CN116700358B - Nonlinear height-fixing compensation control method for unmanned aerial vehicle in turning stage - Google Patents
Nonlinear height-fixing compensation control method for unmanned aerial vehicle in turning stage Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle flight control, and discloses a nonlinear height-setting compensation control method for an unmanned aerial vehicle turning stage. The calculation of the fixed-height control compensation quantity in the invention does not relate to an adjustable gain coefficient, does not need to carry out flight test parameter adjustment or theoretical estimation of the gain coefficient, and avoids adverse effects on turning fixed-height control caused by unsuitable gain coefficient; in addition, the gain coefficient is not required to be adjusted through a flight test, so that the labor, material resources and time cost are saved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a nonlinear height-setting compensation control method for an unmanned aerial vehicle in a turning stage.
Background
With the development of unmanned aerial vehicle system technology, unmanned aerial vehicle applications are becoming more and more widespread, both in the military field and the civilian field. The fixed wing unmanned aerial vehicle has the characteristics of long endurance time, high flying speed, high flying height and the like, and is widely applied to the aspects of surveying and mapping, geology, agriculture and forestry, communication relay, military reconnaissance, striking, weapon target test and the like.
In the turning flight process of the fixed wing unmanned aerial vehicle, part of lifting force is used for providing centripetal force of turning circular arc movement due to the fact that the fuselage is tilted, and the lifting force component of the aircraft in the vertical direction is insufficient for balancing self gravity, so that the phenomenon of turning falling high can occur, and the larger the turning gradient is, the more serious the falling high is. Turning off is unfavorable for unmanned aerial vehicle's flight trajectory control, especially to low altitude flight or formation flying unmanned aerial vehicle, falls off and can influence flight safety even. Therefore, the height-setting compensation control is required for the unmanned aerial vehicle turning stage.
Currently, some fixed height compensation control methods for unmanned aerial vehicle turning stages are proposed by industry scholars and engineers, for example: (1) The altitude feedback control method is used for controlling the difference between the actual altitude and the target altitude of the aircraft to achieve the aim of altitude control, and belongs to passive control. (2) By utilizing the principle of coordinated turning control, when the airplane turns, the triaxial movement is coupled, and the course movement can generate additional pitch angle rate, so that the airborne attitude sensor acquires a larger positive pitch angle rate, and the included angle between the longitudinal axis of the airplane and the horizontal plane is basically constant in practice when the airplane turns, and the method of coordinated turning control is to eliminate the coupling quantity in the pitch angle rate. According to the method, the decoupling thought is utilized to remove the declination increment of the elevator, which is generated by the coupling pitch angle rate, in the elevator control quantity, so that the low head of the aircraft is prevented from falling to a high degree, but the method can not compensate the falling to the high degree from the root of the lift loss from the mechanism of turning falling to the high degree, and only the triaxial coupling influence is eliminated. (3) The compensation quantity is related to the roll angle, the root of turning falling is shown, the phenomenon and law of 'the larger the turning gradient is, the more serious the falling is met', but the gain coefficient of the method needs to be determined through a flight test or a theoretical estimated value, the more suitable gain coefficient can be obtained through the flight test, the test cost is high, the efficiency is low, and the theoretical estimated value tends to have larger error and is difficult to obtain the satisfactory gain coefficient. (4) In addition, some turning stage fixed height compensation control methods belong to the evolution or improvement of the 3 methods, and the problem that more accurate compensation quantity cannot be obtained is also existed.
For example, the publication number is CN105652879A, the publication date is 2016, 06 and 08, and the invention is named as an autonomous flight control method of an unmanned aerial vehicle without ailerons, firstly, the patent aims at the unmanned aerial vehicle without ailerons, so that the control method has a certain limit on the control surface layout of an aircraft, and can only be applied to the unmanned aerial vehicle without ailerons; further, the method described in the comparison document 1 obtains the elevator compensation command by multiplying the rudder command by a feedforward coefficient, does not reflect the influence of the turning gradient of the aircraft on the loss of lift force in the vertical direction, and increases the coupling degree of heading control and longitudinal control by crosslinking the rudder command to the elevator command.
Disclosure of Invention
In order to solve the problems and the defects in the prior art, the invention provides a nonlinear fixed-height compensation control method for a turning stage of an unmanned aerial vehicle, which is based on deep analysis of the root cause of turning off of the fixed-wing unmanned aerial vehicle, and utilizes normal overload, attack angle and elevator control efficiency coefficient to determine fixed-height control compensation quantity, wherein the calculation of the compensation quantity does not involve an adjustable gain coefficient, and flight test parameter adjustment or theoretical estimation of the gain coefficient is not needed, so that adverse effects on turning fixed-height control caused by unsuitable gain coefficient are avoided; in addition, the gain coefficient is not required to be adjusted through a flight test, so that the labor, material resources and time cost are saved.
In order to achieve the above object, the technical scheme of the present invention is as follows:
according to the non-linear fixed height compensation control method for the turning stage of the unmanned aerial vehicle, fixed height control of the turning stage is achieved by superposing compensation control quantity on an elevator instruction, and the compensation control quantity is determined by an operation efficiency coefficient of the elevator of the unmanned aerial vehicle, normal overload of the unmanned aerial vehicle, an average value of attack angles of the unmanned aerial vehicle in a straight flight stage before the unmanned aerial vehicle enters the turning stage and zero-lift attack angles of the unmanned aerial vehicle.
Preferably, the calculation expression of the compensation control amount is specifically as follows:
；
wherein,compensating the control amount for the elevator; />The control efficiency coefficient is the elevator control efficiency coefficient of the unmanned aerial vehicle; />The normal overload of the unmanned aerial vehicle is realized; />The average value of the attack angles of the unmanned aerial vehicle in the straight flight stage before entering the turning stage is obtained; />The unmanned aerial vehicle zero liter attack angle.
Preferably, the operation efficiency coefficient of the unmanned aerial vehicle elevator is calculated by unmanned aerial vehicle pneumatic data, and the specific method is to draw a curve of the aircraft trim elevator along with the change of the attack angle, and the slope of the curve is the operation efficiency coefficient of the elevator.
Preferably, the drone normal overload is obtained from an on-board accelerometer measurement.
Preferably, the attack angle average value is obtained by calculating the attack angle average value in the period of 5 s-30 s of the unmanned plane in the straight flight stage.
Preferably, the unmanned aerial vehicle zero-liter attack angle is obtained from unmanned aerial vehicle pneumatic data.
The invention has the beneficial effects that:
(1) According to the invention, normal overload, an attack angle and an elevator control efficiency coefficient are utilized to determine the elevator fixed-height control compensation quantity in the turning stage of the fixed-wing unmanned aerial vehicle, the calculation of the compensation quantity does not relate to an adjustable gain coefficient, flight test parameter adjustment or theoretical estimation of the gain coefficient is not needed, and adverse effects on the fixed-height control in the turning stage due to unsuitable gain coefficient are avoided.
(2) According to the invention, the gain coefficient is not required to be adjusted through a flight test, so that the labor, material resources and time cost are greatly saved.
Drawings
The foregoing and the following detailed description of the invention will become more apparent when read in conjunction with the following drawings in which:
FIG. 1 is a flow chart of a control method of the present invention;
FIG. 2 is a schematic view of the calculation of the fixed-height compensation control amount in the turning stage of the present invention.
Detailed Description
In order for those skilled in the art to better understand the technical solution of the present invention, the technical solution for achieving the object of the present invention will be further described through several specific embodiments, and it should be noted that the technical solution claimed in the present invention includes, but is not limited to, the following embodiments. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, based on the embodiments of the present invention shall fall within the scope of protection of the present invention.
In the turning flight process of the fixed wing unmanned aerial vehicle, part of lifting force is used for providing centripetal force of turning circular arc movement due to the fact that the fuselage is tilted, and the lifting force component of the aircraft in the vertical direction is insufficient for balancing self gravity, so that the phenomenon of turning falling high can occur, and the larger the turning gradient is, the more serious the falling high is. Turning off is unfavorable for unmanned aerial vehicle's flight trajectory control, especially to low altitude flight or formation flying unmanned aerial vehicle, falls off and can influence flight safety even. Therefore, it is indispensable to perform height-setting compensation control for the unmanned aerial vehicle turning stage.
Currently, some unmanned aerial vehicle turning stage height-setting compensation control methods are proposed by industry students and engineers, for example, a method using height feedback control, a method using a coordinated turning control principle, a method using roll angle or roll angle rate feedback to obtain height compensation amount, and the like. However, these methods cannot produce good control effects for the height-setting compensation control of the unmanned aerial vehicle in the turning stage, and have the problems that a relatively accurate compensation amount cannot be obtained, the gain coefficient of the compensation amount is difficult to obtain, the height of the turning process fluctuates, and the like.
Based on the method, the embodiment of the invention provides a nonlinear fixed height compensation control method for an unmanned aerial vehicle turning stage, which is used for carrying out in-depth analysis on the root cause of the unmanned aerial vehicle turning falling height, determining a fixed height control compensation quantity by utilizing normal overload, an attack angle and an elevator operating efficiency coefficient, wherein the calculation of the compensation quantity does not relate to an adjustable gain coefficient, and flight test parameter adjustment or theoretical estimation of the gain coefficient is not needed, so that adverse effects on turning fixed height control caused by unsuitable gain coefficients are avoided; in addition, the gain coefficient is not required to be adjusted through a flight test, so that the labor, material resources and time cost are saved.
The embodiment discloses a nonlinear fixed-height compensation control method for an unmanned aerial vehicle turning stage, wherein fixed-height control for the turning stage is realized by superposing compensation control quantity on an elevator instruction, and the compensation control quantity is determined by the parameters of an unmanned aerial vehicle elevator operation efficiency coefficient, an unmanned aerial vehicle normal overload, an attack angle average value of a straight flight stage before the unmanned aerial vehicle enters the turning stage and an unmanned aerial vehicle zero-lift attack angle. Referring to fig. 1 and 2 of the specification, the method comprises the steps of:
s1, calculating to obtain an elevator control efficiency coefficient through aerodynamic data of the unmanned aerial vehicle.
In the present embodiment, the specific calculation method of the elevator operating efficiency coefficient is as follows:
firstly, drawing a curve of the aircraft balancing elevator along with the change of an attack angle, and then calculating the slope of the curve, wherein the slope of the curve is the elevator operating efficiency coefficient.
And S2, calculating an average value of angles of attack in a period of 5 s-30 s of a straight flight stage of the unmanned aerial vehicle, and obtaining the average value of angles of attack in the straight flight stage before the unmanned aerial vehicle enters a turning stage.
And S3, acquiring the zero-liter attack angle of the unmanned aerial vehicle through the pneumatic data of the unmanned aerial vehicle.
In this embodiment, the zero-liter attack angles of the unmanned aerial vehicle are different under different height and speed conditions. The pneumatic data is generally obtained through simulation calculation or experimental measurement according to a pneumatic data table of the unmanned aerial vehicle, and the pneumatic data table of the unmanned aerial vehicle can be referred to as table 1 below.
And S4, measuring by an airborne accelerometer to obtain the normal overload of the unmanned aerial vehicle.
S5, substituting the operation efficiency coefficient of the elevator of the unmanned aerial vehicle, the normal overload of the unmanned aerial vehicle, the average value of the attack angle of the unmanned aerial vehicle in the straight flight stage before the unmanned aerial vehicle enters the turning stage and the zero-lift attack angle of the unmanned aerial vehicle into a compensation control amount calculation expression, and finally obtaining the compensation control amount, wherein the calculation expression of the compensation control amount is specifically as follows:
；
wherein,compensating the control amount for the elevator; />The control efficiency coefficient is the elevator control efficiency coefficient of the unmanned aerial vehicle; />The normal overload of the unmanned aerial vehicle is realized; />The average value of the attack angles of the unmanned aerial vehicle in the straight flight stage before entering the turning stage is obtained; />The unmanned aerial vehicle zero liter attack angle.
After the compensation control quantity is obtained through the calculation expression, the compensation control quantity is superimposed on an elevator instruction, nonlinear height-fixing compensation is timely realized for the turning stage of the unmanned aerial vehicle, and the situation that the unmanned aerial vehicle falls off in the turning stage is prevented.
In the embodiment, the compensation control quantity is constantly changed at all times, the numerical value is calculated and updated in real time according to the related parameters, and then the numerical value is superimposed into the elevator instruction, so that the fixed height compensation of the unmanned aerial vehicle in the turning stage is realized.
In the present embodiment, the elevator is specified to be positive in value when it is deflected downward and negative in value when it is deflected upward.
In this embodiment, it should also be noted that the value of the aircraft is specified to be positive when it is overloaded normally up and negative when it is overloaded normally down.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (5)
1. The nonlinear fixed-height compensation control method for the turning stage of the unmanned aerial vehicle is characterized in that fixed-height control of the turning stage is realized by superposing compensation control quantity on an elevator instruction, wherein the compensation control quantity is determined by an elevator operation efficiency coefficient of the unmanned aerial vehicle, normal overload of the unmanned aerial vehicle, an attack angle average value of a straight flight stage before the unmanned aerial vehicle enters the turning stage and a zero-lift attack angle of the unmanned aerial vehicle;
the calculation expression of the compensation control amount is as follows:
；
wherein,compensating the control amount for the elevator; />The control efficiency coefficient is the elevator control efficiency coefficient of the unmanned aerial vehicle; />The normal overload of the unmanned aerial vehicle is realized; />The average value of the attack angles of the unmanned aerial vehicle in the straight flight stage before entering the turning stage is obtained; />The unmanned aerial vehicle zero liter attack angle.
2. The method for controlling nonlinear fixed height compensation in the turning stage of the unmanned aerial vehicle according to claim 1, wherein the operating efficiency coefficient of the elevator of the unmanned aerial vehicle is calculated by aerodynamic data of the unmanned aerial vehicle.
3. The unmanned aerial vehicle turning phase nonlinear height-setting compensation control method according to claim 1, wherein the unmanned aerial vehicle normal overload is obtained by measuring an on-board accelerometer.
4. The non-linear fixed height compensation control method for the turning stage of the unmanned aerial vehicle according to claim 1, wherein the attack angle average value is obtained by calculating the attack angle average value in the period of 5 s-30 s of the straight flight stage of the unmanned aerial vehicle.
5. The unmanned aerial vehicle turning phase nonlinear height-fixing compensation control method according to claim 1, wherein the unmanned aerial vehicle zero-liter attack angle is obtained from unmanned aerial vehicle pneumatic data.
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| CN114906349A (en) * | 2022-06-28 | 2022-08-16 | 北京京航计算通讯研究所 | Self-adaptive fault-tolerant control method for loss fault of high-efficiency elevator of mobile aircraft |
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