CN116224995A - Control method for automatic sliding, entering and exiting of freight unmanned aerial vehicle - Google Patents
Control method for automatic sliding, entering and exiting of freight unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of ground sliding control of unmanned aerial vehicles, in particular to a control method for automatically entering and exiting a ground sliding channel of a freight unmanned aerial vehicle with a rear three-point landing gear. The control method specifically comprises the following steps: firstly, information of an airport and an air park is acquired, and a taxi route for a shipment unmanned aerial vehicle to enter and exit is planned; then the planned taxiing route is sent to the freight unmanned plane; after the freight unmanned aerial vehicle confirms the sliding sequence according to the received sliding route, the freight unmanned aerial vehicle slides from the starting point to the end point according to the sliding sequence and under the control of the control law, and the unmanned aerial vehicle is controlled. By adopting the technical scheme, after the corresponding ground sliding route points are determined, the unmanned aerial vehicle can automatically plan a safe route for sliding, and accurately calculate the throttle value and the left and right braking quantity according to the current sliding state, so that the preset route sliding is accurately tracked at a specified speed, the unmanned aerial vehicle can automatically drive into and out of the runway without manual traction, the efficiency is improved, and the resource utilization is reduced.
Description
Technical Field
The invention relates to the technical field of ground sliding control of unmanned aerial vehicles, in particular to a control method for automatically entering and exiting a ground sliding channel of a large freight unmanned aerial vehicle with a rear three-point landing gear.
Background
At present, unmanned aerial vehicles have the advantages of being capable of rapidly executing tasks and the like without human intervention, and are widely applied to various fields of each row. The unmanned aerial vehicle with the conventional layout of large-scale freight transportation mostly uses a wheel type lifting mode, but most unmanned aerial vehicles at present use a manual traction mode when transferring on the ground. In general, the take-off stage is drawn from the apron to the runway take-off point and aligned with the center of the runway, and after landing, the runway is drawn back to the hangar or apron. The method has long time for occupying the runway, consumes large manpower and material resources, occupies more airport resources and has low runway utilization rate.
Disclosure of Invention
The invention discloses a control method for automatic sliding in and out of a freight unmanned aerial vehicle, which aims to solve any one of the above and other potential problems in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: a control method for automatic sliding in and out of a freight unmanned aerial vehicle specifically comprises the following steps:
s1) acquiring information of an airport and an apron, and planning a taxi route for a cargo-carrying unmanned plane to enter and exit;
s2) the planned taxiing route is sent to the freight unmanned aerial vehicle;
s3) after the freight unmanned plane confirms the sliding sequence according to the received serial number of the sliding route, the freight unmanned plane slides from the starting point to the end point according to the sliding sequence and under the control of the control law.
Further, the planned taxiing route in S1) is specifically: taking the parking position of the unmanned aerial vehicle as a navigation point of a starting point, setting the destination point of the target point which the unmanned aerial vehicle needs to reach as the navigation point of a destination point, and setting the rest navigation points at the equal turning positions; and each route point is provided with a serial number which is increased in sequence according to the route direction.
Further, the route points are determined through longitude and latitude of a certain point on the ground, and an initial straight-line section route is formed through two route points with adjacent numbers;
and constructing a tangent arc section at the folding angle between each straight line section route by using an arc substitution method to replace the straight line section route at the folding angle to serve as an arc section sliding route of the unmanned aerial vehicle.
Further, the specific steps of S3) are as follows:
s3.1) the airborne controller of the freight unmanned aerial vehicle receives the sliding route, confirms the starting point and the end point information of the sliding route, and confirms the sliding sequence according to the judging condition;
s3.2) after the sliding sequence is determined, the airborne controller of the freight unmanned aerial vehicle controls the freight unmanned aerial vehicle to slide from the starting point to the end point along a preset sliding route by adopting a front wheel differential brake deviation correcting control law and a ground speed maintaining control law.
Further, the judgment condition in S3.1) is:
if the starting point sequence number is smaller than the end point sequence number, the sliding is performed sequentially;
if the starting point sequence number is larger than the end point sequence number, the unmanned aerial vehicle slides in reverse sequence;
if the starting point serial number is the same as the end point serial number, the unmanned plane slides towards the target point.
Further, the control method of the ground speed maintenance control law in S3.2) is as follows: firstly, determining a sliding speed instruction according to the to-be-slid distance between the freight unmanned aerial vehicle and a target point, and controlling a brake and an engine accelerator to increase or decrease according to the difference value between the ground speed of the freight unmanned aerial vehicle and the sliding speed instruction, so as to finish accurate control of the speed.
Further, the brake and engine throttle dual-channel speed control structure performs closed-loop control on speed.
Further, the control method of the front wheel differential brake correction control law in S3.2) is as follows: calculating state data of the unmanned aerial vehicle acquired in real time in the sliding process to obtain a lateral deviation distance, a lateral deviation speed, a yaw angle and a course angle rate, and then combining the lateral deviation distance, the lateral deviation speed, the yaw angle and the course angle rate with a front wheel differential braking deviation correction control law to calculate to obtain left and right braking control amounts;
calculating the course of the current section of course and the course of the next section of course according to the longitude and latitude of the course point, determining the turning radius and the turning arc section according to the included angle of the two sections of course and the safety distance of the converted course point, and finishing turning between the two sections of course;
and when the target route point is reached, the terminal point is reached, the running control is automatically released, the unmanned aerial vehicle brakes, the engine throttle value is reduced, and the unmanned aerial vehicle stops.
Further, S3.2) further includes: the control mode of the fault judgment control law is as follows: when the onboard system has a fault affecting running, the system can automatically stop sliding, emergency brake, and judge whether the position of the airplane meets the requirement of running in and out again after the system fault is eliminated, and return to the taxiing state of the airplane.
The control law is a control mode.
A readable storage medium comprising a memory, wherein the memory stores a program and a processor, and the processor executes the control method for the automatic entering and exiting of the taxiing of the cargo unmanned aerial vehicle.
The beneficial technical effects of the invention are as follows: by adopting the technical scheme, after the corresponding ground sliding route points are determined, the unmanned aerial vehicle can automatically plan a safe route for sliding, and accurately calculate the throttle value and the left and right braking quantity according to the current sliding state, so that the preset route sliding is accurately tracked at a specified speed, the unmanned aerial vehicle can automatically drive into and out of the runway without manual traction, the efficiency is improved, and the resource utilization is reduced.
Drawings
FIG. 1 is a flow chart of a method for controlling the automatic in-out of a cargo unmanned aerial vehicle sliding;
FIG. 2 is a schematic illustration of a planing course planned in an embodiment of the present invention.
Fig. 3 is a schematic view of the configuration of the arc segment in the embodiment of the present invention, (a) the arc segment line configuration in the case of 45 °, (b) the arc segment line configuration in the case of 45 °, (c) the arc segment line configuration in the case of 135 °.
Fig. 4 is a schematic diagram of a control system according to an embodiment of the invention.
Detailed Description
The technical scheme of the invention is further described below with reference to specific examples.
As shown in fig. 1, the control method for automatic running in and out of the sliding of the freight unmanned aerial vehicle according to the invention specifically comprises the following steps:
s1) acquiring information of an airport and an apron, and planning a taxi route for a cargo-carrying unmanned plane to enter and exit;
s2) the planned taxiing route is sent to the freight unmanned aerial vehicle;
s3) after the freight unmanned plane confirms the sliding sequence according to the received serial number of the sliding route, the freight unmanned plane slides from the starting point to the end point according to the sliding sequence and under the control of the control law.
The planned taxiing route in the S1) is specifically as follows: taking the parking position of the unmanned aerial vehicle as a navigation point of a starting point, setting the destination point of the target point which the unmanned aerial vehicle needs to reach as the navigation point of a destination point, and setting the rest navigation points at the equal turning positions; and each route point is provided with a serial number which is increased in sequence according to the route direction.
The route points are determined through longitude and latitude of a certain point on the ground, and an initial straight line section route is formed through two route points with adjacent numbers;
and constructing a tangent arc section at the folding angle between each straight line section route by using an arc substitution method to replace the straight line section route at the folding angle to serve as an arc section sliding route of the unmanned aerial vehicle.
The specific steps of the S3) are as follows:
s3.1) the airborne controller of the freight unmanned aerial vehicle receives the sliding route, confirms the starting point and the end point information of the sliding route, and confirms the sliding sequence according to the judging condition;
s3.2) after the sliding sequence is determined, the airborne controller of the freight unmanned aerial vehicle controls the freight unmanned aerial vehicle to slide from the starting point to the end point along a preset sliding route by adopting a front wheel differential brake deviation correcting control law and a ground speed maintaining control law.
The judgment conditions in S3.1) are:
if the starting point sequence number is smaller than the end point sequence number, the sliding is performed sequentially;
if the starting point sequence number is larger than the end point sequence number, the unmanned aerial vehicle slides in reverse sequence;
if the starting point serial number is the same as the end point serial number, the unmanned plane slides towards the target point.
The control mode of the ground speed maintaining control law in the S3.2) is as follows: firstly, determining a sliding speed instruction according to the to-be-slid distance between the freight unmanned aerial vehicle and a target point, and controlling a brake and an engine accelerator to increase or decrease according to the difference value between the ground speed of the freight unmanned aerial vehicle and the sliding speed instruction, so as to finish accurate control of the speed.
The brake and engine accelerator dual-channel speed control structure performs closed-loop control on speed.
The control mode of the front wheel differential brake deviation correcting control law in the S3.2) is as follows: calculating state data of the unmanned aerial vehicle acquired in real time in the sliding process to obtain a lateral deviation distance, a lateral deviation speed, a yaw angle and a course angle rate, and then combining the lateral deviation distance, the lateral deviation speed, the yaw angle and the course angle rate with a front wheel differential braking deviation correction control law to calculate to obtain left and right braking control amounts;
calculating the course of the current section of course and the course of the next section of course according to the longitude and latitude of the course point, determining the turning radius and the turning arc section according to the included angle of the two sections of course and the safety distance of the converted course point, and finishing turning between the two sections of course;
and when the target route point is reached, the terminal point is reached, the running control is automatically released, the unmanned aerial vehicle brakes, the engine throttle value is reduced, and the unmanned aerial vehicle stops.
The conversion waypoint safety distance is used for ensuring that the unmanned aerial vehicle can safely perform turning operation, the value of the conversion waypoint safety distance can be adaptively adjusted according to the airport environment, the wing span size of the airplane and the turning angle of the route, and then the turning radius and the turning arc section are determined according to the two-section course included angle and the conversion waypoint safety distance, so that turning between two sections of routes is completed.
The step S3.2) further comprises: the control mode of the fault judgment control law is as follows: when the onboard system has a fault affecting running, the system can automatically stop sliding, emergency brake, and judge whether the position of the airplane meets the requirement of running in and out again after the system fault is eliminated, and return to the taxiing state of the airplane.
Examples:
as shown in fig. 4, the system structure of the control method of the present example includes a ground control platform, a line-of-sight link ground terminal, a line-of-sight link airborne terminal, a flight control navigation computer, a brake controller, a steering engine controller, a left/right brake system, a steering engine, an unmanned aerial vehicle platform, and a satellite navigation positioning and sensor.
In the example, the airborne satellite navigation receiver has the functions of differential GPS positioning and double-antenna direction finding, and can provide high-precision centimeter-level positioning information and course angle for the unmanned aerial vehicle in real time.
The on-board navigation receiver needs to receive the differential correction data output by the ground satellite navigation base station in real time to realize the differential positioning function. The data are sent to ground control software by a ground satellite navigation base station, the ground station software divides the data and integrates the data into a remote control data protocol, the remote control data protocol is sent to an airborne data terminal through a line-of-sight link channel, after receiving the data, an airborne flight control system analyzes the protocol, and the differential data are sent to an airborne satellite navigation receiver after being packetized again, so that the differential data are sent. The data disassembly and transmission mode integrates the differential data and the remote control data into the same channel for transmission, and saves data link equipment of an independent transmitter-mounted receiver.
The ground station GIS map designs a ground sliding route according to the airport parking apron, the connecting channel and the runway, and the ground sliding route is formed by sequentially connecting different route points. The route points are selected at the turning positions of the airport sliding lines, and are sequentially increased according to the route direction sequence numbers, the sliding routes can be divided into straight line segments and route segment conversion areas, so that the design of a certain ground route of an airport is completed, N different sliding routes can be simultaneously supported by a design database in ground station software, the sliding routes of different airports are supported, and an operator can freely select the routes to bind to the unmanned aerial vehicle according to the needs, as shown in fig. 2.
Inputting a sliding starting point and a sliding destination point in a ground station according to the position of the aircraft and the position of the destination point, binding the starting point and the destination point to an onboard computer through a line-of-sight link, and sequentially sliding the unmanned aerial vehicle according to the sequence number of the waypoint. Here, if the starting point number is smaller than the ending point number, the unmanned aerial vehicle slides sequentially; if the starting point sequence number is larger than the end point sequence number, the unmanned aerial vehicle slides in reverse sequence; the starting point serial number is the same as the end point serial number, and the unmanned aerial vehicle slides towards the target point; the method saves design work of the airlines, and the same airlines can support bidirectional sliding at the same time.
When the rear three-point landing gear unmanned aerial vehicle slides, an airborne flight control navigation computer calculates the front wheel differential braking deviation correction control law, the ground speed maintenance control law and the fault judgment control law in real time. Front wheel differential deviation correction control law: and a track deviation rectification control strategy is adopted for ensuring that the unmanned aerial vehicle always slides along a preset track line in the process of entering and exiting. And calculating a lateral offset distance, a lateral offset speed, a yaw angle and a course angle rate according to the airborne sensor, generating left and right braking control amounts by the flight control computer, and providing a steering moment for the unmanned aerial vehicle due to different left and right braking, so as to change the course angle of the unmanned aerial vehicle and realize differential deviation correction. The flight control computer calculates the course of the current straight line section course and the course of the next straight line section course according to the longitude and latitude of the course point, when the unmanned aerial vehicle passes through the tangent point of the circular arc section course and the current straight line section course, the unmanned aerial vehicle enters the circular arc section course to slide, when the course angle of the unmanned aerial vehicle and the course error of the next straight line section course are smaller than 5 degrees, the unmanned aerial vehicle is judged to finish the sliding of the circular arc section course, and the next straight line section course is carried out. When the target waypoint is the terminal point, automatically releasing the running control after reaching the terminal point, braking the unmanned aerial vehicle, reducing the throttle value of the engine, and stopping the unmanned aerial vehicle.
As shown in fig. 3, the flight control computer calculates the course angle of the current straight line section course and the course angle of the next straight line section course according to the longitude and latitude of the course points a, b and c, determines the turning radius by the two-section course included angle and the safety distance of the transition course point, further determines the tangent points d and e of the straight line section and the circular arc section, enters the circular arc section course to slide when the unmanned aerial vehicle passes through the tangent point d of the circular arc section and the current straight line section course, and judges that the unmanned aerial vehicle has completed the sliding of the circular arc section course and the next straight line section course to slide when the course angle of the unmanned aerial vehicle and the course angle of the next straight line section course are less than 5 °.
And in the sliding process, the ground speed is subjected to closed-loop control, and a sliding speed instruction is given by utilizing a ground speed maintaining control law according to the to-be-slid distance between the unmanned aerial vehicle and the target point, so that the moment that the straight line segment starts to be decelerated is well mastered, and the time occupied by the runway is reduced. Because of the wind speed, the ground environment has interference on the sliding speed, and the speed is controlled in a closed loop by adopting a throttle and brake double-channel speed control structure. According to the difference value of the ground speed and the sliding speed instruction of the unmanned aerial vehicle, the engine throttle is controlled to increase or decrease, and meanwhile, when the difference between the course angle of the unmanned aerial vehicle and the course angle instruction exceeds 30 degrees in the turning process, the fixed value of the engine throttle is increased on the basis of the original throttle, so that the thrust of the unmanned aerial vehicle during steering is increased, and differential braking steering is realized.
The computer on board executes the fault judging control law in real time in the sliding process, and when the system on board has faults (such as sensor faults, control surface steering engine faults, power faults and the like) affecting the sliding, the system can automatically stop sliding and emergency brake. After the system fault is removed, the ground operator can judge whether the position of the airplane meets the requirement of running in and out again, and return to the taxiing state of the airplane.
The control method for automatically entering and exiting the sliding of the freight unmanned aerial vehicle provided by the embodiment of the application is described in detail. The above description of embodiments is only for aiding in understanding the method of the present application and its core ideas; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As referred to throughout the specification and claims, the terms "comprising," including, "and" includes "are intended to be interpreted as" including/comprising, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect. The description hereinafter sets forth the preferred embodiment for carrying out the present application, but is not intended to limit the scope of the present application in general, for the purpose of illustrating the general principles of the present application. The scope of the present application is defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
While the foregoing description illustrates and describes the preferred embodiments of the present application, it is to be understood that this application is not limited to the forms disclosed herein, but is not to be construed as an exclusive use of other embodiments, and is capable of many other combinations, modifications and environments, and adaptations within the scope of the teachings described herein, through the foregoing teachings or through the knowledge or skills of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.
Claims (10)
1. The control method for the automatic sliding in and out of the freight unmanned aerial vehicle is characterized by comprising the following steps of:
s1) acquiring information of an airport and an apron, and planning a taxi route for a cargo-carrying unmanned plane to enter and exit;
s2) the planned taxiing route for confirming the starting point and the destination point is sent to the freight unmanned plane;
s3) after the freight unmanned aerial vehicle confirms the sliding sequence according to the received sliding route, the freight unmanned aerial vehicle slides from the starting point to the end point according to the sliding sequence and under control of a control law, and the control of the unmanned aerial vehicle is completed.
2. The method according to claim 1, wherein the planned taxiing route in S1) is: taking the parking position of the unmanned aerial vehicle as a navigation point of a starting point, setting the destination point of the target point which the unmanned aerial vehicle needs to reach as the navigation point of a destination point, and setting the rest navigation points at the equal turning positions; and each route point is provided with a serial number which is increased in sequence according to the route direction.
3. The method of claim 2, wherein the waypoints are determined by longitude and latitude of a point on the ground, and an initial straight line segment route is formed by two waypoints adjacent in number;
and constructing a tangent arc section at the folding angle between each straight line section route by using an arc substitution method to replace the straight line section route at the folding angle to serve as an arc section sliding route of the unmanned aerial vehicle.
4. A method according to claim 3, wherein the specific step of S3) is:
s3.1) the airborne controller of the freight unmanned aerial vehicle receives the sliding route, confirms the serial numbers of the starting point and the end point of the sliding route, and confirms the sliding sequence according to the judging conditions;
s3.2) after the sliding sequence is determined, the airborne controller of the freight unmanned aerial vehicle controls the freight unmanned aerial vehicle to slide from the starting point to the end point along a preset sliding route by adopting a front wheel differential brake deviation correcting control law and a ground speed maintaining control law.
5. The method according to claim 4, wherein the judgment condition in S3.1) is:
if the starting point sequence number is smaller than the end point sequence number, the sliding is performed sequentially;
if the starting point sequence number is larger than the end point sequence number, the unmanned aerial vehicle slides in reverse sequence;
if the starting point serial number is the same as the end point serial number, the unmanned plane slides towards the target point.
6. The method according to claim 4, wherein the control method of the ground speed maintenance control law in S3.2) is as follows: firstly, determining a sliding speed instruction according to the to-be-slid distance between the freight unmanned aerial vehicle and a target point, and controlling a brake and an engine accelerator to increase or decrease according to the difference value between the ground speed of the freight unmanned aerial vehicle and the sliding speed instruction, so as to finish accurate control of the speed.
7. The method according to claim 4, wherein the control method of the front wheel differential brake correction control law in S3.2) is as follows: calculating state data of the unmanned aerial vehicle acquired in real time in the sliding process to obtain a lateral deviation distance, a lateral deviation speed, a yaw angle and a course angle rate, and then combining the lateral deviation distance, the lateral deviation speed, the yaw angle and the course angle rate with a front wheel differential braking deviation correction control law to calculate to obtain left and right braking control amounts;
calculating the course of the current section of course and the course of the next section of course according to the longitude and latitude of the course point, determining the turning radius and the turning arc section according to the included angle of the two sections of course and the safety distance of the converted course point, and finishing turning between the two sections of course;
and when the target route point is reached, the terminal point is reached, the running control is automatically released, the unmanned aerial vehicle brakes, the engine throttle value is reduced, and the unmanned aerial vehicle stops.
8. The method according to claim 7, wherein the turning between the legs is in particular:
calculating the course of the current straight-line section course and the course of the next straight-line section course according to the longitude and latitude of the course point, and entering the arc section course to slide when the unmanned aerial vehicle passes through the tangent point of the arc section and the current straight-line section course;
when the course error between the course angle of the unmanned aerial vehicle and the course of the next straight line section is smaller than 5 degrees, judging that the unmanned aerial vehicle has completed the sliding of the circular arc section course, and performing the sliding of the next straight line section course.
9. The method according to claim 4, wherein the step S3.2) further comprises: the control mode of the fault judgment control law is as follows: when the onboard system has a fault affecting running, the system can automatically stop sliding, emergency brake, and judge whether the position of the airplane meets the requirement of running in and out again after the system fault is eliminated, and return to the taxiing state of the airplane.
10. A readable storage medium comprising a memory storing a program, and a processor executing the control method of the taxiing automatic ingress and egress of a cargo drone according to any one of claims 1 to 9.
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