and determining the pitch angle of the bionic ornithopter by the expected roll angle, wherein the pitch angle is required to be adjusted to maintain the flying height when the bionic ornithopter turns, and the expected pitch angle can be obtained according to the expected roll angle.
Further, the method also comprises the following steps:
adopting a PID control method to control the position and the attitude of the flapping wing air vehicle, wherein PD control is adopted for the radial position, PI control is adopted for the roll angle, and PD control is adopted for the pitch angle;
the PD control adopts proportional-differential control on the radial position, and the formula of the PD control is as follows:
u r (k)＝K Pr e r (k)+K Dr [e r (k)-e r (k-1)]
wherein u is r (k) For proportional control of radial position, e r (k) For differential control of radial position, K Pr Controlling the proportionality coefficient, K, for radial position Dr Controlling the differential coefficient, K, for radial position r Is a radial position error proportionality coefficient;
the PI control adopts proportional-integral control to the roll angle, and the formula is as follows:
wherein u is φ (k) For proportional control of the roll angle, e φ (k) For integral control of roll angle, K Pφ For controlling the roll angle by the proportional coefficient, K Iφ Controlling the integral coefficient, phi, for the roll angle d (k) The expected roll angle of the flapping wing aircraft is shown, and phi (k) is the actual roll angle of the flapping wing aircraft;
the PD control formula is as follows:
u θ (k)＝K Pθ e θ (k)+K Dθ [e rθ (k)-e rθ (k-1)]
e θ (k)＝θ d (k)-θ(k)
wherein u is θ (k) For proportional control of pitch angle, e θ (k) For differential control of pitch angle, K Pθ Controlling the proportionality coefficient for pitch angle, K Dθ Controlling the differential coefficient, theta, for pitch angle d (k) The desired pitch angle for the ornithopter is θ (k) the actual pitch angle for the ornithopter.
Further, still include:
the control mode and deflection of the round-winding flight mode are determined according to the difference between the radius of the real-time position of the bionic ornithopter and the radius of the expected circle;
the control mode comprises at least one of the following conditions:
if the bionic flapping wing air vehicle is positioned on the inner side of the expected circle, controlling the bionic flapping wing air vehicle to deflect rightwards;
if the bionic ornithopter is positioned on the outer side of the expected circle, controlling the bionic ornithopter to deflect leftwards;
further, still include:
and the control quantity of the rolling steering engine in the linear flight mode is determined through course control and rolling control, and the expression is as follows:
wherein u is m To control the quantity, K L u φ For course control, (1-K) L )u′ ψ For roll control, K L Is a linear proportionality coefficient;
in the circle-winding flight mode, the control quantity of the rolling steering engine is determined through course control and radial position control, and the expression formula is as follows:
u m ＝K m u r +(1-K m )u ψ
wherein u is m To control the quantity, K m u r For course control, (1-K) m )u ψ For roll control, K m And the heading position proportionality coefficient.
And controlling the control quantity of the pitching steering engine through the pitch angle control quantity.
The technical scheme of the invention also relates to a full-autonomous landing control method of the bionic flapping-wing aircraft, which is characterized by comprising the following steps:
s310, acquiring a landing instruction, and determining the real-time position of the bionic flapping wing aircraft;
s320, determining the area where the bionic ornithopter is located according to the real-time position, and executing corresponding landing flight control, wherein the area comprises a self-stabilizing area, a direct flight area, a circle-winding area and a danger area;
the landing flight control includes at least one of:
when the flapping wing aircraft is positioned in a circle winding area or a dangerous area, the flapping frequency of the bionic flapping wing aircraft is reduced to zero, so that the bionic flapping wing aircraft can hover in a gliding mode under the action of gravity;
when the flapping wing aircraft is located in a self-stabilizing area or a direct flight area, the circle center of the area is used as a target point, the bionic flapping wing aircraft is controlled to reduce the flapping frequency of the wings and fly towards the circle center in a linear flight mode, and when the situation that the height of the flapping wing aircraft is lower than a preset value is detected, the flapping frequency of the wings of the flapping wing aircraft is reduced to zero, so that the flapping wing aircraft lands in a gliding mode under the action of gravity.
The invention has the beneficial effects that: the bionic flapping wing aircraft can autonomously complete all flight processes including taking off, cruising and landing under the condition that the control of a flying hand is not needed; in the flying process, the flapping wing air vehicle can fly according to a preset track, such as circular flying, and the flapping wing air vehicle can automatically adjust the self attitude to keep stable flying.
Drawings
FIG. 1 is a schematic diagram of an autonomous takeoff process of a bionic ornithopter according to the invention.
FIG. 2 is a schematic view of a bionic ornithopter according to the invention.
FIG. 3 is a schematic view of flight zone division according to the present invention.
FIG. 4 is a schematic diagram of an autonomous cruise process of a bionic ornithopter according to the invention.
FIG. 5 is a schematic view of the flight control of the bionic ornithopter in the self-stabilization area according to the invention.
FIG. 6 is a schematic view of the flight control of the bionic ornithopter in the straight flight area according to the invention.
FIG. 7 is a schematic view of a bionic ornithopter flight control around a circle region according to the invention.
FIG. 8 is another schematic view of a bionic ornithopter according to the invention for controlling the flight around a circle region.
FIG. 9 is a schematic diagram of the autonomous landing process of the bionic ornithopter according to the invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. "first", "second", etc. are used for the purpose of distinguishing technical features only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features. In the following description, the method steps are labeled continuously for convenience of examination and understanding, and the implementation sequence of the steps is adjusted without affecting the technical effect achieved by the technical scheme of the invention in combination with the overall technical scheme of the invention and the logical relationship among the steps. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1, the embodiment of fig. 1 provides a schematic diagram of an autonomous takeoff process of a bionic ornithopter, and the process includes:
s110, enabling the bionic ornithopter to flap wings at a first frequency, and further throwing out the bionic ornithopter at a first elevation angle so as to enable the bionic ornithopter to obtain a first advancing speed;
in some embodiments, the flapping wing aircraft is held by a thrower, and after the flapping wing aircraft flaps the wings at a frequency, the thrower runs up and throws the flapping wing aircraft obliquely upward so that the flapping wing aircraft has an initial first velocity;
s120, acquiring the acceleration of the bionic ornithopter, and flapping the wings of the bionic ornithopter at a second frequency to enable the flight height of the bionic ornithopter to rise when the acquired acceleration is larger than a first preset value, wherein the first preset value is used for determining whether the bionic ornithopter executes autonomous takeoff control;
in some embodiments, for example, the acceleration of the bionic ornithopter is obtained by a sensor, that is, the acceleration of the ornithopter is detected by a sensor on the ornithopter, and when the measured acceleration is greater than a preset value, the ornithopter flaps at a fixed frequency to raise the height of the ornithopter;
s130, acquiring the flight height of the bionic ornithopter, and enabling the bionic ornithopter to enter a cruising stage when the flight height is larger than a second preset value.
In some embodiments, the altitude of the ornithopter is detected by a sensor on the ornithopter, and the ornithopter enters the cruise phase when the detected altitude reaches a preset value.
Referring to fig. 2, a schematic diagram of a bionic flapping wing aircraft is disclosed. The bionic flapping wing aircraft has at least three degrees of freedom, wherein the flapping frequency of the wings can be controlled by the motor, the flapping frequency of the wings can be changed to enable the flapping wing aircraft to climb or descend, meanwhile, the tail wing has two degrees of freedom of rolling and pitching, and the posture of the flapping wing aircraft can be adjusted by controlling the tail wing through the two steering engines.
In some embodiments, the current state data of the bionic ornithopter is acquired through a sensor and a position acquisition device which are arranged on the bionic ornithopter, and a corresponding control instruction is issued through a processor according to the state data, so that the bionic ornithopter can realize autonomous take-off, cruise and landing according to a corresponding control mode.
Referring to fig. 3, the embodiment of fig. 3 divides the flight area of the aircraft into four areas in a concentric circle manner when the bionic ornithopter flies, and the four areas are a self-stabilizing area, a direct flight area, a round-winding area and a danger area from inside to outside. Taking the desired circle radius of 25m as an example, the size of each region can be set as: the self-stabilizing area is an area with R less than 7m, the straight flying area is an area with R less than 20m and R less than 20m, the self-stabilizing area is an area with R more than 30m and R more than 30m, and specific numerical values can be modified according to actual conditions.
In the area division example of fig. 3, in some embodiments, the steps of takeoff control are: firstly, a throwing person holds the flapping wing aircraft by hand, and after the flapping wing aircraft flaps the wings at a certain frequency, the throwing person runs and throws the flapping wing aircraft obliquely upwards to ensure that the flapping wing aircraft has initial forward speed; detecting the acceleration of the flapping wing aircraft through a sensor on the flapping wing aircraft, and allowing the flapping wing aircraft to flap the wings at a fixed frequency to enable the height of the flapping wing aircraft to rise when the detected acceleration reaches a preset value, namely the flapping wing aircraft has a takeoff condition; the height of the flapping wing aircraft is detected through a sensor on the flapping wing aircraft, and when the detected height reaches a preset value, the flapping wing aircraft can enter a cruising stage.
Referring to fig. 4, the embodiment provides an autonomous cruise flow diagram of the bionic ornithopter. The flow is as follows:
s210, enabling the bionic flapping wing aircraft flying in autonomous cruise flight to fly around an expected circle, wherein the expected circle comprises an expected circle radius and an expected circle center, and the expected circle is divided into a self-stabilizing area, a straight flying area, a circle-surrounding area and a dangerous area from inside to outside according to the expected circle center and the expected circle radius;
s220, acquiring the real-time position of the bionic flapping wing aircraft, determining the area where the bionic flapping wing aircraft is located, and executing corresponding cruise flight control.
In some embodiments, cruise flight control comprises at least one of:
(1) when the bionic flapping wing aircraft is located in the self-stabilization area, the bionic flapping wing aircraft is close to the expected circle center, and the bionic flapping wing aircraft is controlled to be in a self-stabilization flight mode, so that the bionic flapping wing aircraft keeps stable flight, and further flies to the straight flight area.
In some embodiments, referring to fig. 5, the takeoff position of the ornithopter is taken as a desired circle center, and the ornithopter is located in a self-stabilizing area during takeoff, and the ornithopter is controlled to be in a self-stabilizing mode. And in the self-stabilization mode, the expected pitch angle and the expected roll angle are set to be zero, and when the attitude of the ornithopter deflects to one side in the roll or pitch direction, the attitude of the ornithopter is adjusted to the other side. Because the area of the self-stabilization area is small and is near the circle center, if the flapping-wing aircraft is subjected to course control in the self-stabilization area, the situation that the control quantity is too large and changes rapidly is easily caused, and a good control effect cannot be achieved.
(2) When the bionic flapping wing aircraft is positioned in a direct flight area, the bionic flapping wing aircraft moves outwards along the radial direction in a linear flight mode, so that the bionic flapping wing aircraft flies to an expected circle.
In some embodiments, referring to FIG. 6, the ornithopter is controlled to be in a straight flight mode when the ornithopter is in a straight flight zone. The ornithopter should now fly radially outward to the desired circle, and thus radially outward is the desired heading of the ornithopter. The real-time position of the flapping wing aircraft can be solved by carrying a GPS (global positioning system) on the flapping wing aircraft, and the unit radial vector of the flapping wing aircraft relative to the circle center can be obtained
And unit tangential vector
The real-time attitude of the flapping-wing aircraft can be solved by carrying an inertial sensor, a magnetometer and the like on the flapping-wing aircraft, so that the unit course vector of the flapping-wing aircraft can be obtained
Dot product of unit tangential vector and unit course vector
Then is the control quantity of the heading of the flapping wing aircraft, when u ψ When the angle is more than 0, the flapping wing aircraft should deflect to the right when u ψ When the angle is less than 0, the flapping wing aircraft should deflect leftwards, and the deflection amount is largeSmall and u ψ Is related to the magnitude of the absolute value of (c).
(3) When the bionic flapping wing aircraft is positioned in the circle-winding area, the bionic flapping wing aircraft executes a circle-winding flight mode by taking the expected circle center as the center.
In some embodiments, referring to FIG. 7, the ornithopter is controlled to be in a circle-orbiting flight mode when the ornithopter is positioned in the circle-orbiting region. At this time, the flapping wing aircraft should fly along the expected circle, and if the flapping wing aircraft is just positioned on the expected circle, the tangential direction is the expected heading direction of the flapping wing aircraft. At this time, the dot product of the unit radial vector and the unit heading vector
The control quantity of the heading of the flapping wing aircraft is obtained when
When the flapping wing aircraft should deflect to the right, when u' ψ < 0, the flapping wing aircraft should deflect to the left by u' ψ Is related to the magnitude of the absolute value of (c).
The course of the flapping wing air vehicle is changed by mainly adjusting the roll angle of the flapping wing air vehicle, and the expected roll angle can be obtained according to the thought
Linear flight mode:
round-the-round flight mode:
wherein,
is the desired roll angle coefficient.
Instability can be caused by too large roll angle of the ornithopter, so the size of the expected roll angle needs to be limited, and in the embodiment, the range of the expected roll angle is limited to [ -40 degrees, 40 degrees ] according to flight experience
When the flapping wing aircraft flies straight, the lift force generated by wing flapping is balanced with gravity, but when the flapping wing aircraft turns, because a part of centripetal force needs to be provided, the lift force in the vertical direction is reduced, and the flying height is reduced. In order to maintain the flying height, the flapping wing aircraft needs to increase the flying attack angle when turning, so that the pitch angle is expected to be
Wherein,
to expect pitch coefficient, θ offset The pitch angle bias constant is θ in this embodiment according to flight experience offset ＝15°。
In some embodiments, referring to FIG. 8, when the ornithopter is located in the circle-around region, it is less likely to be located exactly on the desired circle, and the amount of yaw to control the ornithopter is related not only to the ornithopter's heading, but also to the ornithopter's position, requiring further adjustment. Desired circle radius of R d The distance R between the flapping wing air vehicle and the circle center can be obtained by position calculation c Then the difference is Δ R ═ R d -R c . When the delta R is larger than 0, the flapping wing aircraft is positioned on the inner side of the expected circle and should deflect to the right, and when the delta R is smaller than 0, the flapping wing aircraft is positioned on the outer side of the expected circle and should deflect to the left, and the magnitude of the deflection is related to the magnitude of the absolute value of the delta R.
(4) When the bionic ornithopter is positioned in the dangerous area, at least one of the processes of increasing the flight deflection angle, advancing in a straight flight mode along the radial direction inwards or descending is adopted.
In some embodiments, when the ornithopter is in the danger zone, the ornithopter is far away from the expected circle, and the ornithopter is controlled to move radially inwards to move in a straight flight mode when the distance is too far, so as to return to the circle zone as soon as possible, or directly give a landing signal to land.
In some embodiments, PID control methods are used for control of the ornithopter. The proportional-differential control is adopted for the radial position, so that the damping degree of the flapping wing system can be increased, the overshoot and the adjusting time are reduced, and the response speed of the system is improved. The expression formula is as follows:
u r (k)＝K Pr e r (k)+K Dr [e r (k)-e r (k-1)]
wherein u is r (k) For proportional control of radial position, e r (k) For differential control of radial position, K Pr Controlling the proportionality coefficient, K, for radial position Dr Controlling the differential coefficient, K, for radial position r Is the radial position error scaling factor.
PI control is used for the roll angle. For a flapping wing system, the action of strong wind can be regarded as a strong disturbance at low frequency, which increases the steady state error of the system. After PI control is adopted, steady-state errors can be reduced to a great extent as long as system parameters are properly selected. The expression formula is as follows:
wherein u is φ (k) For proportional control of the roll angle e φ (k) For integral control of roll angle, K Pφ For controlling the roll angle by the proportional coefficient, K Iφ Controlling the integral coefficient, phi, for the roll angle d (k) Phi (k) is the actual roll angle of the ornithopter.
PD control is adopted for the pitch angle, so that on one hand, the pitch steering engine can be ensured to respond to the change of the pitch angle quickly, and the flapping wing robot can maintain a certain attack angle in the flying process, and the self attitude is stabilized; on the other hand, overshoot is reduced, and the upward pitching amplitude of the empennage is limited, so that the resistance in the flight process is reduced. The expression formula is as follows:
u θ (k)＝K Pθ e θ (k)+K Dθ [e rθ (k)-e rθ (k-1)]
e θ (k)＝θ d (k)-θ(k)
wherein u is θ (k) For proportional control of pitch angle, e θ (k) For differential control of pitch angle, K Pθ Controlling the proportionality coefficient for pitch angle, K Dθ Controlling the differential coefficient, theta, for pitch angle d (k) The desired pitch angle for the ornithopter is θ (k) the actual pitch angle for the ornithopter.
In the flight process of the flapping wing aircraft, the roll of the empennage simultaneously influences the yaw and the roll of the flapping wing aircraft, the controlled variable of the roll steering engine needs course control and roll control combined action in a linear flight mode, and the expression is as follows:
wherein u is m To control the quantity, K L u φ For course control, (1-K) L )u′ ψ For roll control, K L Is a linear scale factor.
In a round-robin flight mode, heading control and radial position control are mainly considered for the control quantity of a rolling steering engine, and the expression is as follows:
u m ＝K m u r +(1-K m )u ψ
wherein u is m To control the amount, K m u r For course control, (1-K) m )u ψ For roll control, K m Is the course position scaling factor.
In some embodiments, the control of the pitch actuator is adjusted solely by the pitch control.
Referring to fig. 9, the embodiment provides a schematic diagram of a final autonomous landing process of the bionic ornithopter, and the process includes:
s310, acquiring a landing instruction, and determining the real-time position of the bionic flapping wing aircraft;
and S320, determining the area where the bionic ornithopter is located according to the real-time position, and executing corresponding landing flight control, wherein the area comprises a self-stabilizing area, a direct flight area, a circle-winding area and a danger area.
In some embodiments, the landing flight control comprises at least one of:
when the flapping wing aircraft is positioned in a circle winding area or a dangerous area, the flapping frequency of the bionic flapping wing aircraft is reduced to zero, so that the bionic flapping wing aircraft can hover in a gliding mode under the action of gravity;
when the flapping wing aircraft is located in a self-stabilizing area or a direct flight area, the circle center of the area is used as a target point, the bionic flapping wing aircraft is controlled to reduce the flapping frequency of the wings, the bionic flapping wing aircraft flies towards the circle center in a linear flight mode, and when the flapping wing aircraft is detected to be lower than a preset value, the flapping frequency of the wings of the flapping wing aircraft is reduced to zero, so that the flapping wing aircraft lands in a gliding mode under the action of gravity.
In some embodiments, a landing command is sent to the flapping wing aircraft in the cruise mode, and after the flapping wing aircraft receives the command, different landing controls are performed according to the area where the real-time position of the flapping wing aircraft is located; when the flapping wing aircraft is positioned in a circle winding area or a dangerous area, the flapping frequency of the wings of the flapping wing aircraft is reduced to zero, so that the flapping wing aircraft can hover in a gliding way under the action of gravity; when the flapping wing aircraft is located in a self-stabilizing area or a direct flight area, the circle center is used as a target point, the flapping wing aircraft is controlled to reduce the flapping frequency of the wings, the flapping wing aircraft flies towards the circle center in a linear flight mode, and when the flapping wing aircraft is detected to be lower than a preset value, the flapping frequency of the wings of the flapping wing aircraft is reduced to zero, so that the flapping wing aircraft can land in a gliding mode under the action of gravity.
It should be recognized that the method steps in embodiments of the present invention may be embodied or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention may also include the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A take-off full-autonomous control method of a bionic flapping wing aircraft is characterized by comprising the following steps:
s110, enabling the bionic ornithopter to flap wings at a first frequency, and further throwing out the bionic ornithopter at a first elevation angle so as to enable the bionic ornithopter to obtain a first advancing speed;
s120, acquiring the acceleration of the bionic ornithopter, and flapping the wings of the bionic ornithopter at a second frequency to enable the flight height of the bionic ornithopter to rise when the acquired acceleration is larger than a first preset value, wherein the first preset value is used for determining whether the bionic ornithopter executes autonomous takeoff control;
s130, acquiring the flying height of the bionic flapping wing aircraft, and enabling the bionic flapping wing aircraft to enter a cruising stage when the flying height is larger than a second preset value.
2. The cruise all-autonomous control method of the bionic flapping wing aircraft is characterized by comprising the following steps:
s210, enabling the bionic flapping wing aircraft flying in autonomous cruise flight to fly around an expected circle, wherein the expected circle comprises an expected circle-surrounding radius and an expected circle center, and the expected circle is divided into a self-stabilizing area, a straight flying area, a circle-surrounding area and a dangerous area from inside to outside according to the expected circle center and the expected circle-surrounding radius;
s220, acquiring the real-time position of the bionic flapping-wing aircraft, determining the area where the bionic flapping-wing aircraft is located, and executing corresponding cruise flight control;
the cruise flight control includes at least one of:
when the bionic flapping-wing aircraft is positioned in the self-stabilizing area, the bionic flapping-wing aircraft is close to the expected circle center, and the bionic flapping-wing aircraft is controlled to be in a self-stabilizing flight mode, so that the bionic flapping-wing aircraft keeps stable in flight and further flies to the direct flight area;
when the bionic flapping wing aircraft is positioned in a straight flight area, the bionic flapping wing aircraft moves outwards along the radial direction in a straight flight mode, so that the bionic flapping wing aircraft flies to the expected circle;
when the bionic flapping wing air vehicle is positioned in a circle winding area, the bionic flapping wing air vehicle executes a circle winding flight mode by taking the expected circle center as the center;
when the bionic ornithopter is positioned in a dangerous area, at least one of the processes of increasing the flight deflection angle of the bionic ornithopter, advancing in a straight-line flight mode along the radial direction inwards or dropping is adopted.
3. The method of claim 2, comprising:
and in the self-stabilizing flight mode, the course angle of the bionic ornithopter is not concerned, an expected rolling angle and an expected pitching angle are set to be zero, and when the attitude of the bionic ornithopter is obtained and deflects to one side in the rolling or pitching direction, the attitude is adjusted to the other side.
4. The method of claim 2, wherein the method comprises:
the linear flight mode determines the deflection direction and the expected course deflection quantity of the bionic flapping-wing aircraft in the linear flight mode according to the value of the dot product by acquiring the dot product of the unit tangential vector and the unit course vector of the real-time position of the bionic flapping-wing aircraft;
when the dot product is a positive value, the deflection direction is right; when the dot product is a negative value, the deflection direction is left; the desired amount of heading deflection is determined by the absolute value of the dot product.
5. The method of claim 2, wherein the method comprises:
the circle-winding flight mode obtains the dot product of a unit radial vector and a unit course vector of the real-time position of the bionic flapping-wing aircraft, and determines the deflection direction and the expected course deflection of the bionic flapping-wing aircraft in the circle-winding flight mode according to the value of the dot product;
the expected course deflection amount of the round-robin flight mode is determined by the absolute value of the dot product, and the control mode of the round-robin flight mode comprises at least one of the following conditions:
when the dot product is a positive value, the deflection direction is right;
when the dot product is negative, the deflection direction is left.
6. The method of claim 4 or 5, wherein it comprises:
the method comprises the steps of adjusting the course of the bionic ornithopter by adjusting a roll angle, obtaining an expected roll angle of the bionic ornithopter according to expected course deflection, and determining the pitch angle of the bionic ornithopter by the expected roll angle, wherein the pitch angle is required to be adjusted to maintain the flying height when the bionic ornithopter turns, and the expected pitch angle can be obtained according to the expected roll angle.
7. The method of claim 6, comprising:
adopting a PID control method to control the position and the attitude of the flapping wing air vehicle, wherein PD control is adopted for the radial position, PI control is adopted for the roll angle, and PD control is adopted for the pitch angle;
the PD control adopts proportional-differential control on the radial position, and the formula of the PD control is as follows:
u r (k)＝K Pr e r (k)+K Dr [e r (k)-e r (k-1)]
wherein u is r (k) For proportional control of radial position, e r (k) For differential control of radial position, K Pr Controlling the proportionality coefficient, K, for radial position Dr Controlling the differential coefficient, K, for radial position r Is a radial position error proportionality coefficient;
the PI control adopts proportional-integral control to the roll angle, and the formula is as follows:
wherein u is φ (k) For proportional control of the roll angle, e φ (k) For integral control of roll angle, K Pφ Controlling the proportionality coefficient for roll angle, K Iφ Controlling the integral coefficient, phi, for the roll angle d (k) The expected roll angle of the flapping wing aircraft is shown, and phi (k) is the actual roll angle of the flapping wing aircraft;
the PD control formula is as follows:
u θ (k)＝K Pθ e θ (k)+K Dθ [e rθ (k)-e rθ (k-1)]
e θ (k)＝θ d (k)-θ(k)
wherein u is θ (k) For proportional control of pitch angle, e θ (k) For differential control of pitch angle, K Pθ Controlling the proportionality coefficient for pitch angle, K Dθ Controlling the differential coefficient, theta, for pitch angle d (k) The desired pitch angle for the ornithopter is θ (k) the actual pitch angle for the ornithopter.
8. The method of claim 2, comprising:
the control mode and deflection of the round flying mode are determined according to the difference between the radius of the real-time position of the bionic flapping wing aircraft and the radius of the expected circle;
the control mode comprises at least one of the following conditions:
if the bionic ornithopter is positioned on the inner side of the expected circle, controlling the bionic ornithopter to deflect rightwards;
and if the bionic ornithopter is positioned on the outer side of the expected circle, controlling the bionic ornithopter to deflect leftwards.
9. The method of claim 2, comprising:
the control quantity of the rolling steering engine in the linear flight mode is determined through course control and rolling control, and the expression is as follows:
wherein u is m To control the quantity, K L u φ For course control, (1-K) L )u′ ψ For roll control, K L Is a linear proportionality coefficient;
in the circle-winding flight mode, the control quantity of the rolling steering engine is determined through course control and radial position control, and the expression formula is as follows:
u m ＝K m u r +(1-K m )u ψ
wherein u is m To control the quantity, K m u r For course control, (1-K) m )u ψ For roll control, K m And the heading position proportionality coefficient.
And controlling the control quantity of the pitching steering engine through the pitch angle control quantity.
10. A full-autonomous landing control method of a bionic flapping-wing aircraft is characterized by comprising the following steps:
s310, acquiring a landing instruction, and determining the real-time position of the bionic flapping wing aircraft;
s320, determining the area where the bionic ornithopter is located according to the real-time position, and executing corresponding landing flight control, wherein the area comprises a self-stabilizing area, a direct flight area, a circle-winding area and a danger area;
the landing flight control includes at least one of:
when the flapping wing aircraft is positioned in a circle winding area or a dangerous area, the flapping frequency of the bionic flapping wing aircraft is reduced to zero, so that the bionic flapping wing aircraft can hover in a gliding mode under the action of gravity;
when the flapping wing aircraft is located in a self-stabilizing area or a direct flight area, the circle center of the area is used as a target point, the bionic flapping wing aircraft is controlled to reduce the flapping frequency of the wings and fly towards the circle center in a linear flight mode, and when the situation that the height of the flapping wing aircraft is lower than a preset value is detected, the flapping frequency of the wings of the flapping wing aircraft is reduced to zero, so that the flapping wing aircraft lands in a gliding mode under the action of gravity.
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