CN117519274B - Flight control simulation method and device, electronic equipment and storage medium - Google Patents
Flight control simulation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a flight control simulation method, a flight control simulation device, electronic equipment and a storage medium. The method comprises the following steps: inputting the expected course angle value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the roll angle control signal is used for controlling an aileron of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned on a target three-dimensional track; inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height control signal is used for controlling an elevator of the unmanned aerial vehicle so that the unmanned aerial vehicle reaches a target height; inputting a speed expected value of the unmanned aerial vehicle to the PI controller, and outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle so that the unmanned aerial vehicle has a target speed; and performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal. The flight control simulation method provided by the invention can improve the flight stability of the unmanned aerial vehicle.
Description
Technical Field
The present invention relates to the field of unmanned aerial vehicle control technologies, and in particular, to a flight control simulation method, a device, an electronic device, and a storage medium.
Background
The aircraft control system (hereinafter referred to as a flight control system) is an important component of the unmanned aerial vehicle, collects information related to the unmanned aerial vehicle, calculates instructions of each actuating mechanism, drives each control surface to enable the unmanned aerial vehicle to fly according to requirements, and the flight control law is the core of the flight control system. Conventional automatic flight control adopts a Proportional-Integral-Derivative (PID) control mode, and a single-stage PID algorithm is generally adopted. The single-stage PID algorithm is more suitable for a linear system, and can obtain a better effect when the output quantity and the controlled quantity are in a linear relation, but the aircraft is not a linear system, and the ideal control effect is difficult to achieve on the aircraft by using the single-stage PID algorithm, so that the system is difficult to stably operate, and the anti-interference performance is poor.
Disclosure of Invention
The invention provides a flight control simulation method, a flight control simulation device, electronic equipment and a storage medium, which are used for solving the problem of poor flight stability of an unmanned aerial vehicle in the prior art.
The invention provides a flight control simulation method, which comprises the following steps:
Inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the course angle expected value is determined based on a preset course point of the unmanned aerial vehicle, the inner ring PID controller controls the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value, and the roll angle control signal is used for controlling ailerons of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be located on a target three-dimensional track;
Inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height expected value is determined based on the preset waypoint, the outer ring PID controller controls the height control signal based on a height feedback value, a plane inclination angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle, and the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target height;
Inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to have a target speed;
And performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal.
In some embodiments, the control amount of the roll angle control signal by the inner loop PID controller is expressed as:
δac＝kφ(kdp(dcmd-d)+kdi∫(dcmd-d)dt+kddd(dcmd-d)-φ);
Wherein k dp is a proportional adjustment parameter of the inner loop PID controller, k di is an integral adjustment parameter of the inner loop PID controller, k dd is a differential adjustment parameter of the inner loop PID controller, d cmd is the heading angle expected value, d is the heading angle feedback value, phi is the roll angle feedback value, and k φ is a first preset proportional coefficient.
In some embodiments, the control amount of the altitude control signal by the outer loop PID controller is expressed as:
δec＝kτ(kγ(khp(hcmd-h)+khi∫(hcmd-h)dt-γ)-τ)；
Wherein k hp is a proportional adjustment parameter of the outer loop PID controller, k hi is an integral adjustment parameter of the outer loop PID controller, k γ is a third preset proportional coefficient, h cmd is the altitude expected value, h is the altitude feedback value, γ is the aircraft inclination angle feedback value, τ is the overload feedback value, and k τ is a second preset proportional coefficient.
In some embodiments, the method further comprises, after the flight control of the drone based on the roll angle control signal, the altitude control signal, and the airspeed control signal:
Determining a target maneuver instruction based on the altitude desired value, the speed desired value, and the heading angle desired value;
And controlling the unmanned aerial vehicle to perform maneuvering flight based on the target maneuvering instruction.
In some embodiments, the target maneuver instruction comprises: a maneuver instruction for a jump motion;
The unmanned aerial vehicle height indicated by the maneuvering instruction of the jump motion is as follows:
The speed of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump motion is as follows: v cmd = cos 4;
The heading of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump action is as follows: s cmd = cos 5;
Wherein t 0 is the starting time of the jump motion, h 0 is the unmanned plane height at the starting time of the jump, k h is the climbing rate parameter, ons4 and ons5 are both constant values, and h c is Unmanned aerial vehicle height at moment.
In some embodiments, the target maneuver instruction comprises: maneuver instructions for a hover maneuver or a turn maneuver;
the unmanned aerial vehicle height indicated by the maneuver instruction of the hover action or the turning action is as follows:
hcmd＝cons1；
the unmanned plane speed indicated by the maneuver instruction of the hover action or the turn action is:
Vcmd＝cons2；
the unmanned aerial vehicle course indicated by the maneuver instruction of the spiral motion or the turning motion is as follows:
Wherein t 1 is the starting time of the hover action or the turning action, x 0 is the horizontal position abscissa of the unmanned aerial vehicle at the starting time of the hover or the turning, y 0 is the horizontal position ordinate of the unmanned aerial vehicle at the starting time of the hover or the turning, x is the horizontal position abscissa of the unmanned aerial vehicle at the current time, y is the horizontal position ordinate of the unmanned aerial vehicle at the current time, and cos 1, cos 2 and cos 3 are all constant values.
The invention also provides a flight control simulation device, which comprises:
The first determining module is used for inputting a course angle expected value of the unmanned aerial vehicle to the inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, determining the course angle expected value based on a preset course point of the unmanned aerial vehicle, controlling the roll angle control signal based on a course angle feedback value and a roll angle feedback value corresponding to the unmanned aerial vehicle by the inner ring PID controller, and controlling an aileron of the unmanned aerial vehicle by the roll angle control signal so as to enable the unmanned aerial vehicle to be positioned on a target three-dimensional track;
The second determining module is used for inputting the altitude expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting an altitude control signal corresponding to the unmanned aerial vehicle, wherein the altitude expected value is determined based on the preset waypoint, the outer ring PID controller controls the altitude control signal based on the altitude feedback value, the aircraft inclination angle feedback value and the overload feedback value corresponding to the unmanned aerial vehicle, and the altitude control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target altitude;
The third determining module is used for inputting a speed expected value of the unmanned aerial vehicle to the PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle so that the unmanned aerial vehicle has a target speed;
And the control module is used for controlling the unmanned aerial vehicle to fly based on the roll angle control signal, the altitude control signal and the airspeed control signal.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the flight control simulation method as described above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a flight control simulation method as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a flight control simulation method as described in any one of the above.
According to the flight control simulation method, the device, the electronic equipment and the storage medium, the PID method is adopted to ensure that a flight control system tracks and executes control instructions under the action of uncertain factors, so that the requirements on rapidity, stability and accuracy are met, and the robustness and closed-loop stability of unmanned aerial vehicle control under the conditions of bounded interference and uncertain disturbance are ensured.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a flight control simulation method provided by the invention;
FIG. 2 is a system schematic diagram of a flight control simulation method provided by the present invention;
FIG. 3 is a schematic diagram of a cascade control architecture for a flight control simulation method provided by the present invention;
FIG. 4 is a high outer loop PID control map of the flight control simulation method provided by the present invention;
FIG. 5 is a chart of airspeed PI control for a flight control simulation method provided by the present invention;
FIG. 6 is a heading angle PID control diagram of the flight control simulation method provided by the invention;
FIG. 7 is a flow chart of unmanned aerial vehicle maneuver algorithm underlying control logic of the flight control simulation method provided by the present invention;
FIG. 8 is a schematic diagram of the integration of the control algorithm of the flight control simulation method provided by the invention into simulation software;
FIG. 9 is a schematic view of the configuration of the flight control simulation apparatus provided by the present invention;
Fig. 10 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.
In the related art, the flight control system is mainly used for controlling parameters such as the gesture, the course, the altitude, the speed and the like of the aircraft. The flight control system is divided into two parts, namely hardware and software. The hardware mainly comprises a central processing unit (Central Processing Unit, CPU), a sensor, an actuator and the like, and the software mainly comprises an operating system, a control algorithm, a user interface and the like.
The sensors of the flight control system mainly comprise gyroscopes, accelerometers, magnetometers, barometers and the like. Information such as the current attitude, speed and altitude of the aircraft is acquired through the sensors. The actuator mainly comprises a motor, a steering engine and the like, and the action of the aircraft is realized by controlling the actuator. The control algorithm is a core part of the flight control system, and obtains control signals through calculation according to information acquired by the sensors, and controls the actuator to generate corresponding actions, so that parameters such as the attitude, the heading, the altitude, the speed and the like of the aircraft are controlled.
The fixed wing aircraft is an aircraft which generates lift force through an airfoil and propels by using a propulsion device, is a complex nonlinear system, and can solve the problem of singular angles when a motion equation set is built by using Euler angles. In order to avoid the problem of angular singularity in motor movements, a system of equations of motion in the form of quaternions may be employed.
JSBSim is an open source flight dynamics simulator that simulates the movement and control of aircraft such as airplanes, helicopters, rockets, and other related physical processes. JSBSim support a variety of navigation systems including global positioning systems (Global Positioning System, GPS), inertial navigation systems, and the like; a variety of sensors are also supported, including accelerometers, gyroscopes, barometers, and the like. JSBSim includes fields of flight strategy development, flight control algorithm development, flight simulation, and the like. However, when policy algorithm development is performed through JSBsim, the policy algorithm is difficult to write directly through unmanned aerial vehicle control variables.
The flight control simulation method, apparatus, electronic device and storage medium of the present invention are described below with reference to fig. 1 to 10.
The execution subject of the flight control simulation method provided by the invention can be an electronic device, a component in the electronic device, an integrated circuit, or a chip. The electronic device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, wearable device, ultra-mobile personal computer (UMPC), netbook or Personal Digital Assistant (PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the invention is not limited in particular.
The technical scheme of the invention is described in detail below by taking a computer to execute the flight control simulation method provided by the invention as an example.
Fig. 1 is a schematic flow chart of a flight control simulation method provided by the invention. Referring to fig. 1, the flight control simulation method provided by the present invention includes:
step 110, inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, determining the course angle expected value based on a preset course point of the unmanned aerial vehicle, and controlling the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value by the inner ring PID controller, wherein the roll angle control signal is used for controlling an aileron of the unmanned aerial vehicle so that the unmanned aerial vehicle is positioned on a target three-dimensional track;
Step 120, inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, determining the height expected value based on a preset navigation point, and controlling the height control signal based on a height feedback value, a navigation tilt angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle by the outer ring PID controller, wherein the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach a target height;
130, inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, and controlling the airspeed control signal by the PI controller based on a speed feedback value corresponding to the unmanned aerial vehicle, wherein the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle so that the unmanned aerial vehicle has a target speed;
and 140, performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal.
The flight control simulation method provided by the invention can be applied to a flight control simulation system, and the flight control simulation system can enable the unmanned aerial vehicle to reach a specified position along a target three-dimensional track, and control the position of the unmanned aerial vehicle to be positioned on a planned three-dimensional track and have a specified flight speed. The target three-dimensional track is a preplanned unmanned aerial vehicle three-dimensional track.
As shown in fig. 2, the flight control simulation system comprises a control instruction module, a control module and a rudder deflection instruction management module.
The control instruction module can be used for executing control instructions according to the planned target three-dimensional track.
The control module can control the elevator, aileron, rudder and accelerator, has the control function on the height, speed, pitch angle rate, roll angle and course angle, and can schedule corresponding control laws according to different rudder deflection instructions so as to realize the flight required by the instructions.
The rudder deflection command management module manages command signals generated by each control function, and realizes stable transition of flight control.
In practical implementation, the flight control simulation method provided by the invention can be divided into the following four parts.
1. Dividing the flight process of the unmanned plane;
The control law is designed aiming at different flight phases of the unmanned aerial vehicle, so that the complete flight process of the unmanned aerial vehicle is the following flight phases: 1. a take-off stage; 2. a conventional flight phase; 3. and (5) a maneuvering flight stage.
When the unmanned plane is in a conventional flight stage, the unmanned plane can fly on a three-dimensional route planned according to a decision layer and has a planned speed. The unmanned plane can enter a maneuvering flight stage after receiving maneuvering instructions, and the maneuvering flight stage is finished after maneuvering actions are finished. The motorized flight in the present invention comprises: turns, jumps, spirals, etc.
2. And the altitude, speed, course angle and other channels of the conventional flight stage are designed.
In actual execution, the unmanned control may be divided into a longitudinal control channel and a transverse control channel during the normal flight phase. The longitudinal control channel controls the speed of the unmanned aerial vehicle to reach a specified speed through an engine speed closed-loop Proportional-Integral (PI) controller, controls the height of the elevator through a cascade PID controller, enables the height of the unmanned aerial vehicle to reach a target height corresponding to a target three-dimensional track, and the transverse control channel controls the course angle of the unmanned aerial vehicle through rolling so that the unmanned aerial vehicle is positioned on a plumb curved surface of the target three-dimensional track.
The longitudinal control channels include control of track pitch angle, altitude and overload for improved longitudinal static stability and short period damping characteristics. The longitudinal control channels simultaneously fuse the speed control.
The transverse control channel comprises course angle and roll angle control, and the inner loop is formed by roll angle speed feedback and roll angle feedback so as to send control instructions to the aileron of the unmanned aerial vehicle.
As shown in FIG. 3, the flight control gesture and speed are indirectly controlled through the waypoints, and the flight control gesture and speed control device comprises a speed control module, a altitude control module and a course angle control module.
The altitude control module is built based on an outer loop PID controller, which is composed of track pitch angle feedback and overload feedback, as shown in FIG. 4, which is a graph of altitude outer loop PID control.
Where dh represents the derivative, gamma is the track pitch angle, load is the overload feedback, 1/S represents the integral, and h cmd is the highly desired value.
The cascade PID controller is characterized in that a track inclination angle inner loop and an overload inner loop are newly added on an original PID control loop, so that cascade PID control is realized, the robustness and the easy realization of flight control are ensured, the anti-interference capability of unmanned aerial vehicle flight control is improved, and the flight stability of the unmanned aerial vehicle is further improved.
The speed control module is constructed based on an accelerator airspeed control loop, and fig. 5 is an airspeed PI control diagram, so that the tracking of an airspeed command is realized.
Where 1/S represents integration and V cmd represents a speed desired value.
The course angle control module is constructed based on an inner ring PID controller, fig. 6 is a course angle PID control diagram, the control of the course angle Raw is realized by controlling an inner loop through a Roll angle Roll, and the inner loop is composed of Roll angle speed feedback and Roll angle feedback.
Wherein Raw cmd represents a heading angle expected value.
The cascade PID has the following advantages:
1. Better control performance: the cascade PID controller can improve control precision and stability through finer control. It can reduce overshoot and ringing phenomena, thereby better controlling the response and steady state error of the system.
2. Better handle load changes: the cascade PID controller can better cope with load variation. By using different control parameters in the primary and secondary loop, load variations can be better handled, thus maintaining better control performance.
3. Better interference suppression capability: the cascade PID controller can better suppress various disturbances by using different control parameters in different loops. This may improve stability and tamper resistance in the control system.
4. Better system response speed: the cascade PID controller can enable the system to respond faster through finer control. This can improve the response speed and dynamic performance in the control system.
5. Better adaptability: the cascade PID controller can better adapt to different control objects and control environments by using different control parameters in different loops. This may improve the adaptability and reliability in the control system.
It should be noted that, the PID algorithm includes a proportional control algorithm, an integral control algorithm, and a differential control algorithm, and the P, I, D coefficients are respectively a proportional parameter K p, an integral coefficient K i, and a differential coefficient K d, which are used for preventing overshoot from being excessive, eliminating steady-state error, and increasing the damping and control error of the system.
In actual implementation, the proportional control algorithm is used for outputting steady-state errors of the flight control system when only the proportional control algorithm exists, and the proportional parameter K p prevents overshoot; the integral control algorithm can eliminate steady-state errors; the differential control algorithm can realize advanced control of the flight control system. The integral is optimized through an integral anti-saturation method, so that the amplitude of the integral is not large, and when the executing mechanism runs at full load, the integrator is closed and only the reverse integral effect is responded. The robustness of the control is enhanced.
In some embodiments, the control amount of the air speed control signal by the PI controller is expressed as:
δv＝kvp(Vcmd-V)+kvi∫(Vcmd-V)d
Wherein k vp is a proportional adjustment parameter of the PI controller, k vi is an integral adjustment parameter of the PI controller, V cmd is a speed expected value, and V is a speed feedback value.
In some embodiments, the control amount of the roll angle control signal by the inner loop PID controller is expressed as:
δac＝kφ(kdp(dcmd-d)+kdi∫(dcmd-d)dt+kddd(dcmd-d)-φ);
Wherein k dp is a proportional adjustment parameter of the inner loop PID controller, k di is an integral adjustment parameter of the inner loop PID controller, k dd is a differential adjustment parameter of the inner loop PID controller, d cmd is a heading angle expected value, d is a heading angle feedback value, phi is a roll angle feedback value, and k φ is a first preset proportional coefficient.
In practical implementation, the integral part needs to be limited, and the limiting range corresponding to the upper limit and the lower limit of the integral term isThe first preset scaling factor may be set according to practical situations, and is not particularly limited herein.
In some embodiments, the control amount of the height control signal by the outer loop PID controller is expressed as:
δec＝kτ(kγ(khp(hcmd-h)+khi∫(hcmd-h)dt-γ)-τ)；
Wherein k hp is a proportional adjustment parameter of the outer loop PID controller, k hi is an integral adjustment parameter of the outer loop PID controller, k γ is a third preset proportional coefficient, h cmd is a height expected value, h is a height feedback value, γ is a plane tilt angle feedback value, τ is an overload feedback value, and k τ is a second preset proportional coefficient.
In practical implementation, the integral part needs to be limited, and the limiting range corresponding to the upper limit and the lower limit of the integral term isThe second preset scaling factor may be set according to practical situations, and is not particularly limited herein.
3. Control laws and parameters are set.
In actual implementation, the design of the control law needs to be based on a mathematical model of the drone.
The mathematical model of the unmanned aerial vehicle is constructed based on a nonlinear force equation set of the aircraft. The nonlinear force equation set comprises a force equation set, a motion equation set, a moment equation set and a navigation equation set.
The force equation set is used to describe the sum of all forces to which the object is subjected, and the effect of these forces on the acceleration of the object. In flight control, a system of force equations is used to calculate the acceleration of an aircraft, thereby controlling its state of motion.
The system of equations of motion is used to describe the state of motion of an object, including position, velocity, and acceleration. In flight control, a system of equations of motion is used to calculate the position and velocity of an aircraft for navigation and control.
The set of moment equations is used to describe the sum of all moments (or torques) experienced by the object, as well as the effects of these moments on the angular acceleration of the object. In flight control, a system of moment equations is used to calculate the angular acceleration of an aircraft, thereby controlling its attitude.
The navigation equations are used to describe the state of motion of the aircraft in space, including position, velocity, acceleration, and attitude. In flight control, a system of navigation equations is used to calculate the position, velocity and attitude of an aircraft for navigation and control.
Wherein u, v, w are velocity components of the aircraft in the body axis coordinate system, respectively; phi, theta, phi represent roll, pitch and yaw angles, respectively; h represents the altitude of the aircraft, i.e. the vertical distance of the aircraft from the ground; q 0、q1、q2 and q 3 represent quaternions (Quaternion) which describe the attitude, i.e. the state of rotation, of the aircraft.
4. And setting maneuvering control instructions of each maneuvering action.
In actual implementation, the unmanned aerial vehicle may fly through a preset planned waypoint, where the position of the ith waypoint may be represented by (X i,Yi,Alti), X i represents the horizontal position abscissa of the ith waypoint, Y i represents the horizontal position abscissa of the ith waypoint, and Alt i represents the height of the ith waypoint. The invention can calculate the course angle at the time t+1 through the current position coordinate (X cur,Ycur) of the unmanned plane and send the course angle to the longitudinal control channel.
During a conventional flight phase, control commands may be programmed by h cmd、Vcmd and S cmd for altitude, speed, and heading angle according to a particular route.
In some embodiments, the flight control simulation method further comprises, after performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal, and the airspeed control signal:
determining a target maneuver instruction based on the altitude desire, the speed desire, and the heading angle desire;
and controlling the unmanned aerial vehicle to maneuver based on the target maneuver instruction.
In some embodiments, the target maneuver instruction includes: a maneuver instruction for a jump motion;
the unmanned aerial vehicle height indicated by the maneuvering instruction of the jump motion is as follows:
the speed of the unmanned plane indicated by the maneuvering instruction of the jump motion is as follows: v cmd = cos 4;
the heading of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump action is as follows: s cmd = cos 5;
Wherein t 0 is the starting time of the jump motion, h 0 is the unmanned plane height at the starting time of the jump, k h is the climbing rate parameter, ons4 and ons5 are both constant values, and h c is Unmanned aerial vehicle height at moment.
In some embodiments, the target maneuver instruction includes: maneuver instructions for a hover maneuver or a turn maneuver;
the unmanned aerial vehicle height indicated by the maneuver instruction of the hover action or the turning action is as follows:
hcmd＝cons1；
the unmanned aerial vehicle height indicated by the maneuver instruction of the hover action or the turning action is as follows:
Vcmd＝cons2；
the heading of the unmanned aerial vehicle indicated by the maneuver instruction of the spiral motion or the turning motion is as follows:
Wherein t 1 is the starting time of the hover action or the turning action, x 0 is the horizontal position abscissa of the unmanned aerial vehicle at the starting time of the hover action or the turning action, y 0 is the horizontal position ordinate of the unmanned aerial vehicle at the starting time of the hover action or the turning action, x is the horizontal position abscissa of the unmanned aerial vehicle at the current time, y is the horizontal position ordinate of the unmanned aerial vehicle at the current time, and the con 1, the con 2 and the con 3 are all fixed values.
As shown in fig. 7, fig. 7 is a flowchart of the underlying control logic of the unmanned aerial vehicle maneuver algorithm. The invention indirectly controls the flight control gesture and speed of the unmanned aerial vehicle through the waypoints, and simultaneously realizes maneuvering functions such as turning, jumping, spiraling and the like by utilizing the waypoints.
As shown in fig. 8, fig. 8 is a schematic diagram of a process of integrating a control algorithm into simulation software.
And when the input rudder deflection is obtained, integrating an actuator model, an atmosphere model, an engine model, a 6-degree-of-freedom nonlinear kinematic equation of the unmanned aerial vehicle and the like of the simulator to obtain an output module. The input rudder bias is a physical quantity capable of changing the course angle, namely a control quantity of a roll angle control signal, a control quantity of an air speed control signal and a control quantity of a height control signal.
In actual execution, according to the corresponding pneumatic coefficient obtained in the pneumatic database by the current state and the actual rudder deflection angle of the unmanned aerial vehicle, the corresponding aerodynamic force is calculated again, and the engine is also the same, and finally the external force born by the aircraft is added into a 6-degree-of-freedom equation.
The flight control simulation method at least solves the problems of ensuring the robust performance and closed loop stability of unmanned aerial vehicle control under the conditions of bounded interference and uncertain disturbance, and the PID method is adopted to ensure the tracking execution of a flight control system on a control instruction under the action of uncertain factors, so that the requirements of rapidity, stability and accuracy are met; meanwhile, the maneuvering instructions are packaged, and the control unit is connected with the upper maneuvering decision algorithm module, so that the decision unit can be expanded to a complete maneuvering action, the operand and the complexity are greatly reduced, the navigation point cruising, jumping, turning, spiraling and other instruction actions are completed, and the operation flow is simplified.
The flight control simulation device provided by the invention is described below, and the flight control simulation device described below and the flight control simulation method described above can be referred to correspondingly.
Fig. 9 is a schematic structural diagram of a flight control simulation device provided by the invention. Referring to fig. 9, the flight control simulation apparatus provided by the present invention includes:
A first determining module 910, configured to input a desired heading angle value of an unmanned aerial vehicle to an inner ring PID controller, output a roll angle control signal corresponding to the unmanned aerial vehicle, where the desired heading angle value is determined based on a preset waypoint of the unmanned aerial vehicle, and the inner ring PID controller controls the roll angle control signal based on a feedback heading angle value and a roll angle feedback value corresponding to the unmanned aerial vehicle, where the roll angle control signal is used to control an aileron of the unmanned aerial vehicle so that the unmanned aerial vehicle is located on a target three-dimensional track;
A second determining module 920, configured to input a height expected value of the unmanned aerial vehicle to an outer ring PID controller, and output a height control signal corresponding to the unmanned aerial vehicle, where the height expected value is determined based on the preset waypoint, and the outer ring PID controller controls the height control signal based on a height feedback value, an aircraft tilt angle feedback value, and an overload feedback value corresponding to the unmanned aerial vehicle, where the height control signal is used to control an elevator of the unmanned aerial vehicle, so that the unmanned aerial vehicle reaches a target height;
A third determining module 930, configured to input a speed expected value of the unmanned aerial vehicle to a PI controller, and output an airspeed control signal corresponding to the unmanned aerial vehicle, where the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used to control an accelerator of the unmanned aerial vehicle, so that the unmanned aerial vehicle has a target speed;
and a control module 940 configured to perform flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal, and the airspeed control signal.
The flight control simulation device at least solves the problems of ensuring the robustness and closed loop stability of the unmanned aerial vehicle control system under the conditions of bounded interference and uncertain disturbance, and the PID method is adopted to ensure the tracking execution of the control instruction by the flight control system under the action of uncertain factors, so that the requirements of rapidity, stability and accuracy are met; meanwhile, the maneuvering instructions are packaged, and the control unit is connected with the upper maneuvering decision algorithm module, so that the decision unit can be expanded to a complete maneuvering action, the operand and the complexity are greatly reduced, the navigation point cruising, climbing, turning, spiraling, S maneuvering and other instruction actions are completed, and the operation flow is simplified.
In some embodiments, the control amount of the roll angle control signal by the inner loop PID controller is expressed as:
δac＝kφ(kdp(dcmd-d)+kdi∫(dcmd-d)dt+kddd(dcmd-d)-φ);
Wherein k dp is a proportional adjustment parameter of the inner loop PID controller, k di is an integral adjustment parameter of the inner loop PID controller, k dd is a differential adjustment parameter of the inner loop PID controller, d cmd is the heading angle expected value, d is the heading angle feedback value, phi is the roll angle feedback value, and k φ is a first preset proportional coefficient.
In some embodiments, the control amount of the altitude control signal by the outer loop PID controller is expressed as:
δec＝kτ(kγ(khp(hcmd-h)+khi∫(hcmd-h)dt-γ)-τ)；
Wherein k hp is a proportional adjustment parameter of the outer loop PID controller, k hi is an integral adjustment parameter of the outer loop PID controller, k γ is a third preset proportional coefficient, h cmd is the altitude expected value, h is the altitude feedback value, γ is the aircraft inclination angle feedback value, τ is the overload feedback value, and k τ is a second preset proportional coefficient.
In some embodiments, the apparatus further comprises:
A fourth determining module, configured to determine a target maneuver instruction based on the altitude desired value, the speed desired value, and the heading angle desired value after performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal, and the airspeed control signal;
And controlling the unmanned aerial vehicle to perform maneuvering flight based on the target maneuvering instruction.
In some embodiments, the target maneuver instruction comprises: a maneuver instruction for a jump motion;
The unmanned aerial vehicle height indicated by the maneuvering instruction of the jump motion is as follows:
The speed of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump motion is as follows: v cmd = cos 4;
The heading of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump action is as follows: s cmd = cos 5;
Wherein t 0 is the starting time of the jump motion, h 0 is the unmanned plane height at the starting time of the jump, k h is the climbing rate parameter, ons4 and ons5 are both constant values, and h c is Unmanned aerial vehicle height at moment.
In some embodiments, the target maneuver instruction comprises: maneuver instructions for a hover maneuver or a turn maneuver;
the unmanned aerial vehicle height indicated by the maneuver instruction of the hover action or the turning action is as follows:
hcmd＝cons1；
the unmanned plane speed indicated by the maneuver instruction of the hover action or the turn action is:
Vcmd＝cons2；
the unmanned aerial vehicle course indicated by the maneuver instruction of the spiral motion or the turning motion is as follows:
Wherein t 1 is the starting time of the hover action or the turning action, x 0 is the horizontal position abscissa of the unmanned aerial vehicle at the starting time of the hover or the turning, y 0 is the horizontal position ordinate of the unmanned aerial vehicle at the starting time of the hover or the turning, x is the horizontal position abscissa of the unmanned aerial vehicle at the current time, y is the horizontal position ordinate of the unmanned aerial vehicle at the current time, and cos 1, cos 2 and cos 3 are all constant values.
Fig. 10 illustrates a physical structure diagram of an electronic device, as shown in fig. 10, which may include: processor 1010, communication interface (Communications Interface) 1020, memory 1030, and communication bus 1040, wherein processor 1010, communication interface 1020, and memory 1030 communicate with each other via communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a flight control simulation method comprising:
Inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the course angle expected value is determined based on a preset course point of the unmanned aerial vehicle, the inner ring PID controller controls the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value, and the roll angle control signal is used for controlling ailerons of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be located on a target three-dimensional track;
Inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height expected value is determined based on the preset waypoint, the outer ring PID controller controls the height control signal based on a height feedback value, a plane inclination angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle, and the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target height;
Inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to have a target speed;
And performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal.
Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the flight control simulation method provided by the methods described above, the method comprising:
Inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the course angle expected value is determined based on a preset course point of the unmanned aerial vehicle, the inner ring PID controller controls the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value, and the roll angle control signal is used for controlling ailerons of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be located on a target three-dimensional track;
Inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height expected value is determined based on the preset waypoint, the outer ring PID controller controls the height control signal based on a height feedback value, a plane inclination angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle, and the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target height;
Inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to have a target speed;
And performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the flight control simulation method provided by the above methods, the method comprising:
Inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the course angle expected value is determined based on a preset course point of the unmanned aerial vehicle, the inner ring PID controller controls the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value, and the roll angle control signal is used for controlling ailerons of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be located on a target three-dimensional track;
Inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height expected value is determined based on the preset waypoint, the outer ring PID controller controls the height control signal based on a height feedback value, a plane inclination angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle, and the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target height;
Inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to have a target speed;
And performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal and the airspeed control signal.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A flight control simulation method, comprising:
Inputting a course angle expected value of the unmanned aerial vehicle to an inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, wherein the course angle expected value is determined based on a preset course point of the unmanned aerial vehicle, the inner ring PID controller controls the roll angle control signal based on a course angle feedback value corresponding to the unmanned aerial vehicle and the roll angle feedback value, and the roll angle control signal is used for controlling ailerons of the unmanned aerial vehicle to enable the unmanned aerial vehicle to be located on a target three-dimensional track;
Inputting a height expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting a height control signal corresponding to the unmanned aerial vehicle, wherein the height expected value is determined based on the preset waypoint, the outer ring PID controller controls the height control signal based on a height feedback value, a plane inclination angle feedback value and an overload feedback value corresponding to the unmanned aerial vehicle, and the height control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target height;
Inputting a speed expected value of the unmanned aerial vehicle to a PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to have a target speed;
Performing flight control on the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal, and the airspeed control signal;
After the controlling the flight of the unmanned aerial vehicle based on the roll angle control signal, the altitude control signal, and the airspeed control signal, the method further includes:
Determining a target maneuver instruction based on the altitude desired value, the speed desired value, and the heading angle desired value;
Controlling the unmanned aerial vehicle to perform maneuvering flight based on the target maneuvering instruction;
the target maneuver instruction includes: maneuver instructions for a hover maneuver or a turn maneuver;
the unmanned aerial vehicle height indicated by the maneuver instruction of the hover action or the turning action is as follows:
hcmd＝cons1；
the unmanned plane speed indicated by the maneuver instruction of the hover action or the turn action is:
Vcmd＝cons2；
the unmanned aerial vehicle course indicated by the maneuver instruction of the spiral motion or the turning motion is as follows:
Wherein t 1 is the starting time of the hover action or the turning action, x 0 is the horizontal position abscissa of the unmanned aerial vehicle at the starting time of the hover or the turning, y 0 is the horizontal position ordinate of the unmanned aerial vehicle at the starting time of the hover or the turning, x is the horizontal position abscissa of the unmanned aerial vehicle at the current time, y is the horizontal position ordinate of the unmanned aerial vehicle at the current time, and cos 1, cos 2 and cos 3 are all constant values.
2. The flight control simulation method according to claim 1, wherein the control amount of the roll angle control signal by the inner loop PID controller is expressed as:
δac＝kφ(kdp(dcmd-d)+kdi∫(dcmd-d)dt+kddd(dcmd-d)-φ);
Wherein k dp is a proportional adjustment parameter of the inner loop PID controller, k di is an integral adjustment parameter of the inner loop PID controller, k dd is a differential adjustment parameter of the inner loop PID controller, d cmd is the heading angle expected value, d is the heading angle feedback value, phi is the roll angle feedback value, and k φ is a first preset proportional coefficient.
3. The flight control simulation method according to claim 1, wherein the control amount of the altitude control signal by the outer loop PID controller is expressed as:
δec＝kτ(kγ(khp(hcmd-h)+khi∫(hcmd-h)dt-γ)-τ)；
Wherein k hp is a proportional adjustment parameter of the outer loop PID controller, k hi is an integral adjustment parameter of the outer loop PID controller, k γ is a third preset proportional coefficient, h cmd is the altitude expected value, h is the altitude feedback value, γ is the aircraft inclination angle feedback value, τ is the overload feedback value, and k τ is a second preset proportional coefficient.
4. The flight control simulation method of claim 1, wherein the target maneuver instruction comprises: a maneuver instruction for a jump motion;
The unmanned aerial vehicle height indicated by the maneuvering instruction of the jump motion is as follows:
The speed of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump motion is as follows: v cmd = cos 4;
The heading of the unmanned aerial vehicle indicated by the maneuvering instruction of the jump action is as follows: s cmd = cos 5;
Wherein t 0 is the starting time of the jump motion, h 0 is the unmanned plane height at the starting time of the jump, k h is the climbing rate parameter, ons4 and ons5 are both constant values, and h c is Unmanned aerial vehicle height at moment.
5. A flight control simulation apparatus for implementing the flight control simulation method of any one of claims 1 to 4, comprising:
The first determining module is used for inputting a course angle expected value of the unmanned aerial vehicle to the inner ring PID controller, outputting a roll angle control signal corresponding to the unmanned aerial vehicle, determining the course angle expected value based on a preset course point of the unmanned aerial vehicle, controlling the roll angle control signal based on a course angle feedback value and a roll angle feedback value corresponding to the unmanned aerial vehicle by the inner ring PID controller, and controlling an aileron of the unmanned aerial vehicle by the roll angle control signal so as to enable the unmanned aerial vehicle to be positioned on a target three-dimensional track;
The second determining module is used for inputting the altitude expected value of the unmanned aerial vehicle to an outer ring PID controller, outputting an altitude control signal corresponding to the unmanned aerial vehicle, wherein the altitude expected value is determined based on the preset waypoint, the outer ring PID controller controls the altitude control signal based on the altitude feedback value, the aircraft inclination angle feedback value and the overload feedback value corresponding to the unmanned aerial vehicle, and the altitude control signal is used for controlling an elevator of the unmanned aerial vehicle to enable the unmanned aerial vehicle to reach the target altitude;
The third determining module is used for inputting a speed expected value of the unmanned aerial vehicle to the PI controller, outputting an airspeed control signal corresponding to the unmanned aerial vehicle, wherein the PI controller controls the airspeed control signal based on a speed feedback value corresponding to the unmanned aerial vehicle, and the airspeed control signal is used for controlling an accelerator of the unmanned aerial vehicle so that the unmanned aerial vehicle has a target speed;
And the control module is used for controlling the unmanned aerial vehicle to fly based on the roll angle control signal, the altitude control signal and the airspeed control signal.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the flight control simulation method of any one of claims 1 to 4 when the program is executed.
7. A non-transitory computer readable storage medium, having stored thereon a computer program, which when executed by a processor implements the flight control simulation method according to any of claims 1 to 4.
8. A computer program product comprising a computer program which, when executed by a processor, implements a flight control simulation method according to any one of claims 1 to 4.
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