CN117873154A - Fixed-wing unmanned aerial vehicle feedforward control parameter calculation method and component - Google Patents
Fixed-wing unmanned aerial vehicle feedforward control parameter calculation method and component Download PDFInfo
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Abstract
The invention provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation method and a component, wherein the method comprises the following steps: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and (3) iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle. The method does not depend on the coefficient of the estimated equation set, can fully utilize the original data, calculates the balanced flight condition more accurately, and further sets the feedforward control parameters of the unmanned aerial vehicle more accurately.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a fixed wing unmanned aerial vehicle feedforward control parameter calculation method.
Background
The unmanned plane is controlled by wireless remote control equipment or self programs, depends on self power, can carry various equipment, executes various tasks and can be reused. Currently, common unmanned aerial vehicle structures are of the types of fixed wings, multiple rotors, coaxial double paddles and the like. The fixed wing unmanned aerial vehicle has high flying speed and long endurance time, and is widely applied to the military field and the civil field. The fixed wing drone must be able to accommodate the disturbances of various uncertainty factors during flight, such as: complex air environment, change of self state, adjustment of flight mission. The difficulty of unmanned aerial vehicle flight control is all increased, and higher requirements are put forward on unmanned aerial vehicle flight control.
The flight stability control of a fixed wing unmanned aerial vehicle is an important part of unmanned aerial vehicle flight control. In order to solve the flight control feedforward parameters of the unmanned aerial vehicle, the stability derivative and the operability derivative are generally estimated approximately from aerodynamic data, and a six-degree-of-freedom small disturbance motion equation set is solved according to the estimated derivative, but the obtained flight control feedforward parameters are affected by the accuracy of the estimated derivative to a certain extent, and the universality is poor. Therefore, the control scheme of the unmanned aerial vehicle with high performance is designed to have very important application value.
Disclosure of Invention
The invention provides a method and a component for calculating feedforward control parameters of a fixed-wing unmanned aerial vehicle, which are used for solving the defect that the feedforward parameters of the flight control are affected by the accuracy of estimated derivatives to a certain extent and have poor universality in the prior art.
The invention provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation method, which comprises the following steps: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking a final solving result as the feedforward control parameter of the fixed-wing unmanned aerial vehicle.
According to the method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle, which is provided by the invention, the monotonicity of a single independent variable in the original data is determined, and the method comprises the following steps: the resistance increases monotonically with speed; the thrust of the engine monotonically increases along with the throttle value; the lift coefficient monotonically increases with the attack angle; the roll moment is monotonically decreased along with the aileron; the pitching moment coefficient is monotonically decreased along with the elevator; the yaw moment decreases monotonically with the rudder.
According to the method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle, after determining the direction for solving the force and moment balance state based on the generalized dichotomy according to the monotonicity of the single independent variable, the method further comprises the following steps: the raw data is organized in the form of an interpolation function.
According to the method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle, which is provided by the invention, the original data is organized in the form of an interpolation function, and the method comprises the following steps: the raw data is organized in the form of spline interpolation or linear interpolation.
According to the method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle, which is provided by the invention, the force and moment balance state is solved iteratively based on a generalized dichotomy, and the method comprises the following steps: and taking the attack angle generalized dichotomy as an inner loop, and taking the elevator generalized dichotomy as an outer loop to iteratively solve the force and moment balance states.
The invention also provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation device, which comprises: the monotonicity determining module is used for determining the monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; the direction determining module is used for determining the direction based on the generalized dichotomy to solve the balance states of the force and the moment according to the monotonicity of the single independent variable; and the iteration module is used for iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as the feedforward control parameter of the fixed wing unmanned aerial vehicle.
The invention further provides the fixed-wing unmanned aerial vehicle, which comprises the fixed-wing unmanned aerial vehicle feedforward control parameter calculating device.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle when executing the program.
The invention also provides a non-transitory computer readable storage medium, on which is stored a computer program which, when executed by a processor, implements a method for calculating a fixed wing unmanned aerial vehicle feedforward control parameter as described in any one of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method for calculating a fixed wing unmanned aerial vehicle feedforward control parameter as described in any one of the above.
The invention provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation method and a component, wherein the method comprises the following steps: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and (3) iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle. The method does not depend on the coefficient of the estimated equation set, can fully utilize the original data, calculates the balanced flight condition more accurately, and further sets the feedforward control parameters of the unmanned aerial vehicle more accurately.
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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 method for calculating feedforward control parameters of a fixed-wing unmanned aerial vehicle;
FIG. 2 is a schematic structural diagram of a fixed-wing unmanned aerial vehicle feedforward control parameter calculation device provided by the invention;
fig. 3 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.
The birth of unmanned aerial vehicle is an important embodiment of technological development. Unmanned aerial vehicles have low cost, low loss, reusability and high maneuverability, and besides being widely applied to various military tasks, the unmanned aerial vehicles also start to rapidly enter the civil and scientific research fields. The unmanned aerial vehicle flight control system occupies a heavy position in the whole unmanned aerial vehicle system, the unmanned aerial vehicle completes autonomous flight, the flight control system is required to better control the flight attitude (attitude stabilization of 3 dimensions of pitching, rolling and yawing), the spatial position (position stabilization of 3 dimensions of longitude, latitude and altitude) and the flight speed, and the flight attitude and the flight path can be changed according to remote control instructions and self programs. Various flight performances (take-off and landing performance, operation performance, safety and reliability performance, automation and maintainability of a system and the like) of the unmanned aerial vehicle also depend on the design quality of a flight control system to a great extent. The fixed wing drone must be able to accommodate the disturbances of various uncertainty factors during flight, such as: complex air environment, change of self state, adjustment of flight mission. The difficulty of unmanned aerial vehicle flight control is all increased, and higher requirements are put forward on unmanned aerial vehicle flight control.
The fixed wing unmanned aerial vehicle, the wing is fixed to the fuselage and can not move relative to the fuselage, the thrust or pulling force of advancing is produced by the power device, and the lifting force is produced by the acting force of air on the wing. The fixed wing unmanned aerial vehicle body structure generally comprises wings, a fuselage, a tail wing and landing gear. The fixed wing unmanned aerial vehicle takes off the mode and is the taxiing take off. The fixed wing unmanned aerial vehicle takes off by means of landing gear taxiing on a highway or an airport. The flight stability control of a fixed wing unmanned aerial vehicle is an important part of unmanned aerial vehicle flight control. In order to solve the flight control feedforward parameters of the unmanned aerial vehicle in the prior art, stability derivatives and operability derivatives are generally estimated from aerodynamic data approximation, and a six-degree-of-freedom small disturbance motion equation set is solved according to the estimated derivatives, but the obtained flight control feedforward parameters are affected to a certain extent by the accuracy of the estimated derivatives. Furthermore, the stability derivative and the operational derivative are both obtained under balanced flight conditions, where the aircraft is not disturbed, whereas these derivatives are different under different balanced flight conditions. In the process of setting feedforward parameters, analytical curves under different flight speeds and different balanced flight conditions are usually required to be compared and analyzed.
In order to solve the technical problems in the prior art, the invention provides a method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle, which does not depend on the coefficient of an estimated equation set, can fully utilize original data, calculates balanced flight conditions more accurately, and sets the feedforward control parameters of the unmanned aerial vehicle more accurately.
Referring to fig. 1, fig. 1 is a flow chart of a method for calculating feedforward control parameters of a fixed-wing unmanned aerial vehicle according to the present invention.
The invention provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation method, which comprises the following steps:
101: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle;
as a preferred embodiment, determining monotonicity of a single argument in the raw data comprises: the resistance increases monotonically with speed; the thrust of the engine monotonically increases along with the throttle value; the lift coefficient monotonically increases with the attack angle; the roll moment is monotonically decreased along with the aileron; the pitching moment coefficient is monotonically decreased along with the elevator; the yaw moment decreases monotonically with the rudder.
In addition, the lift coefficient may decrease monotonically with the attack angle, and needs to be determined according to actual conditions; if the extremely special conditions do not meet monotonicity, an extremum needs to be found out, and the extremum is solved on two sides of the extremum respectively. The problem of estimating the equation set coefficients is even greater if monotonicity is unstable.
The flight control system is used for controlling six flight parameters of the unmanned aerial vehicle: the roll angle, pitch angle, yaw angle, altitude and longitude and latitude (aircraft position coordinates) are used for controlling the flight state and track, wherein the altitude and longitude and latitude are used for unmanned aircraft track control; roll angle, pitch angle and yaw angle are used for attitude control.
It is necessary to build a mathematical model for the unmanned aerial vehicle, the attitude change and the track change of the unmanned aerial vehicle are physical processes based on dynamics and kinematics, and several different reference systems are adopted when the unmanned aerial vehicle is mathematically modeled. The selection of an effective and proper reference coordinate system is extremely necessary for researching navigation parameters such as the attitude, the position, the speed and the like of the unmanned aerial vehicle. Such as a geocentric inertial, ground, body, airflow, stability, and track coordinate systems.
Newton's second law states that the sum of all external forces acting on an object is equal to its rate of change of momentum and the sum of external moments acting on it is equal to its rate of change of angular momentum. In the ground inertial coordinate system, the newton second quantification can be represented by a particle motion equation and a gesture motion equation of the unmanned aerial vehicle.
The basic parameters of the fixed wing unmanned aerial vehicle include: wing reference area, reference chord length, reference span length, center of gravity, moment of inertia, weight, engine thrust line, landing gear position, etc.
102: determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable;
specifically, according to the original pneumatic data and thrust data, under the condition that the rest state quantity is kept unchanged and only a single independent variable is changed, all data selection extremum is searched through drawing manual selection or a computer program, so that the monotonicity of the single independent variable in the force or moment in a certain direction and the acting range of the monotonicity are determined.
As a preferred embodiment, after determining the direction of solving the force and moment balance equations based on the generalized dichotomy according to the monotonicity of the single independent variable, the method further comprises: the raw data is organized in the form of an interpolation function.
As a preferred embodiment, the raw data is organized in the form of an interpolation function comprising: the raw data is organized in the form of spline interpolation or linear interpolation.
Wherein spline interpolation or linear interpolation may be implemented in a code manner.
The original data is discrete data, and a continuous function is interpolated on the basis of the discrete data, so that the continuous curve passes through all given discrete data points, and the approximation of the function at other points can be estimated through the value condition of the function at a limited number of points.
Of course, the present invention is also applicable to other interpolation methods, and the present invention is not particularly limited herein.
103: and (3) iteratively solving a force and moment balance equation according to a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle.
As a preferred embodiment, the iterative solution of the force and moment balance states based on generalized dichotomy comprises: and taking the attack angle generalized dichotomy as an inner loop, and taking the elevator generalized dichotomy as an outer loop to iteratively solve force and moment balance equations.
Specifically, multiple combinations are performed on the determined generalized dichotomies according to the variables to be solved. A series of interpolation data functions is similarly used as one of a set of equations. Such as: and (5) calculating an elevator value, an attack angle and an accelerator according to the airspeed and the track angle. The angle of attack generalized dichotomy can be used as an inner loop and the elevator generalized dichotomy can be used as an outer loop. And finally, calculating the accelerator by using the thrust value of the additional variable. If more variables need to be solved, more layers of loops are superimposed. And setting the numerical precision of the independent variable to be solved, and carrying out iterative solution. And taking the result as the unmanned aerial vehicle feedforward control parameter according to the solving result.
Of course, the determination of the solution quantity is needed for the inner loop. For example, a flat fly throttle is used for speed; calculating an accelerator by using the speed; track angle is calculated by using speed and accelerator; the acceleration is determined by the speed, throttle and track angle, and different internal circulation variables are required, and the invention is not particularly limited herein.
The principle of the generalized dichotomy is as follows: first a rooted interval is determined [ a, b ], assuming f (a) >0, f (b) <0; judging the function value f (c) of c at the midpoint of [ a, b ], if the function value f (c) is equal to 0, the midpoint is a root; if greater than 0, the root is narrowed down to [ c, b ]; otherwise the root range is narrowed to a, c. And repeating the iterative solution until the range is reduced to reach the precision requirement.
For example: and in the section of monotonically increasing lift force along with the attack angle, calculating feedforward parameters of flat flight, sliding down and climbing. The calculation mode for calculating the balance state by adopting airspeed and track angle is as follows: selecting monotonicity 1, wherein the lift force monotonically increases along with the attack angle; selecting monotonicity 2, wherein the pitching moment monotonically decreases along with the elevator deflection (normally, the aircraft defines positive rudder deflection to correspond to negative moment); and 3, selecting monotonicity, wherein the thrust monotonically increases along with the accelerator. Setting an inner layer generalized dichotomy circulation independent variable as an attack angle, and determining the iteration direction of the attack angle by calculating a normal resultant force (gravity and lift force are main contribution amounts). And setting an outer layer generalized dichotomy circulation independent variable as an elevator value, and determining an iteration direction by calculating a pitching resultant moment. The iterative process involves drag and required thrust. The throttle becomes a corresponding relation with the required thrust, and a layer of generalized dichotomy circulation is not needed to be added. And solving the attack angle, the rudder deflection and the required thrust by the iterative calculation result, and solving the accelerator by a generalized dichotomy. Therefore, the feedforward parameters are stable flat flight, stable sliding down and stable climbing parameters, and the formula adopts simple static force and static moment analysis.
Compared with the prior art, the invention provides the technical scheme that: under the support of the original data (pneumatic data and engine thrust data), balanced flight condition data with arbitrary precision and arbitrary intervals can be calculated, and further, the precision of the feedforward control parameters of the fixed-wing unmanned aerial vehicle is improved.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a fixed-wing unmanned aerial vehicle feedforward control parameter calculating device provided by the present invention.
The invention also provides a fixed-wing unmanned aerial vehicle feedforward control parameter calculation device, which comprises: a monotonicity determination module 201, configured to determine monotonicity of a single argument in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; a direction determining module 202, configured to determine a direction based on a generalized dichotomy to solve a force and moment balance state according to monotonicity of a single independent variable; and the iteration module 203 is configured to iterate the solution of the force and moment balance states based on a generalized dichotomy until a preset accuracy threshold is met, and take the final solution result as a feedforward control parameter of the fixed wing unmanned aerial vehicle.
For the description of the fixed-wing unmanned aerial vehicle feedforward control parameter calculation device provided by the invention, please refer to the above method embodiment, and the description of the invention is omitted here.
The invention further provides the fixed-wing unmanned aerial vehicle, which comprises the fixed-wing unmanned aerial vehicle feedforward control parameter calculating device.
For the description of the fixed wing unmanned aerial vehicle provided by the present invention, refer to the above method embodiment, and the description of the present invention is omitted here.
Fig. 3 illustrates a physical schematic diagram of an electronic device, as shown in fig. 3, where the electronic device may include: processor 301, communication interface (Communications Interface) 302, memory (memory) 303 and communication bus 304, wherein processor 301, communication interface 302, memory 303 accomplish the communication between each other through communication bus 304. The processor 301 may call logic instructions in the memory 303 to perform a fixed wing drone feedforward control parameter calculation method, the method comprising: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and (3) iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle.
Further, the logic instructions in the memory 303 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 U-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, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, where the computer program, when executed by a processor, can perform a method for calculating a feedforward control parameter of a fixed-wing unmanned aerial vehicle provided by the above methods, where the method includes: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and (3) iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle.
In still another aspect, the present invention further 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 method for calculating a feedforward control parameter of a fixed-wing unmanned aerial vehicle provided by the above methods, the method comprising: determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle; determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable; and (3) iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as a feedforward control parameter of the fixed-wing unmanned aerial vehicle.
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 (10)
1. The method for calculating the feedforward control parameters of the fixed-wing unmanned aerial vehicle is characterized by comprising the following steps of:
determining monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle;
determining the direction of solving the force and moment balance state based on a generalized dichotomy according to the monotonicity of the single independent variable;
and iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking a final solving result as the feedforward control parameter of the fixed-wing unmanned aerial vehicle.
2. The method for calculating the feedforward control parameter of the fixed-wing unmanned aerial vehicle according to claim 1, wherein the determining the monotonicity of the single independent variable in the raw data comprises:
the resistance increases monotonically with speed; the thrust of the engine monotonically increases along with the throttle value; the lift coefficient monotonically increases with the attack angle; the roll moment is monotonically decreased along with the aileron; the pitching moment coefficient is monotonically decreased along with the elevator; the yaw moment decreases monotonically with the rudder.
3. The method for calculating feedforward control parameters of a fixed-wing unmanned aerial vehicle according to claim 1, wherein after determining the direction for solving the force and moment balance states based on the generalized dichotomy according to the monotonicity of the single independent variable, further comprising:
the raw data is organized in the form of an interpolation function.
4. A method of calculating a fixed-wing unmanned aerial vehicle feedforward control parameter according to claim 3, wherein the organizing the raw data in the form of an interpolation function comprises:
the raw data is organized in the form of spline interpolation or linear interpolation.
5. The fixed wing unmanned aerial vehicle feedforward control parameter calculation method of any one of claims 1 to 4, wherein the iteratively solving the force and moment equilibrium states based on generalized dichotomy comprises:
and taking the attack angle generalized dichotomy as an inner loop, and taking the elevator generalized dichotomy as an outer loop to iteratively solve the force and moment balance states.
6. A fixed-wing unmanned aerial vehicle feedforward control parameter calculation device, comprising:
the monotonicity determining module is used for determining the monotonicity of a single independent variable in the original data; the original data are pneumatic data, thrust data and basic parameters of the fixed wing unmanned aerial vehicle;
the direction determining module is used for determining the direction based on the generalized dichotomy to solve the balance states of the force and the moment according to the monotonicity of the single independent variable;
and the iteration module is used for iteratively solving the force and moment balance state based on a generalized dichotomy until a preset accuracy threshold is met, and taking the final solving result as the feedforward control parameter of the fixed wing unmanned aerial vehicle.
7. A fixed wing unmanned aerial vehicle comprising the fixed wing unmanned aerial vehicle feedforward control parameter calculation device of claim 6.
8. 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 method of calculating the fixed wing unmanned aerial vehicle feedforward control parameters of any one of claims 1 to 5 when the program is executed by the processor.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements a method of calculating a fixed wing unmanned aerial vehicle feedforward control parameter according to any of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements a method of calculating a fixed wing unmanned aerial vehicle feedforward control parameter according to any one of claims 1 to 5.
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