CN117002726A - Self-stability-enhancement nacelle and control method thereof - Google Patents
Self-stability-enhancement nacelle and control method thereof Download PDFInfo
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Abstract
The invention provides a self-stability augmentation nacelle and a control method thereof, wherein the self-stability augmentation nacelle is applied to an aircraft and comprises a nacelle body, a nacelle tail fan is arranged at the nacelle tail of the nacelle body, a side fan is arranged on the side surface of the nacelle body, a lifting rope is arranged on the nacelle body, and the nacelle body is hung on the aircraft through the lifting rope; the cabin body is internally provided with a gesture sensing module, a microprocessor module and a motor driving circuit which are sequentially connected through electric signals; the motor driving circuit module is electrically connected with the cabin tail fan and the side fan; the gesture sensing module is used for measuring gesture data of the cabin body, the microprocessor module is used for calculating the gesture data of the cabin body, and sending a control signal to the motor driving circuit according to a calculation result to control the rotating speed and the steering of the cabin tail fan and the side fan so as to control the gesture stability of the cabin body. The invention has the beneficial effects that: the attitude of the cabin body in the descending process can be controlled to be stable, and the pod descending precision is improved.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a self-stability-increasing nacelle and a control method thereof.
Background
The main problem of unmanned aerial vehicle hoist and mount are that the degree of accuracy is not enough, can not accurately put the goods into the place of making. The reasons for the inability to launch are two, one is the positioning deviation of the aircraft itself and one is the external environmental impact.
The positioning deviation of the unmanned aerial vehicle is determined by the precision of a GPS positioning device, and the GPS positioning precision is +/-2.5 meters in general, so that goods cannot be accurately put in by the GPS positioning in the air.
The deviation of throwing can be aggravated in external environment influence, and after the goods of unmanned aerial vehicle hoist and mount is under the back of transferring, hang with long lifting rope by unmanned aerial vehicle, under the circumstances that external windy, will appear swaing, the unable stability of goods, so not only influence the precision of throwing, probably also appear damaging in the time of probably leading to throwing at last because of wind-force is too big, the excessive rocking of goods.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: a self-stabilizing nacelle and a control method thereof are provided, and stability of the nacelle is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: the self-stability-increasing nacelle is applied to an aircraft and comprises a nacelle body, wherein a nacelle tail of the nacelle body is provided with a nacelle tail fan, the side surface of the nacelle body is provided with a side fan, the nacelle body is provided with a lifting rope, and the nacelle body is hung on the aircraft through the lifting rope;
the cabin body is internally provided with a gesture sensing module, a microprocessor module and a motor driving circuit which are sequentially connected through electric signals; the motor driving circuit module is electrically connected with the cabin tail fan and the side fan;
the attitude sensing module is used for measuring attitude data of the cabin body, the microprocessor module is used for calculating the attitude data of the cabin body and sending control signals to the motor driving circuit according to calculation results to control the rotating speeds and the rotating directions of the cabin tail fan and the side fans so as to control the attitude stability of the cabin body.
Further, the inside of the cabin body is provided with a containing cavity, and the cabin body is provided with a cabin door.
Further, at least one side fan of the cabin body is arranged.
The invention also provides a self-stability augmentation nacelle control method which is applied to the self-stability augmentation nacelle and comprises the following steps:
when the self-stability augmentation nacelle is positioned in the aircraft and ready to descend, the gesture sensing module is transferred and aligned according to navigation information of the aircraft;
judging whether the gesture of the self-stabilizing nacelle meets the descending precision requirement, if so, switching the gesture sensing module to a gesture sensing filter at the descending stage, and starting to descend the self-stabilizing nacelle;
calculating the attitude information of the self-stability augmentation nacelle through a microprocessor module, acquiring the attitude information and the speed information of the self-stability augmentation nacelle in real time by an attitude sensing module, and completing inertial recursion real-time updating parameters;
the gesture sensing module predicts a Kalman filtering process;
if the attitude sensing module receives the aircraft hover signal, calculating an overload coefficient, and if the overload coefficient is not overloaded, using a gravity observation constraint and a horizontal speed constraint; if the overload coefficient shows slight overload, correcting the gravity observation constraint of the precision by using the overload coefficient;
if the constraint updating gesture sensing filter is used, carrying out chi-square test, and correcting gesture information of the gesture sensing module when the chi-square test is passed;
the gesture sensing module outputs corrected gesture information from the gesture sensing filter in real time;
and the microprocessor module sends control signals to the motor driving circuit to control the rotating speeds and the rotating directions of the cabin tail fan and the side fans according to the corrected posture information so as to control the posture stability of the self-stabilizing nacelle.
Further, when the self-stability augmentation pod is positioned in the aircraft to be descended, the transmitting and aligning the gesture sensing module according to the navigation information of the aircraft comprises,
when the self-stabilizing nacelle is positioned in the aircraft and ready to descend, the self-stabilizing nacelle is aligned by adopting the transmission of a Kalman filter based on a phi model, the attitude information and the speed information given by an aircraft navigation system are used as observation values to update the attitude sensing filter, and the zero offset parameter of the nacelle is estimated.
Further, the microprocessor module calculates the attitude information of the self-stabilizing nacelle, the attitude sensing module acquires the attitude information and the speed information of the self-stabilizing nacelle in real time, and the real-time updating parameters of the inertia recurrence comprises,
in the descending process of the self-stabilizing nacelle, calculating the attitude information of the self-stabilizing nacelle through a microprocessor module, wherein the attitude information comprises the roll angle and the pitch angle of the self-stabilizing nacelle;
the attitude sensing module acquires acceleration information and angular rate information of the current aircraft;
in a given time interval dt, integrating the three-dimensional angular rate in the time dt to obtain a rotation vector under an aircraft coordinate system, integrating the angular rate in the attitude recursion process, performing attitude cone paddle compensation, updating attitude information through the rotation vector to obtain the self-stabilizing nacelle attitude change measured by a gyroscope from k-1 to k, and recursively obtaining a final attitude;
and (3) recursively estimating the speed of the self-stability augmentation nacelle, including integrating an accelerometer, compensating gravity acceleration, compensating a speed cone rowing, and updating the speed information of the self-stability augmentation nacelle.
Further, the gesture sensing module performs Kalman filtering process prediction including,
and calculating the state quantity and the time-dependent change relation of the precision matrix of the state quantity by using an extended Kalman filter based on the phi model to calculate the gesture.
Further, if the attitude sensing module receives the aircraft hover signal, calculating an overload factor, if the overload factor is not overloaded, using the gravitational observation constraint and the horizontal velocity constraint includes,
setting the module length of the difference between the observed acceleration and the gravity acceleration vector of the aircraft as an overload coefficient;
when the overload coefficient is greater than the maximum overload threshold, the constraint condition cannot be used;
when the overload coefficient is smaller than the maximum overload threshold and larger than the minimum overload threshold, correcting the accuracy matrix of the observation value constraint according to the overload coefficient to obtain a new measurement update matrix;
when the overload factor is less than the minimum overload threshold, then both the gravitational observation constraint and the horizontal velocity constraint are used.
Further, the gravitational observation constraints include,
and taking the gravity acceleration as an observation value to enter a filter, and calculating a new observation matrix and an observation vector.
Further, if the constraint is used for updating the gesture sensing filter, the chi-square test is performed, and when the chi-square test is passed, the gesture information of the gesture sensing module is corrected to include,
calculating a chi-square checking parameter through residual errors calculated by the observation values, comparing the chi-square checking parameter with a fault threshold set by an algorithm threshold, and if the chi-square checking parameter exceeds the fault threshold, failing the chi-square checking;
if the chi-square checking parameter does not exceed the fault threshold, the chi-square checking is passed, a new error state vector is calculated, and the posture information of the posture sensing module is corrected.
The invention has the beneficial effects that:
on the one hand, the stability augmentation nacelle is internally provided with the gesture sensing module in the nacelle body, the gesture of the nacelle body is sensed in real time, the gesture information of the nacelle body calculated by the microprocessor is provided with the tail fan at the tail of the nacelle body, the side face of the nacelle body is provided with the side face fan, the gesture and the position adjustment in the two-dimensional direction of the horizontal plane can be realized, and the microprocessor module issues control signals to the motor driving circuit according to the gesture information of the nacelle body to control the rotating speed and the rotating direction of the tail fan and the side face fan so as to control the gesture stability of the nacelle body in the descending process and improve the descending precision of the nacelle.
On the other hand, the stability augmentation nacelle control method realizes the initialization of the self-stability augmentation nacelle by acquiring the navigation information of the aircraft for transmission alignment, corrects the attitude information when perceiving the attitude information of the self-stability augmentation nacelle, ensures that the output attitude information is more accurate, and the microprocessor module issues control signals to the motor driving circuit according to the attitude information of the nacelle body to control the rotating speeds and the rotating directions of the nacelle tail fan and the side fan so as to control the attitude stability of the nacelle body in the descending process and improve the nacelle descending precision.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from the mechanisms shown in these drawings without the need for inventive labour for a person skilled in the art.
FIG. 1 is a block diagram of a self-stabilizing pod according to an embodiment of the present invention;
FIG. 2 is a schematic view of a door opening structure of a self-stabilizing pod according to an embodiment of the present invention;
FIG. 3 is a control block diagram of a self-stabilizing pod according to an embodiment of the present invention;
FIG. 4 is a flow chart of self-stabilizing pod gesture sensing in accordance with an embodiment of the present invention;
10, a cabin body; 11. a cabin tail fan; 12. a side fan; 13. a cabin door; 14. a hanging rope; 15. a gesture sensing module; 16. a microprocessor module; 17. and a motor driving circuit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
As shown in fig. 1 to 3, a first embodiment of the present invention is: the self-stability-increasing nacelle is applied to an aircraft and comprises a nacelle body 10, a nacelle tail fan 11 is arranged at the nacelle tail of the nacelle body 10, a side fan 12 is arranged on the side surface of the nacelle body 10, a lifting rope 14 is arranged on the nacelle body 10, and the nacelle body 10 is hung on the aircraft through the lifting rope 14;
the cabin body 10 is internally provided with a gesture sensing module 15, a microprocessor module 16 and a motor driving circuit 17 which are sequentially connected through electric signals; the motor driving circuit 17 module is electrically connected with the cabin tail fan 11 and the side fan 12;
the gesture sensing module 15 is used for measuring gesture data of the cabin 10, and the microprocessor module 16 is used for calculating the gesture data of the cabin 10, and sending control signals to the motor driving circuit 17 according to the calculation result to control the rotation speed and the rotation direction of the tail fan 11 and the side fan 12 so as to control the gesture stability of the cabin 10.
Wherein, the inside of the cabin body 10 is provided with a containing cavity, and the cabin body 10 is provided with a cabin door 13.
Wherein at least one side fan 12 of the cabin 10 is provided.
The cabin body 10 is a main body structure of the self-stability augmentation nacelle, and can be internally provided with cargoes; the cabin door 13 can be opened and closed, and the stock is conveniently taken after the cabin door 13 is opened; the lifting rope 14 is connected with the aircraft and the self-stability augmentation nacelle, and the self-stability augmentation nacelle moves up and down in the vertical direction under the traction of the lifting rope 14; the cabin tail fan 11 is used as a thrust system in the front-rear direction of the self-stabilizing nacelle and can rotate forwards and backwards so as to keep the balance of the self-stabilizing nacelle in the front-rear direction; the side fan 12 is composed of one or more small fans, and can be used as a thrust system of the self-stabilizing nacelle in the left-right direction and can rotate in forward and reverse directions so as to keep the balance of the self-stabilizing nacelle in the left-right direction; the gesture sensing module is placed inside the nacelle, and the rotation speed and the rotation direction of the tail fan 11 and the side fan 12 are controlled through the gesture sensing system, so that the self-stability augmentation nacelle is ensured to be balanced all the time. The gesture sensing module is a six-axis IMU sensor and comprises a three-axis gyroscope and a three-axis accelerometer.
In this embodiment, the stability augmentation nacelle is provided with a gesture sensing module in the nacelle body 10 thereof, the gesture of the nacelle body 10 is sensed in real time, the microprocessor calculates the gesture information of the nacelle body 10, the tail of the nacelle body 10 is provided with a nacelle tail fan 11, the side of the nacelle body 10 is provided with a side fan 12, so that gesture and position adjustment in the two-dimensional direction of the horizontal plane can be realized, and the microprocessor module 16 issues control signals to the motor driving circuit 17 according to the gesture information of the nacelle body 10 to control the rotation speed and rotation direction of the nacelle tail fan 11 and the side fan 12, so as to control the gesture stability of the nacelle body 10 in the descending process and improve the nacelle descending precision.
As shown in fig. 4, another embodiment of the present invention is: a self-stability augmentation nacelle control method is applied to the self-stability augmentation nacelle, and comprises the following steps:
when the self-stability augmentation nacelle is positioned in the aircraft and ready to descend, the gesture sensing module is transferred and aligned according to navigation information of the aircraft;
judging whether the gesture of the self-stabilizing nacelle meets the descending precision requirement, if so, switching the gesture sensing module to a gesture sensing filter at the descending stage, and starting to descend the self-stabilizing nacelle;
calculating the attitude information of the self-stability augmentation nacelle through a microprocessor module, acquiring the attitude information and the speed information of the self-stability augmentation nacelle in real time by an attitude sensing module, and completing inertial recursion real-time updating parameters;
the gesture sensing module predicts a Kalman filtering process;
if the attitude sensing module receives the aircraft hover signal, calculating an overload coefficient, and if the overload coefficient is not overloaded, using a gravity observation constraint and a horizontal speed constraint; if the overload coefficient shows slight overload, correcting the gravity observation constraint of the precision by using the overload coefficient;
if the constraint updating gesture sensing filter is used, carrying out chi-square test, and correcting gesture information of the gesture sensing module when the chi-square test is passed;
the gesture sensing module outputs corrected gesture information from the gesture sensing filter in real time;
and the microprocessor module sends control signals to the motor driving circuit to control the rotating speeds and the rotating directions of the cabin tail fan and the side fans according to the corrected posture information so as to control the posture stability of the self-stabilizing nacelle.
In the gesture sensing, the gesture consists of a roll angle roll, a pitch angle pitch and a direction angle head. Control during descent of the self-stabilizing pod is insensitive to direction angle, requiring high roll and pitch accuracy, and corresponding angular rate information.
The IMU inertial measurement unit is a core sensor for sensing the gesture, and outputs acceleration and angular velocity information in real time, and is used as the gesture sensor in the patent. The IMU device is rigidly fixed to the nacelle internal structure, with the body coordinate system (b-frame) defined by the position and mounting direction of the IMU itself during the IMU, and the earth coordinate system (n-frame) defined by the geographic north, geographic east, and gravitational directions. The attitude angle describes the conversion relation of the body coordinate system and the geodetic coordinate system. The coordinate system of the self-navigation system of the aircraft is an aircraft coordinate system.
The pod gesture perception defines the geodetic coordinate system speed and gesture as a state vector, the gesture error in the strict sense is given by a rotation vector form, the proposal adopts phi model to define the angle error, and the state matrix is established by the errors of the speed, the gesture and the gyroscope zero offset. δv is the velocity error in the geodetic coordinate system,to represent phi-model posing errors, δb g Zero bias error for the b series and corresponding variance covariance matrix P:
V n represents the true value speed under the n series,representing the estimated velocity in the n series. />For the truth rotation matrix of b-series to n-series, < >>Is the estimated rotation matrix. Similarly, omega b And->Is true and estimated b-series angular acceleration. b g And->Is true and estimated gyro zero bias. The symbol x represents an antisymmetric matrix operation and I represents an identity matrix. The error is defined as follows, and the gyroscope error model only selects zero offset error b g ，ω b For b is the lower angular rate, b g Is a three-dimensional zero bias parameter of the gyroscope.
The IMU adopted by the self-stability-increasing nacelle has lower precision, and high-precision influencing factors such as earth rotation, coriolis force and the like are ignored. The dynamics of the velocity gesture are:
for the velocity derivative under the n series, i.e. acceleration, f n G is the total acceleration under n series n Acceleration of gravity, ++>Is the derivative of the rotation matrix.
Since the self-stabilizing nacelle speed is slow, neglecting the effect of the speed itself on the speed error, the error differential equation about the state quantity is:
wherein,is the derivative of the attitude misalignment angle, T is the run time of the system.
Wherein when the self-stabilizing pod is in the aircraft interior to be lowered, the transmitting alignment of the attitude sensing module according to the navigation information of the aircraft comprises,
when the self-stabilizing nacelle is positioned in the aircraft and ready to descend, the self-stabilizing nacelle is aligned by adopting the transmission of a Kalman filter based on a phi model, the attitude information and the speed information given by an aircraft navigation system are used as observation values to update the attitude sensing filter, and the zero offset parameter of the nacelle is estimated.
The process of initializing and aligning the inertial device is a difficulty in use, and when the nacelle is in the interior of the aircraft ready for descent, the filters of the attitude sensing module will be initialized and the alignment process will be performed. According to the definition of the state quantity, the initial values of the nacelle speed and the attitude are the same as those of the aircraft, and if the nacelle speed and the attitude are reasonable to install, the attitude deviation caused by the installation error can be ignored.
The alignment process adopts the transmission alignment of a Kalman filter based on a phi model, takes the gesture and speed information given by an aircraft navigation system as an observation value to update the filter of a gesture sensing module, estimates zero offset parameters of the nacelle, and uses the measurement updating process of Kalman filtering. Let the arm lever of the aircraft and the nacelle be l b The installation positions of the main inertial system and the auxiliary inertial system are consistent, and when the error is smaller, the Euler angle error is equivalent to the rotation vector error, and then the matrix H is observed transfer And observation vector Z v_transfer ，Z θ_transfer Is expressed as:
the transfer alignment should ensure that the pod attitude meets the expected accuracy requirements before the descent operation can begin.
Wherein the microprocessor module calculates the attitude information of the self-stability augmentation nacelle, the attitude sensing module acquires the attitude information and the speed information of the self-stability augmentation nacelle in real time and completes the inertial recursion real-time updating parameters including,
in the descending process of the self-stabilizing nacelle, calculating the attitude information of the self-stabilizing nacelle through a microprocessor module, wherein the attitude information comprises the roll angle and the pitch angle of the self-stabilizing nacelle;
the attitude sensing module acquires acceleration information and angular rate information of the current aircraft;
in a given time interval dt, integrating the three-dimensional angular rate in the time dt to obtain a rotation vector under an aircraft coordinate system, integrating the angular rate in the attitude recursion process, performing attitude cone paddle compensation, updating attitude information through the rotation vector to obtain the self-stabilizing nacelle attitude change measured by a gyroscope from k-1 to k, and recursively obtaining a final attitude;
and (3) recursively estimating the speed of the self-stability augmentation nacelle, including integrating an accelerometer, compensating gravity acceleration, compensating a speed cone rowing, and updating the speed information of the self-stability augmentation nacelle.
In the descending process, the computing platform outputs the attitude information of the nacelle in real time, namely the roll angle roll and the pitch angle pitch of the nacelle. The method comprises the steps that a gesture sensing module in the nacelle acquires acceleration information f of a current aircraft coordinate system b And angular rate information omega b The method comprises the following steps:
in a given time interval dt, the integral of the three-dimensional angular rate in the time dt obtains a rotation vector in an aircraft coordinate system, the attitude recursion process is the integral of the angular rate, the attitude cone pitch compensation is carried out, and the attitude information roll and pitch are updated through the rotation vector.
Consider the attitude cone paddle compensation delta theta scull Nacelle attitude change measured by gyroscopes from k-1 to kThe method comprises the following steps:
recursively obtaining final gestureLet n be rotation ∈ ->Is an identity matrix.
And similarly, integrating an accelerometer in the speed recursion process, performing gravity acceleration compensation and speed cone paddle compensation, and updating speed information.For the speed at time k>For the velocity at time k-1, deltaV n Delta V is the increment of speed scull Compensating for the speed cone rowing. The recursive formula for nacelle speed variation is:
wherein the gesture sensing module performs Kalman filtering process prediction including,
and calculating the state quantity and the time-dependent change relation of the precision matrix of the state quantity by using an extended Kalman filter based on the phi model to calculate the gesture.
The long-term inertial recursion causes an excessive attitude error due to the accumulation of the observed error in the angular rate. For this, the speed and the posture model based on the phi-model are adopted to correct the posture speed, and the filter selects the self-adaptive Kalman filter. Different correction strategies are adopted according to different state information of the nacelle.
And (3) process prediction: the proposal uses an extended Kalman filter based on a phi model to calculate the gesture, and the process prediction describes the time-dependent change condition of a state quantity and an accuracy matrix thereof, namely, from X k-1 ，P k-1 Prediction of X over time k ，P k 。
From the dynamics formula of the previous nacelle section, the jacobian matrix F of the state matrix X can be derived:
the Transition matrix Φ is an integral term of the jacobian matrix, considering only the first order expansion, from time k-1 to time k,
Φ＝I+FΔt
X k ＝ΦX k-1
P k ＝ΦP k-1 Φ T +ΓQ k-1 Γ T
q is the process noise of the state matrix, Γ is the transfer matrix of the process noise, here the identity matrix.
Wherein if the attitude sensing module receives the aircraft hover signal, calculating an overload factor, and if the overload factor is not overloaded, using the gravitational observation constraint and the horizontal velocity constraint includes,
setting the module length of the difference between the speed and the gravity acceleration vector of the aircraft as an overload coefficient;
when the overload coefficient is greater than the maximum overload threshold, the constraint condition cannot be used;
when the overload coefficient is smaller than the maximum overload threshold and larger than the minimum overload threshold, correcting the accuracy matrix of the observation value constraint according to the overload coefficient to obtain a new measurement update matrix;
when the overload factor is less than the minimum overload threshold, then both the gravitational observation constraint and the horizontal velocity constraint are used.
Wherein the gravitational observation constraint comprises,
and taking the gravity acceleration as an observation value to enter a filter, and calculating a new observation matrix and an observation vector.
Gravity and speed constraints: when the nacelle descends, if an aircraft signal is received, and the aircraft enters a hovering state and needs self-questioning calculation, the attitude is updated in a mode of enabling the constraint of gravity and speed.
If the motion state is stable and has no additional acceleration, the gesture perception is constrained by using gravity and horizontal speed. An overload factor is set describing the total acceleration (overload) condition currently received. The external stress is approximately zero in a stationary state or in steady motion of the nacelle.
The overload factor s is defined as the module length of the difference between the observed acceleration and the gravitational acceleration vector:
s＝|f n -g n |。
the algorithm needs to determine a maximum overload threshold th_max and a minimum overload threshold th_min; when s is greater than the threshold th_max, the constraint condition cannot be used; when s is smaller than the threshold th_max, correcting the accuracy matrix of the observation value constraint by using a correlation function according to the overload coefficient, namely obtaining a new measurement update matrix R=f(s) R; when s is smaller than th_min, then both the gravity constraint and the horizontal velocity constraint are used.
A set of experimental functional relationships are presented herein, representing the functional correction relationship for overload coefficients:
f(s)＝3s 2 +1,
th_max(s)＝2,th_min(s)＝0.1
gravity observation constraint: the gravitational acceleration may be used as an observation constraint filter, and in a geodetic coordinate system, the gravitational acceleration has a value for only the z-axis component, approximately equal to g= 9.805m/s 2 。
The system allows the gravitational acceleration g to be determined by overload detection using gravitational constraints n Enters the filter as an observed value, and calculates a new observation matrix H g And observation vector Z g 。
Horizontal zero speed observation constraint: the horizontal speed constraint is based on the assumption that the nacelle is at a horizontal speed close to zero in case of low overload. If the system passes the minimum threshold overload test, a horizontal zero speed constraint is allowed. Zero velocity under n seriesEnters the filter as an observed value, and calculates a new observation matrix H v And observation vector Z v 。
Wherein if the constraint is used to update the attitude sensing filter, a chi-square test is performed, and when the chi-square test is passed, the attitude information of the attitude sensing module is corrected to include,
calculating a chi-square checking parameter through residual errors calculated by the observation values, comparing the chi-square checking parameter with a fault threshold set by an algorithm threshold, and if the chi-square checking parameter exceeds the fault threshold, failing the chi-square checking;
if the chi-square checking parameter does not exceed the fault threshold, the chi-square checking is passed, a new error state vector is calculated, and the posture information of the posture sensing module is corrected.
And (5) measurement and update: chi-square test fault detection for detecting measurement updates, chi-square test parameter lambda being calculated from residual errors of the observation calculation k And comparing the parameters with fault thresholds set by the algorithm. Observations exceeding the threshold will not be allowed to correct the state quantity. Lambda (lambda) k The calculation equation of (2) is as follows:
v k ＝Z k -H k X k-1
wherein H is k Is the linear relationship of the observed value and the state vector, i.e. the observation matrix. Z is Z k R is the difference between the current observed quantity and the estimated value k The accuracy matrix corresponding to the observed value. Construction of the observation matrix H is based on selected constraints, i.e., H transfer 、H g 、H v 。
After the chi-square test passes, the Kalman increment K can be calculated k And the measurement update of the state quantity from the k-1 time to the k time is completed.
X k ＝X k-1 +K k v k
P k ＝(I-K k H k )P k-1
Calculating a new error state vector X k And then, according to the definition of the error vector, feeding back the error item to the corresponding speed, gesture and gyro zero offset parameters.
Stability enhancement control: the aircraft, the lifting rope and the nacelle form a simple pendulum system, the control law aims at generating a motor rotating speed command, and the nacelle is kept horizontal by stabilizing the simple pendulum system through the thrust generated by the propeller.
The actuating mechanism of the control system comprises a forward motor and two identical lateral motors, both support forward and reverse rotation, forward and backward thrust generated by the forward and reverse rotation are equal, left and right thrust generated by the forward and reverse rotation are equal, and the two lateral motors are controlled by adopting the same rotating speed instruction.
Kinetic model: the nacelle centroid is taken as an origin to establish a body coordinate system (b-frame), an X axis coincides with the nacelle longitudinal axis and points forward, a Y axis is perpendicular to the nacelle longitudinal symmetry plane and points to the right, and a Z axis accords with a right-hand coordinate system and points downward. According to the connection scheme of the lifting rope and the nacelle, the Z axis of the nacelle body coordinate system always keeps radial coincidence with the single pendulum ball, namely the rolling angle and the pitch angle of the nacelle are equal to those of a single pendulum system.
The nacelle is subjected to stress analysis, so that the following steps are known:
wherein L is the roll moment applied to the nacelle; m is the pitching moment born by the nacelle; l (L) 1 The length of the lifting rope is a time variable, and the lifting rope can be obtained from an airplane through a data line; f (f) 1 Thrust is the forward motor; f (f) 2 Is the thrust of the lateral motor;
the dynamic model is normalized and the maximum thrust before and after is recorded as f 1,max Left/right maximum thrust f 2,max Obtaining the theoretical maximum roll moment L max ＝2*l 1 *f 2,max Maximum pitching moment is M max ＝l 1 *f 1,max . The result of the carrying-in model is:
wherein τ L ,τ M ∈[-1,1]For the normalized roll and pitch moments,for normalized propeller thrust, the sign indicates thrust direction, positive forward/right, negative aft/left.
Modeling a propeller thrust model as
C T Is the thrust coefficient of the propeller; omega is the rotating speed of the propeller; omega max Is the maximum rotating speed of the propeller; τ ω ∈[-1,1]Is the normalized propeller rotational speed. The relationship exists:
ω＝ω max ·τ ω 。
control law:
attitude stabilization control law:
attitude angular velocity control law:
K φ,p (l 1 ) Is a roll angle control parameter; k (K) θ,p (l 1 ) Is a pitch angle control parameter;and->Is a roll angular velocity control parameter; />And->For pitch angle rate controlAnd (5) preparing parameters. The parameters are all subjected to table look-up processing according to the length of the lifting rope. Phi and theta are the roll angle and pitch angle sensed by the gesture; p and q are the roll angular and pitch angular rates perceived by the gesture; p is p c And q c The method comprises a roll angular velocity command and a pitch angular velocity command; />And->The method comprises a roll angular acceleration instruction and a pitch angular acceleration instruction;
normalizing the angular velocity command to a torque command:
the actual motor rotating speed command omega is reversely deduced according to the dynamics model 1 And omega 2 . Based on this, the controller achieves a calm of the hoist rope and pod system, which is resistant to disturbances and stable directly under the aircraft, the pod attitude remaining level.
The foregoing is only illustrative of the present invention and is not to be construed as limiting the scope of the invention, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present invention and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the invention.
Claims (10)
1. The self-stability-increasing nacelle is applied to an aircraft and is characterized by comprising a nacelle body, wherein a nacelle tail of the nacelle body is provided with a nacelle tail fan, the side surface of the nacelle body is provided with a side fan, the nacelle body is provided with a lifting rope, and the nacelle body is hung on the aircraft through the lifting rope;
the cabin body is internally provided with a gesture sensing module, a microprocessor module and a motor driving circuit which are sequentially connected through electric signals; the motor driving circuit module is electrically connected with the cabin tail fan and the side fan;
the attitude sensing module is used for measuring attitude data of the cabin body, the microprocessor module is used for calculating the attitude data of the cabin body and sending control signals to the motor driving circuit according to calculation results to control the rotating speeds and the rotating directions of the cabin tail fan and the side fans so as to control the attitude stability of the cabin body.
2. The self-stabilizing pod of claim 1, wherein: the inside of the cabin body is provided with a containing cavity, and the cabin body is provided with a cabin door.
3. The self-stabilizing pod of claim 1, wherein: at least one side fan of the cabin body is arranged.
4. A self-stabilizing pod control method applied to the self-stabilizing pod of any one of claims 1-3, comprising:
when the self-stability augmentation nacelle is positioned in the aircraft and ready to descend, the gesture sensing module is transferred and aligned according to navigation information of the aircraft;
judging whether the gesture of the self-stabilizing nacelle meets the descending precision requirement, if so, switching the gesture sensing module to a gesture sensing filter at the descending stage, and starting to descend the self-stabilizing nacelle;
calculating the attitude information of the self-stability augmentation nacelle through a microprocessor module, acquiring the attitude information and the speed information of the self-stability augmentation nacelle in real time by an attitude sensing module, and completing inertial recursion real-time updating parameters;
the gesture sensing module predicts a Kalman filtering process;
if the attitude sensing module receives the aircraft hover signal, calculating an overload coefficient, and if the overload coefficient is not overloaded, using a gravity observation constraint and a horizontal speed constraint; if the overload coefficient shows slight overload, correcting the gravity observation constraint of the precision by using the overload coefficient;
if the constraint updating gesture sensing filter is used, carrying out chi-square test, and correcting gesture information of the gesture sensing module when the chi-square test is passed;
the gesture sensing module outputs corrected gesture information from the gesture sensing filter in real time;
and the microprocessor module sends control signals to the motor driving circuit to control the rotating speeds and the rotating directions of the cabin tail fan and the side fans according to the corrected posture information so as to control the posture stability of the self-stabilizing nacelle.
5. The self-stability augmentation pod control method of claim 4, wherein: when the self-stabilizing pod is positioned in the aircraft to be lowered, the transmitting and aligning the gesture sensing module according to the navigation information of the aircraft comprises,
when the self-stabilizing nacelle is positioned in the aircraft and ready to descend, the self-stabilizing nacelle is aligned by adopting the transmission of a Kalman filter based on a phi model, the attitude information and the speed information given by an aircraft navigation system are used as observation values to update the attitude sensing filter, and the zero offset parameter of the nacelle is estimated.
6. The self-stability augmentation pod control method of claim 4, wherein: the attitude information of the self-stability augmentation nacelle is calculated by the microprocessor module, the attitude sensing module acquires the attitude information and the speed information of the self-stability augmentation nacelle in real time, and the completion of inertial recursion real-time updating parameters comprises,
in the descending process of the self-stabilizing nacelle, calculating the attitude information of the self-stabilizing nacelle through a microprocessor module, wherein the attitude information comprises the roll angle and the pitch angle of the self-stabilizing nacelle;
the attitude sensing module acquires acceleration information and angular rate information of the current aircraft;
in a given time interval dt, integrating the three-dimensional angular rate in the time dt to obtain a rotation vector under an aircraft coordinate system, integrating the angular rate in the attitude recursion process, performing attitude cone paddle compensation, updating attitude information through the rotation vector to obtain the self-stabilizing nacelle attitude change measured by a gyroscope from k-1 to k, and recursively obtaining a final attitude;
and (3) recursively estimating the speed of the self-stability augmentation nacelle, including integrating an accelerometer, compensating gravity acceleration, compensating a speed cone rowing, and updating the speed information of the self-stability augmentation nacelle.
7. The self-stability augmentation pod control method of claim 4, wherein: the gesture sensing module performing Kalman filtering process prediction includes,
and calculating the state quantity and the time-dependent change relation of the precision matrix of the state quantity by using an extended Kalman filter based on the phi model to calculate the gesture.
8. The self-stability augmentation pod control method of claim 4, wherein: if the attitude sensing module receives the aircraft hover signal, calculating an overload factor, if the overload factor is not overloaded, using the gravitational observation constraint and the horizontal velocity constraint includes,
setting the module length of the difference between the observed acceleration and the gravity acceleration vector of the aircraft as an overload coefficient;
when the overload coefficient is greater than the maximum overload threshold, the constraint condition cannot be used;
when the overload coefficient is smaller than the maximum overload threshold and larger than the minimum overload threshold, correcting the accuracy matrix of the observation value constraint according to the overload coefficient to obtain a new measurement update matrix;
when the overload factor is less than the minimum overload threshold, then both the gravitational observation constraint and the horizontal velocity constraint are used.
9. The self-stability augmentation pod control method of claim 8, wherein: the gravitational observation constraints include that,
and taking the gravity acceleration as an observation value to enter a filter, and calculating a new observation matrix and an observation vector.
10. The self-stability augmentation pod control method of claim 4, wherein: if the constraint is used for updating the gesture sensing filter, the chi-square test is carried out, and when the chi-square test is passed, the gesture information of the gesture sensing module is corrected to comprise,
calculating a chi-square checking parameter through residual errors calculated by the observation values, comparing the chi-square checking parameter with a fault threshold set by an algorithm threshold, and if the chi-square checking parameter exceeds the fault threshold, failing the chi-square checking;
if the chi-square checking parameter does not exceed the fault threshold, the chi-square checking is passed, a new error state vector is calculated, and the posture information of the posture sensing module is corrected.
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