CN115826624B - Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear - Google Patents
Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear Download PDFInfo
- Publication number
- CN115826624B CN115826624B CN202310133132.0A CN202310133132A CN115826624B CN 115826624 B CN115826624 B CN 115826624B CN 202310133132 A CN202310133132 A CN 202310133132A CN 115826624 B CN115826624 B CN 115826624B
- Authority
- CN
- China
- Prior art keywords
- representing
- moment
- aerial vehicle
- unmanned aerial
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000004044 response Effects 0.000 claims abstract description 26
- 230000008859 change Effects 0.000 claims description 62
- 238000010276 construction Methods 0.000 claims description 14
- 230000036039 immunity Effects 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000005764 inhibitory process Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 8
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned aerial vehicle anti-interference method and an anti-interference system aiming at sea surface low-altitude crosswind shear, 1) a moment equation set of an unmanned aerial vehicle is established; 2) According to wind disturbance characteristics, converting the moment equation set into an unmanned aerial vehicle disturbance rejection equation set of sea surface low-altitude side wind shear; 3) Acquiring a corresponding simplified variable equation set; 4) Solving and acquiring gesture control response
，
Wherein
The aileron yaw angle is indicated,
indicating rudder deflection angle; 5) Continuously feeding back new sideslip angle caused by crosswind shear to the control system, and repeatedly solving a variable quantity equation set to adjust
，
Thereby causing the drone to swing back to a steady cruising state. The anti-jamming method and the anti-jamming system can enable the unmanned aerial vehicle to keep stable in posture under the interference of the sea surface low-altitude side wind shear, manual correction is not needed, the anti-jamming method and the anti-jamming system have a good inhibition effect on disturbance brought by the sea surface low-altitude side wind shear to the unmanned aerial vehicle, and meanwhile, the anti-jamming method and the anti-jamming system cannot bring large extra weight to the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of offshore use of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle anti-interference method and an anti-interference system aiming at sea surface low-altitude crosswind shear.
Background
In recent years, unmanned aerial vehicles have been increasingly used in the anti-diving field. When the unmanned aerial vehicle is in the anti-diving state, the unmanned aerial vehicle flies at the sea surface low altitude, so the unmanned aerial vehicle needs to have anti-interference capability for various wind disturbances at the sea surface low altitude. Crosswind shear is one of the wind disturbances that often occur in the sea low altitudes. Fan Guoliang is equal to 2008, a landing control method under the side wind shear is given in a lateral guidance-based anti-side wind landing track tracking control method, and landing control under the side wind shear is completed through ground speed guidance. However, when the sea surface cruises and flies, the ground speed is difficult to obtain, and meanwhile, the cruising and flying processes are quite different from the landing processes, so that the research on the anti-jamming method and the anti-jamming system of the unmanned aerial vehicle under the influence of the side wind shear is of great significance to the development of the unmanned aerial vehicle anti-diving field.
Disclosure of Invention
The invention aims to solve the problem that an unmanned aerial vehicle cannot keep a stable flight attitude due to interference caused by the influence of sea surface low-altitude side wind shear, and provides an unmanned aerial vehicle anti-jamming method and an anti-jamming system aiming at the sea surface low-altitude side wind shear, which provide technical reference for the unmanned aerial vehicle to fly under the influence of the sea surface low-altitude side wind shear.
The invention provides an unmanned aerial vehicle disturbance rejection method and a disturbance rejection system aiming at sea surface low-altitude crosswind shear.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle anti-interference method for sea surface low-altitude crosswind shear comprises the following steps:
firstly, establishing a moment equation set of the unmanned aerial vehicle;
step two, converting the moment equation set into an unmanned aerial vehicle anti-disturbance equation set of sea surface low-altitude crosswind shear according to wind disturbance characteristics;
thirdly, eliminating the trimmed physical quantity of the unmanned aerial vehicle anti-interference equation set in the cruising state, and obtaining a simplified variable quantity equation set;
fourth, solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
and />
, wherein />
Representing aileron yaw angle, +.>
Indicating rudder deflection angle;
continuously feeding back a new sideslip angle caused by crosswind shear to the control system, and repeatedly solving the variable equation set to adjust
、/>
And thus swings back to a steady cruise condition.
Preferably, in the first step, a moment equation set of the unmanned aerial vehicle is established as follows:
wherein ,lthe roll moment is indicated as the moment of roll,mrepresenting the moment of pitch and the moment of pitch,nrepresenting yaw moment;
representing the elevator deflection angle;αthe angle of attack is indicated as such,βrepresenting sideslip angle;pindicating the roll angle speed,qrepresenting the pitch angle rate of the vehicle,rrepresenting yaw rate;Vrepresenting a wind speed component in the forward direction of the unmanned aerial vehicle; />
Represents dynamic pressure;bindicating the span length of the machine;crepresenting wing chord length;Arepresenting wing area;
Preferably, in the second step, the unmanned aerial vehicle anti-interference equation set for converting the moment equation set into sea surface low-altitude side wind shear according to wind interference features is specifically:
assuming that the stable state is the plane flying cruising state of the unmanned plane, the unmanned plane has no sideslip, namely sideslip angleβ=0, at the same time rudder deflection angle
Aileron yaw angle->
Does not participate in balancing, i.e.)>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the The disturbance is crosswind shear, the crosswind shear causes the sideslip angle and the rolling moment to change, and the moment equation set becomes:
in the formula ,ΔβIndicating the variation of sideslip angle, deltalIndicating the variation of the rolling moment, deltanIndicating the amount of change in yaw moment.
Preferably, in the third step, the physical quantity trimmed by the unmanned aerial vehicle immunity equation set in the cruising state is eliminated, and the simplified variable equation set is obtained specifically as follows:
the trimmed physical quantity equation is:
the system of variation equations that cancel the steady-state quantity becomes:
preferably, in the fourth step, the unmanned aerial vehicle attitude control response is obtained according to the change amount equation set
and />
The method comprises the following steps:
an unmanned aerial vehicle immunity system for sea surface low-altitude crosswind shear, comprising:
the system comprises a control system, an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the control system is respectively connected with an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the unmanned aerial vehicle is in an automatic anti-interference state; wherein,
the initial moment equation set construction module: establishing a moment equation set of the unmanned aerial vehicle;
unmanned aerial vehicle anti-jamming equation system construction module: according to wind disturbance characteristics, converting the moment equation set into an unmanned aerial vehicle disturbance rejection equation set of sea surface low-altitude crosswind shear;
unmanned aerial vehicle immunity equation system simplification module: eliminating the trimmed physical quantity of the unmanned aerial vehicle immunity equation set in the cruising state, and obtaining a simplified variable equation set;
and the gesture control response solving module: solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
and />
, wherein />
Representing aileron yaw angle, +.>
Indicating rudder deflection angle;
sideslip angle feedback module: continuously feeding back a new sideslip angle caused by crosswind shear to the control system;
and (3) a control system: after receiving the new sideslip angle fed back by the sideslip angle feedback module, the repeated control gesture control response solving module solves the variable quantity equation set to adjust
、/>
Thereby causing the drone to swing back to a steady cruising state.
Preferably, the initial torque equation set construction module establishes a torque equation set of the unmanned aerial vehicle as follows:
wherein ,lthe roll moment is indicated as the moment of roll,mrepresenting the moment of pitch and the moment of pitch,nrepresenting the moment of yaw,
indicating the deflection angle of the elevator,αrepresents the attack angle of the unmanned aerial vehicle,βindicating the slip angle of the slide,pindicating the roll angle speed,qrepresenting the pitch angle rate of the vehicle,rthe yaw rate is indicated as such,Vindicating speed, & lt->
The dynamic pressure is indicated by the expression,bindicating that the machine span is long,cthe chord length of the wing is represented,Arepresenting wing area;
Preferably, the unmanned aerial vehicle immunity equation set construction module converts the moment equation set into an unmanned aerial vehicle immunity equation set of sea surface low-altitude crosswind shear according to wind disturbance characteristics specifically comprises:
assuming that the stable state is the plane flying cruising state of the unmanned plane, the unmanned plane has no sideslip, namely sideslip angleβ=0, at the same time rudder deflection angle
Aileron yaw angle->
Does not participate in balancing, i.e.)>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the The disturbance is crosswind shear, the crosswind shear causes the sideslip angle and the rolling moment to change, and the moment equation set becomes:
in the formula ,ΔβIndicating the variation of sideslip angle, deltalIndicating the variation of the rolling moment, deltanIndicating the amount of change in yaw moment.
Preferably, the unmanned aerial vehicle immunity equation set simplification module eliminates the physical quantity trimmed by the unmanned aerial vehicle immunity equation set in the cruising state, and the simplified variable quantity equation set is obtained specifically as follows:
the trimmed physical quantity equation is:
the system of variation equations that cancel the steady-state quantity becomes:
preferably, the gesture control response solving module solves and obtains the gesture control response of the unmanned aerial vehicle according to the variable equation set
and />
The method comprises the following steps: />
Compared with the prior art, the invention has the advantages and positive effects that:
1) The unmanned aerial vehicle anti-jamming method and the anti-jamming system for the sea surface low-altitude crosswind shear provided by the invention are characterized in that under the influence of the crosswind shear on sideslip angles, pitching moment and yaw moment, the unmanned aerial vehicle can keep stable posture under the influence of the sea surface low-altitude crosswind shear without artificial correction.
2) The method provided by the invention has a good inhibition effect on disturbance brought by sea surface low-altitude crosswind shear to the unmanned aerial vehicle, and meanwhile, the anti-interference method and the anti-interference system provided by the invention can not bring larger extra weight to the unmanned aerial vehicle.
Drawings
For a clearer description of an embodiment of the invention or of the solutions of the prior art, reference will be made to the accompanying drawings, which are used in the embodiments and which are intended to illustrate, but not to limit the invention in any way, the features and advantages of which can be obtained according to these drawings without inventive labour for a person skilled in the art. Wherein:
FIG. 1 is a flow chart of an unmanned aerial vehicle anti-jamming method for sea surface low-altitude crosswind shear;
fig. 2 is a diagram of an unmanned aerial vehicle anti-interference system aiming at sea surface low-altitude crosswind shear.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and by way of examples in order to make the objects, technical solutions and advantages of the invention more apparent.
In this embodiment, an unmanned aerial vehicle anti-interference method and an anti-interference system design under sea surface low-altitude crosswind shear interference are performed for a certain unmanned aerial vehicle as an example.
According to the unmanned aerial vehicle disturbance rejection method and the disturbance rejection system for the sea surface low-altitude crosswind shear, the unmanned aerial vehicle moment equation set is simplified and solved, so that the disturbance rejection method and the disturbance rejection system which can keep the stable posture of the unmanned aerial vehicle under the influence of the sea surface low-altitude crosswind shear are obtained.
The embodiment sets the working condition to be 100m flying height, and the unmanned aerial vehicle keeps before being disturbed by low-altitude crosswind shearV=100 m/s flat fly cruise condition, no sideslip.
As shown in fig. 1, an unmanned aerial vehicle anti-interference method for sea surface low-altitude crosswind shear comprises the following steps:
the first step, a moment equation set of the unmanned aerial vehicle is established as follows:
the symbols are as follows:
wherein ,lthe roll moment is indicated as the moment of roll,mrepresenting the moment of pitch and the moment of pitch,nrepresenting the moment of yaw,
indicating the deflection angle of the elevator,αrepresents the attack angle of the unmanned aerial vehicle,βindicating the slip angle of the slide,pindicating the roll angle speed,qrepresenting the pitch angle rate of the vehicle,rthe yaw rate is indicated as such,Vindicating speed, & lt->
The dynamic pressure is indicated by the expression,bindicating that the machine span is long,cthe chord length of the wing is represented,Arepresenting wing area; />
Representing the roll moment coefficient of the unmanned plane body along the X axis,>
representing the pitch moment coefficient of the unmanned plane body along the Y axis,/->
Representing the yaw moment coefficient of the unmanned aerial vehicle body along the Z axis; />
Representing the rate of change of the roll moment coefficient with respect to the aileron yaw angle, +.>
Representing the rate of change of the roll moment coefficient with respect to rudder deflection angle, +.>
Indicating the rate of change of the roll moment coefficient with respect to the roll angle speed,/->
Representing the rate of change of the roll torque coefficient with respect to yaw rate; />
Representing the rate of change of the pitch moment coefficient with respect to the elevator yaw angle, +.>
Representing the rate of change of the pitch moment coefficient with respect to the pitch angle rate; />
Representing the rate of change of the yaw moment coefficient with respect to the aileron yaw angle,/->
Representing the rate of change of the yaw moment coefficient with respect to the rudder deflection angle,/->
Representing the rate of change of the yaw moment coefficient with respect to the roll angle speed,/->
Indicating the rate of change of the yaw moment coefficient with respect to the yaw rate.
And secondly, converting the moment equation set into an equation set researched by the unmanned aerial vehicle anti-disturbance problem of sea surface low-altitude crosswind shear according to wind disturbance characteristics. Under sea low latitude crosswind shear interference, unmanned aerial vehicle will receive new wind disturbance on the Y-axis, and it will make unmanned aerial vehicle sideslip angle change, simultaneously, because the center of pressure of crosswind shear does not coincide with unmanned aerial vehicle focus, the wind is different on the two wings of unmanned aerial vehicle, leads to the lift imbalance of two wings to can produce a roll moment loading on unmanned aerial vehicle. In the whole process, the moment and the attack angle in the pitching direction have small changes and can be ignored.
Assuming that the stable state is the plane flying cruising state of the unmanned plane, no sideslip exists, namelyβ=0, at the same time rudder deflection angle
Aileron yaw angle->
Does not participate in balancing, i.e.)>
，/>
. The disturbance is crosswind shear, which causes the sideslip angle and the roll moment to change. The set of moment equations becomes:
in the formula ,ΔβIndicating the variation of sideslip angle, deltalIndicating the variation of the rolling moment, deltanIndicating the amount of change in yaw moment.
And thirdly, eliminating the trimmed physical quantity in the equation set under the cruising state, and obtaining the simplified variable equation set. In a physical sense, this step is to cancel the steady state quantity from the system of equations, focusing the problem on the change quantity. The trimmed physical quantity equation in the equation set is:
none of the equations
、/>
The reason for (1) is +.>
、/>
Does not participate in balancing. The system of variation equations that cancel the steady-state quantity becomes: />
Fourth, solving and obtaining attitude control response according to the variable quantity equation set
and />
. Obtaining:
namely, the gesture control response. Because the formula has pneumatic derivative related to the sideslip angle, the sideslip angle is changed continuously in the control process, and the sideslip angle is fed back to the control system continuously to change the deflection angle of the control surface in the process.
And fifthly, feeding back the sideslip angle to the control system. In the first four steps, it can be seen that the operations of the first, second, and third steps are not different regardless of the variation of the slip angle, while the fourth step requires continuous reception of the slip angle data to adjust
、/>
Is of a size of (a) and (b). And thus the sideslip angle is fed back to the fourth step.
The disturbance rejection process will quickly generate attitude control response when crosswind shear occurs, and the unmanned attitude will gradually tend to a new steady state under crosswind shear over time. After the influence of the crosswind shear disappears, the sideslip angle becomes negative, and the unmanned aerial vehicle can still be changed by feeding back the sideslip angle through the fifth step
、/>
And thus swings back to a steady cruise condition. In the whole process in automatic resistanceThe scrambling state does not require additional human manipulation.
As shown in fig. 2, the present invention further provides an unmanned aerial vehicle anti-interference system for sea surface low-altitude crosswind shear, including:
the system comprises a control system, an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the control system is respectively connected with an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the whole process is in an automatic anti-interference state; wherein,
the initial moment equation set construction module: establishing a moment equation set of the unmanned aerial vehicle;
unmanned aerial vehicle anti-jamming equation system construction module: according to wind disturbance characteristics, converting the moment equation set into an unmanned aerial vehicle disturbance rejection equation set of sea surface low-altitude crosswind shear;
unmanned aerial vehicle immunity equation system simplification module: eliminating the trimmed physical quantity of the unmanned aerial vehicle immunity equation set in the cruising state, and obtaining a simplified variable equation set;
and the gesture control response solving module: solving and acquiring attitude control response according to the variable quantity equation set
，/>
, wherein />
Representing aileron yaw angle, +.>
Indicating rudder deflection angle;
sideslip angle feedback module: continuously feeding back a new sideslip angle caused by crosswind shear to the control system;
the control system receives new feedback from the sideslip angle feedback moduleAfter the sideslip angle, the repeated control gesture control response solving module solves the variable quantity equation set to adjust
、/>
Thereby causing the drone to swing back to a steady cruising state.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. An unmanned aerial vehicle anti-interference method for sea surface low-altitude crosswind shear is characterized by comprising the following steps of:
firstly, establishing a moment equation set of the unmanned aerial vehicle;
step two, converting the moment equation set into an unmanned aerial vehicle anti-disturbance equation set of sea surface low-altitude crosswind shear according to wind disturbance characteristics;
thirdly, eliminating the trimmed physical quantity of the unmanned aerial vehicle anti-interference equation set in the cruising state, and obtaining a simplified variable quantity equation set;
fourth, solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
and />
, wherein />
Representing aileron yaw angle, +.>
Indicating rudder deflection angle;
continuously feeding back a new sideslip angle caused by crosswind shear to the control system, and repeatedly solving the variable equation set to adjust
、/>
The unmanned aerial vehicle swings back to a stable cruising state;
the first step, a moment equation set of the unmanned aerial vehicle is established as follows:
wherein ,lthe roll moment is indicated as the moment of roll,mrepresenting the moment of pitch and the moment of pitch,nrepresenting yaw moment;
representing the elevator deflection angle;αthe angle of attack is indicated as such,βrepresenting sideslip angle;pindicating the roll angle speed,qrepresenting the pitch angle rate of the vehicle,rrepresenting yaw rate;Vrepresenting a wind speed component in the forward direction of the unmanned aerial vehicle; />
Represents dynamic pressure;bindicating the span length of the machine;crepresenting wing chord length;Arepresenting wing area;
the second step, converting the moment equation set into an unmanned aerial vehicle anti-interference equation set of sea surface low-altitude crosswind shear according to wind disturbance characteristics specifically comprises the following steps:
assuming that the stable state is the plane flying cruising state of the unmanned plane, the unmanned plane has no sideslip, namely sideslip angleβ=0, at the same time rudder deflection angle
Aileron yaw angle->
Does not participate in balancing, i.e.)>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the The disturbance is crosswind shear, the crosswind shear causes the sideslip angle and the rolling moment to change, and the moment equation set becomes:
in the formula ,ΔβIndicating the variation of sideslip angle, deltalIndicating the variation of the rolling moment, deltanRepresenting the variation of yaw moment;
thirdly, eliminating the trimmed physical quantity of the unmanned aerial vehicle anti-jamming equation set in the cruising state, and acquiring the simplified variable quantity equation set specifically comprises the following steps:
the trimmed physical quantity equation is:
the system of variation equations that cancel the steady-state quantity becomes:
fourth, solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
and />
The method comprises the following steps:
2. an unmanned aerial vehicle immunity system for sea surface low-altitude crosswind shear, comprising:
the system comprises a control system, an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the control system is respectively connected with an initial moment equation set construction module, an unmanned aerial vehicle disturbance rejection equation set simplification module, a sideslip angle feedback module and a gesture control response solving module; the unmanned aerial vehicle is in an automatic anti-interference state; wherein,
the initial moment equation set construction module: establishing a moment equation set of the unmanned aerial vehicle;
unmanned aerial vehicle anti-jamming equation system construction module: according to wind disturbance characteristics, converting the moment equation set into an unmanned aerial vehicle disturbance rejection equation set of sea surface low-altitude crosswind shear;
unmanned aerial vehicle immunity equation system simplification module: eliminating the trimmed physical quantity of the unmanned aerial vehicle immunity equation set in the cruising state, and obtaining a simplified variable equation set;
and the gesture control response solving module: solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
And
, wherein />
Representing aileron yaw angle, +.>
Indicating rudder deflection angle;
sideslip angle feedback module: continuously feeding back a new sideslip angle caused by crosswind shear to the control system;
and (3) a control system: after receiving the new sideslip angle fed back by the sideslip angle feedback module, the repeated control gesture control response solving module solves the variable quantity equation set to adjust
、/>
The unmanned aerial vehicle swings back to a stable cruising state;
the set of torque equations for the unmanned aerial vehicle is established as follows:
wherein ,lthe roll moment is indicated as the moment of roll,mrepresenting the moment of pitch and the moment of pitch,nrepresenting the moment of yaw,
indicating the deflection angle of the elevator,αrepresents the attack angle of the unmanned aerial vehicle,βindicating the slip angle of the slide,pindicating the roll angle speed,qrepresenting the pitch angle rate of the vehicle,rthe yaw rate is indicated as such,Vindicating speed, & lt->
The dynamic pressure is indicated by the expression,bindicating that the machine span is long,cthe chord length of the wing is represented,Arepresenting wing area;
according to wind disturbance characteristics, the unmanned aerial vehicle disturbance rejection equation set for converting the moment equation set into sea surface low-altitude crosswind shear is specifically:
assuming that the stable state is the plane flying cruising state of the unmanned plane, the unmanned plane has no sideslip, namely sideslip angleβ=0, at the same time rudder deflection angle
Aileron yaw angle->
Does not participate in balancing, i.e.)>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the The disturbance is crosswind shear, the crosswind shear causes the sideslip angle and the rolling moment to change, and the moment equation set becomes:
in the formula ,ΔβIndicating the variation of sideslip angle, deltalIndicating the variation of the rolling moment, deltanRepresenting the variation of yaw moment;
eliminating the trimmed physical quantity of the unmanned aerial vehicle immunity equation set in the cruising state, and acquiring the simplified variable equation set specifically comprises the following steps:
the trimmed physical quantity equation is:
the system of variation equations that cancel the steady-state quantity becomes:
solving and obtaining unmanned aerial vehicle attitude control response according to the variable quantity equation set
and />
The method comprises the following steps:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310133132.0A CN115826624B (en) | 2023-02-20 | 2023-02-20 | Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310133132.0A CN115826624B (en) | 2023-02-20 | 2023-02-20 | Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115826624A CN115826624A (en) | 2023-03-21 |
| CN115826624B true CN115826624B (en) | 2023-04-28 |
Family
ID=85521818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310133132.0A Active CN115826624B (en) | 2023-02-20 | 2023-02-20 | Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115826624B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415515A (en) * | 2022-01-20 | 2022-04-29 | 中国空气动力研究与发展中心低速空气动力研究所 | Fault-tolerant flight control method for fixed-wing unmanned aerial vehicle in control surface jamming state |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054921A (en) * | 2016-06-22 | 2016-10-26 | 上海拓攻机器人有限公司 | Crosswind control method and system for unmanned helicopter |
| CN109085845B (en) * | 2018-07-31 | 2020-08-11 | 北京航空航天大学 | Autonomous air refueling and docking bionic visual navigation control system and method |
| CN114564047B (en) * | 2022-04-28 | 2022-08-16 | 北京航空航天大学 | Unmanned aerial vehicle constant-speed flight control method considering meteorological conditions |
| CN114859954A (en) * | 2022-05-23 | 2022-08-05 | 辽宁工业大学 | Four-rotor unmanned aerial vehicle attitude fault-tolerant control method considering unknown wind disturbance |
-
2023
- 2023-02-20 CN CN202310133132.0A patent/CN115826624B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114415515A (en) * | 2022-01-20 | 2022-04-29 | 中国空气动力研究与发展中心低速空气动力研究所 | Fault-tolerant flight control method for fixed-wing unmanned aerial vehicle in control surface jamming state |
Non-Patent Citations (1)
| Title |
|---|
| 基于鲁棒伺服LQR的无人机横航向自动着陆控制律设计;王利国;矫永康;;海军航空工程学院学报(第01期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115826624A (en) | 2023-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111123967B (en) | Fixed-wing unmanned aerial vehicle carrier landing control method based on adaptive dynamic inversion | |
| CN109765918B (en) | Robust adaptive compensation control method for unmanned helicopter | |
| CN106970531B (en) | Method for determining mode conversion control strategy of tilt wing vertical take-off and landing unmanned aerial vehicle | |
| CN107491083B (en) | Four-rotor-wing autonomous landing method based on saturation self-adaptive sliding mode control | |
| CN108873929A (en) | A kind of fixed wing aircraft autonomous landing on the ship method and system | |
| CN110209192A (en) | Fighter plane course augmentation control design method | |
| CN109606674A (en) | Tail sitting posture vertical take-off and landing drone and its control system and control method | |
| Buckner et al. | F-16 high-alpha flight control characteristics and control system concept | |
| CN113341693B (en) | Course control method based on asymmetric phase difference and amplitude of flapping wings | |
| CN108639332A (en) | The compound multi-modal flight control method of three rotor wing unmanned aerial vehicles | |
| CN109460055B (en) | Aircraft control capability determining method and device and electronic equipment | |
| CN115826625A (en) | Unmanned aerial vehicle coordinated turning flight method for underwater detection task | |
| CN115016514A (en) | Full-autonomous flight control method for takeoff, cruise and landing of bionic flapping wing aircraft | |
| CN115826624B (en) | Unmanned aerial vehicle anti-interference method and anti-interference system for sea surface low-altitude crosswind shear | |
| CN114564047B (en) | Unmanned aerial vehicle constant-speed flight control method considering meteorological conditions | |
| CN113093809A (en) | Active disturbance rejection controller of composite wing unmanned aerial vehicle and establishing method thereof | |
| CN114035601B (en) | Tilt rotor unmanned aerial vehicle carrier landing method based on H infinite control | |
| CN114967724A (en) | Target surrounding anti-interference control method for quad-rotor unmanned aerial vehicle | |
| Jebakumar et al. | Flight envelope protection for a fighter aircraft | |
| CN110673616A (en) | Limited time fault-tolerant control method for fixed-wing unmanned aerial vehicle based on self-adaptive sliding mode | |
| Mei et al. | High Precision Height Control for Wing-in-Ground Crafts | |
| Atmeh et al. | A nonlinear automatic landing control system for a UAV | |
| CN117311376B (en) | Self-adaptive neural network driving method applied to rotary aircraft | |
| CN115657729B (en) | Unmanned aerial vehicle boundary protection control method considering detection task constraint | |
| CN112015194B (en) | Method for restraining wake disturbance of carrier-based aircraft based on direct lift control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |