CN116009520A - Triaxial stability excitation test method for unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses a triaxial stability excitation test method for an unmanned aerial vehicle, which comprises the following steps: establishing a triaxial stability excitation test mode; setting and judging an excitation signal automatic opening and closing strategy; generating a triaxial control quantity based on triaxial stability excitation test mode and excitation signal automatic opening and closing strategy setting and judging; wherein the triaxial control quantity is a transverse control quantity, a longitudinal control quantity and a heading control quantity; and according to the triaxial control quantity, completing triaxial stability excitation test. The three-axis stability excitation test system guarantees the accuracy and controllability of the three-axis stability excitation test of the unmanned aerial vehicle, and greatly reduces the operation requirement on operators.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle stability test, in particular to an unmanned aerial vehicle triaxial stability excitation test method.
Background
With the increasing development of unmanned aerial vehicle technology, unmanned aerial vehicles often have highly autonomous flight control systems, and unmanned aerial vehicles can take off, cruise, land, run and even mission maneuver under the condition of no human intervention, so the safety of unmanned aerial vehicle automatic flight, especially the stability test of automatic control is particularly important. Therefore, in the field of the current unmanned aerial vehicle stability test, the method has high demand on a safe and feasible unmanned aerial vehicle triaxial stability excitation test method.
In the field of three-axis stability testing of the existing unmanned aerial vehicle, one type is the most basic testing method, response conditions of the unmanned aerial vehicle are observed through manual development of corresponding operations of unmanned aerial vehicle operators to judge the three-axis stability of the unmanned aerial vehicle, but the unmanned aerial vehicle operators are difficult to accurately operate according to a certain excitation mode, and objective and accurate evaluation and analysis of the unmanned aerial vehicle responses cannot be carried out; the method comprises the steps of adding an onboard excitation device on an unmanned aerial vehicle, generating corresponding excitation signals under specific conditions, and performing excitation control on each control surface of the aircraft, or directly modifying a control program in a flight control computer, and adding triaxial excitation signals on control surface control quantity to complete triaxial stability excitation test, wherein the method occupies limited load resources, installation space or flight control computer computing resources on the unmanned aerial vehicle, and does not perform further optimization design on automatic opening and closing logic of the triaxial excitation signals.
Disclosure of Invention
In view of the above, the invention provides a triaxial stability excitation test method for an unmanned aerial vehicle, so as to solve the above technical problems.
The invention discloses a triaxial stability excitation test method of an unmanned aerial vehicle, which comprises the following steps:
step 1: establishing a triaxial stability excitation test mode;
step 2: setting and judging an excitation signal automatic opening and closing strategy;
step 3: generating a triaxial control quantity based on triaxial stability excitation test mode and excitation signal automatic opening and closing strategy setting and judging; wherein the triaxial control quantity is a transverse control quantity, a longitudinal control quantity and a heading control quantity;
step 4: and according to the triaxial control quantity, completing triaxial stability excitation test.
Further, the step 1 includes:
setting modal parameters of triaxial stability excitation test required to be carried out by the unmanned aerial vehicle in unmanned aerial vehicle ground command software; wherein the modal parameters comprise excitation axis, excitation signal type, signal amplitude, initial frequency, end frequency and duration; the excitation axis can be selected from longitudinal direction, transverse direction, course direction, combination of transverse and transverse directions, combination of longitudinal and transverse directions.
Further the excitation signal types mainly comprise:
the signal formula of the linear sweep frequency excitation signal is as follows:
the pulse excitation signal has the following signal formula:
the signal formula of the double pulse excitation is as follows:
the signal formula of the exponential sweep excitation signal is as follows:
wherein ,
for linear sweep excitation signal values, < >>
For pulse excitation signal value, +.>
Is the value of the pulse-by-pulse excitation signal,
for exponential swept excitation signal values, < >>
For the initial frequency +.>
For ending the frequency +.>
For signal duration, +.>
For time (I)>
For signal amplitude +.>
Is a process quantity.
Further, based on the independence of the triaxial stability test of the unmanned aerial vehicle, according to the excitation axis and the excitation signal type, a longitudinal excitation signal of a triaxial excitation signal is correspondingly obtained
Transverse excitation signal->
Heading excitation signal->
Three axial excitation signals.
Further, the step 2 includes:
step 21: presetting a navigation segment allowing excitation test and a limiting range;
step 22: judging whether the unmanned aerial vehicle is in a preset navigation section or not according to the real-time position of the unmanned aerial vehicle which is downloaded to the ground through a data link;
step 23: if the unmanned aerial vehicle is in the preset navigation section, judging whether the preset limit range is met.
Further, the step 22 includes:
if the unmanned aerial vehicle is in a preset navigation section, the excitation signal is allowed to be started;
if the unmanned aerial vehicle is not in the preset navigation section, the excitation signal is not allowed to be started.
Further, the determining whether the set limit range is satisfied includes:
if the excitation signal exceeds the set limit range, the excitation signal is not allowed to be started; if the current excitation signal is in the on state, the excitation signal is automatically and immediately turned off, the excitation test is exited, and the flight safety of the unmanned aerial vehicle is ensured; the set limiting range is the allowed range of the ambient wind speed and direction, the current attitude angle of the unmanned aerial vehicle and the fault condition of the unmanned aerial vehicle.
Further, the step 3 includes:
if the excitation signal is in the on state currently, the excitation signal is required to be converted into the triaxial control quantity of the unmanned aerial vehicle, namely, the value of the triaxial control quantity is calculated by equivalent conversion of the excitation signal value into the control surface control quantity according to the corresponding relation between the triaxial control quantity and the control surface control quantity received by the flight control computer.
Further, the corresponding relation between the triaxial control quantity and the control surface control quantity is as follows:
wherein ,
control quantity of elevator control surface of unmanned aerial vehicle, < ->
For longitudinal control quantity->
The conversion value between the control quantity and the longitudinal control quantity of the elevator control surface of the unmanned aerial vehicle is->
For controlling the quantity transversely->
The conversion value between the control quantity and the transverse control quantity of the elevator control surface of the unmanned aerial vehicle is->
For course control quantity, ++>
The conversion value between the control quantity and the heading control quantity of the elevator control surface of the unmanned aerial vehicle is calculated, so that +.>
Then calculate the longitudinal control amount +.>
Value of->
For longitudinal excitation signal, let->
Then calculate the lateral control amount +.>
Value of->
For transverse excitation signal, let->
Then calculate the heading control amount +.>
Is used as a reference to the value of (a),
is a heading stimulus signal.
Further, the step 4 includes:
the calculated triaxial control quantity
、/>
and />
The ground control end is input together and sent to the unmanned aerial vehicle in the uplink remote control data, then the uplink remote control data is sent to the unmanned aerial vehicle through the air-ground data link, and after the unmanned aerial vehicle receives the remote control data, the control surface is controlled to respond according to the use mode of the original three-axis control quantity, so that the three-axis stability excitation test is completed.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the method has the advantages that the important parameters of the excitation mode are accurately set, the triaxial stability excitation test accuracy and controllability of the unmanned aerial vehicle are guaranteed, and the operation requirements on operators are greatly reduced.
2. The excitation signal generation and the triaxial control quantity conversion process are all realized on the ground (command control station), so that the on-board load resource, the installation space or the calculation resource of the flight control computer are not occupied, the soft and hard state of the unmanned aerial vehicle platform is not changed, the realization is easy, and the unmanned aerial vehicle platform has certain universality.
3. The method and the device realize that the triaxial stability excitation test is automatically started or exited according to a given strategy, fully consider the mode of automatically exiting the excitation test on the premise of ensuring that the excitation test is strictly performed according to set parameters, and improve the safety of the unmanned aerial vehicle excitation test.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and other drawings may be obtained according to these drawings for those skilled in the art.
Fig. 1 is a schematic flow chart of a triaxial stability excitation test method for an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein it is apparent that the examples described are only some, but not all, of the examples of the present invention. All other embodiments obtained by those skilled in the art are intended to fall within the scope of the embodiments of the present invention.
As shown in fig. 1, the embodiment of the present invention mainly includes: the method comprises the following steps of establishing an excitation mode, setting an excitation signal automatic opening and closing strategy, generating a triaxial control quantity and uploading the triaxial control quantity, wherein the method comprises the following steps of:
step one, excitation mode establishment. Triaxial stability excitation test modal parameters required to be carried out on the unmanned aerial vehicle at this time are set in unmanned aerial vehicle ground command software, and the parameters comprise: excitation axis, excitation signal type, signal amplitude, initial frequency, end frequency, duration, etc. Wherein the excitation axis is selectable: longitudinal, transverse, heading, combination of heading and combination of heading; the excitation signal types mainly include:
the signal formula of the linear sweep frequency excitation signal is as follows:
；
the pulse excitation signal has the following signal formula:
；/>
the signal formula of the double pulse excitation is as follows:
；
the signal formula of the exponential sweep excitation signal is as follows:
；
wherein 
Representing the value of the linear swept excitation signal,/->
Representing the pulse excitation signal value>
Representing multiple pulse excitation signal values,/->
Representing the value of the exponential swept excitation signal,/->
Represents the initial frequency, & lt + & gt>
Represents ending frequency, < >>
Representing signal duration,/, etc>
Representative time, & lt + & gt>
Representing signal amplitude,/->
Is the process quantity; after setting different triaxial stability excitation test mode parameters, different excitation signals (++)>
、/>
、/>
…；/>
、/>
、/>
…；/>
、/>
、/>
…；
、/>
、/>
…）。
Due to the independence of triaxial stability test of the unmanned aerial vehicle, triaxial excitation signals are divided into longitudinal excitation signals
Transverse excitation signal->
Heading excitation signal->
Three axial excitation signals. Based on the above description, expression formulas of various excitation signals can be obtained as shown in table 1.
TABLE 1 expression formulas for various excitation signals
And step two, the excitation signal automatically opens and closes the strategy setting and judging. To further simplify personnel operations, the activation and deactivation of the activation signals may be automatically controlled according to a pre-programmed strategy. Specifically, a leg for performing excitation test and an excitation mode to be performed are preset, and then whether the unmanned aerial vehicle is positioned in the leg or not is judged according to the real-time position of the unmanned aerial vehicle which is downloaded to the ground through a data link, and if the unmanned aerial vehicle is positioned in the leg, an excitation signal of a mode is allowed to be started; in addition, a limit range for allowing the excitation signal to be started is preset, and the limit range comprises the ambient wind speed and direction, the unmanned aerial vehicle fault condition and the current attitude angle range of the unmanned aerial vehicle.
If the environment wind speed and the wind direction exceeding the allowable range, the current attitude angle of the unmanned aerial vehicle and the unmanned aerial vehicle fault condition occur, the excitation signal is not allowed to be started; if the current excitation signal is in the on state, the excitation signal is automatically and immediately turned off, the excitation test is exited, and the flight safety of the unmanned aerial vehicle is ensured.
And thirdly, generating a triaxial control quantity. Based on the first step and the second step, if the excitation signal is in the on state, the excitation signal is required to be converted into the three-axis control quantity of the unmanned plane. The method comprises the following steps: and according to the corresponding relation between the triaxial control quantity and the control surface control quantity received by the flight control computer, equivalent conversion of the excitation signal value into the control surface control quantity, so as to calculate the value of the triaxial control quantity.
For example, as known, the correspondence relationship between the control amount of the elevator surface and the longitudinal control amount of the unmanned aerial vehicle is:
, wherein />
Control quantity of elevator control surface of unmanned aerial vehicle, < ->
For controlling the quantity longitudinally>
The conversion value between the control quantity of the elevator control surface of the unmanned aerial vehicle and the longitudinal control quantity is obtained. Let->
Then the longitudinal control amount can be solved>
Is a value of (2).
Similarly, based on the corresponding relation between the control surface control quantity and the transverse control quantity of the unmanned aerial vehicle, the course control quantity can be calculated
Is a value of (2); based on the corresponding relation between the control quantity and the transverse control quantity of the aileron control surface of the unmanned aerial vehicle, the longitudinal control quantity can be calculated>
Is a value of (2).
And step four, uploading the triaxial control quantity. The calculated triaxial control quantity
、/>
and />
The control plane is filled into the ground control end and is sent to the uplink remote control data of the unmanned aerial vehicle, then the uplink remote control data is sent to the unmanned aerial vehicle through an air-ground data link, and after the unmanned aerial vehicle receives the remote control data, the control plane is controlled to respond according to the original three-axis control quantity using mode, so that the three-axis stability excitation test is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The triaxial stability excitation test method for the unmanned aerial vehicle is characterized by comprising the following steps of:
step 1: establishing a triaxial stability excitation test mode;
step 2: setting and judging an excitation signal automatic opening and closing strategy;
step 3: generating a triaxial control quantity based on triaxial stability excitation test mode and excitation signal automatic opening and closing strategy setting and judging; wherein the triaxial control quantity is a transverse control quantity, a longitudinal control quantity and a heading control quantity;
step 4: and according to the triaxial control quantity, completing triaxial stability excitation test.
2. The method according to claim 1, wherein the step 1 comprises:
setting modal parameters of triaxial stability excitation test required to be carried out by the unmanned aerial vehicle in unmanned aerial vehicle ground command software; wherein the modal parameters comprise excitation axis, excitation signal type, signal amplitude, initial frequency, end frequency and duration; the excitation axis can be selected from longitudinal direction, transverse direction, course direction, combination of transverse and transverse directions, combination of longitudinal and transverse directions.
3. The method of claim 2, wherein the excitation signal types consist essentially of:
the signal formula of the linear sweep frequency excitation signal is as follows:
the pulse excitation signal has the following signal formula:
the signal formula of the double pulse excitation is as follows:
the signal formula of the exponential sweep excitation signal is as follows:
wherein ,
for linear sweep excitation signal values, < >>
For pulse excitation signal value, +.>
Is a multiple pulse excitation signal value,/->
For exponential swept excitation signal values, < >>
For the initial frequency +.>
For ending the frequency +.>
For signal duration, +.>
For time (I)>
For signal amplitude +.>
Is a process quantity.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
based on the independence of the triaxial stability test of the unmanned aerial vehicle, according to excitationAxial direction and excitation signal type, longitudinal excitation signal corresponding to triaxial excitation signal is obtained
Transverse excitation signal->
Heading excitation signal->
Three axial excitation signals.
5. The method according to claim 1, wherein the step 2 comprises:
step 21: presetting a navigation segment allowing excitation test and a limiting range;
step 22: judging whether the unmanned aerial vehicle is in a preset navigation section or not according to the real-time position of the unmanned aerial vehicle which is downloaded to the ground through a data link;
step 23: if the unmanned aerial vehicle is in the preset navigation section, judging whether the preset limit range is met.
6. The method according to claim 5, wherein said step 22 comprises:
if the unmanned aerial vehicle is in a preset navigation section, the excitation signal is allowed to be started;
if the unmanned aerial vehicle is not in the preset navigation section, the excitation signal is not allowed to be started.
7. The method of claim 5, wherein the determining whether the set limit range is satisfied comprises:
if the excitation signal exceeds the set limit range, the excitation signal is not allowed to be started; if the current excitation signal is in the on state, the excitation signal is automatically and immediately turned off, the excitation test is exited, and the flight safety of the unmanned aerial vehicle is ensured; the set limiting range is the allowed range of the ambient wind speed and direction, the current attitude angle of the unmanned aerial vehicle and the fault condition of the unmanned aerial vehicle.
8. The method according to claim 1, wherein the step 3 comprises:
if the excitation signal is in the on state currently, the excitation signal is required to be converted into the triaxial control quantity of the unmanned aerial vehicle, namely, the value of the triaxial control quantity is calculated by equivalent conversion of the excitation signal value into the control surface control quantity according to the corresponding relation between the triaxial control quantity and the control surface control quantity received by the flight control computer.
9. The method of claim 8, wherein the three-axis control amount corresponds to a control surface control amount as follows:
wherein ,
control quantity of elevator control surface of unmanned aerial vehicle, < ->
For longitudinal control quantity->
The conversion value between the control quantity and the longitudinal control quantity of the elevator control surface of the unmanned aerial vehicle is->
For controlling the quantity transversely->
The conversion value between the control quantity and the transverse control quantity of the elevator control surface of the unmanned aerial vehicle is->
For course control quantity, ++>
The conversion value between the control quantity and the heading control quantity of the elevator control surface of the unmanned aerial vehicle is calculated, so that +.>
Then calculate the longitudinal control amount +.>
Value of->
For longitudinal excitation signal, let->
Then calculate the lateral control amount +.>
Value of->
For transverse excitation signal, let->
Then calculate the heading control amount +.>
Value of->
Is a heading stimulus signal.
10. The method according to claim 9, wherein the step 4 comprises:
the calculated triaxial control quantity
、/>
and />
The ground control end is input together and sent to the unmanned aerial vehicle in the uplink remote control data, then the uplink remote control data is sent to the unmanned aerial vehicle through the air-ground data link, and after the unmanned aerial vehicle receives the remote control data, the control surface is controlled to respond according to the use mode of the original three-axis control quantity, so that the three-axis stability excitation test is completed. />
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