JP2888271B2 - Unmanned flying object attitude control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control device for an unmanned aerial vehicle, and more particularly to an attitude control device for an unmanned aerial vehicle used as a target for shooting training or an unmanned reconnaissance aircraft.

[0002]

2. Description of the Related Art A conventional attitude control method for a flying object of this type employs a steering angle of an aileron or an elevator with a constant control gain irrespective of the speed, altitude and atmospheric condition, or the position of the center of gravity and weight of the aircraft. Determine the amount, pitch, roll,
Each control such as yaw is performed.

A conventional example of this type of attitude control is disclosed in Japanese Patent Application Laid-Open No. 60-148798 and Japanese Patent Application Laid-Open No. 2-150909.
JP-A-3-153496 and JP-A-4-153496
Various technologies have been proposed as disclosed in, for example, JP-A-364505.

However, in all of these techniques, as described above, there is a method of performing attitude control with a constant control gain irrespective of the speed, altitude and atmospheric state, or the position of the center of gravity and weight of the own machine. ing.

[0005]

In the conventional attitude control method of an unmanned flying object of this type, the attitude control gain is always fixed to a certain value regardless of the environment of the flying object. However, there is a disadvantage that the optimum control corresponding to the above cannot be performed.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned drawbacks of the prior art, and an object of the present invention is to perform optimal control according to atmospheric conditions such as speed, altitude, and temperature. It is an object of the present invention to provide an attitude control device for an unmanned flying object capable of performing the above.

Another object of the present invention is to provide an attitude control device for an unmanned aerial vehicle capable of performing optimal control according to changes in weight and the position of the center of gravity caused by fuel consumption.

[0008]

SUMMARY OF THE INVENTION An attitude control apparatus for an unmanned aerial vehicle according to the present invention has an air density relative to an altitude and an air temperature.
And a first memory in which is calculated and stored in advance.
Gain for projectile attitude control with respect to speed and speed
A second memory in which is calculated and stored in advance;
Speed detecting means for detecting a speed of the body, and an altitude of the flying body
Altitude detecting means for detecting air temperature and temperature detecting means for detecting atmospheric temperature
Output means, and detection of the altitude detection means and the temperature detection means.
Reading the atmospheric density from the first memory according to the result;
The read air density and the detection by the speed detecting means are used.
Reading the optimum gain from the second memory according to the output speed.
And control means for controlling the posture by this optimum gain .

[0009]

[0010]

The optimum attitude control gain corresponding to each of the detected data of the airspeed, altitude and atmospheric temperature of the flying object is determined based on the detected data, and the pitch, roll, yoke, etc. are determined based on the control gain. This makes it possible to perform optimal attitude control according to speed, altitude, and even atmospheric temperature.

[0011]

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a system block diagram of one embodiment of the present invention. In the figure, an airspeed meter 1 detects and measures a speed V, a barometric altimeter 2 detects and measures an altitude H, and a temperature sensor 3 detects and measures an atmospheric temperature T. In addition, a gyro 5 is provided,
The pitch angle θ and the roll angle φ are detected.

The control device 4 detects the detected data V, H, T
Is used to calculate and determine the optimal attitude control gain K, and using this optimal gain K, the pitch angle data θ from the gyro 5 is used.
Based on the roll angle data φ, a drive amount (steering amount) δ for an actuator for driving a lift, an auxiliary wing, a rudder, etc. for attitude control of an aileron, an elevator, or the like is calculated.

More specifically, the speed V and the altitude H are measured by the airspeed meter 1 and the barometric altimeter 2, and the measured data V and H are input to the control device 4. Also,
The ambient air temperature T is measured by the temperature sensor 3, and the measured data T is input to the control device 4.

In the optimum gain memory section 41 in the control device 4, the optimum gains K1, K2 and K are stored in advance as functions of the speed V and the atmospheric density ρ, and the function is as follows: K1 = f1 (V) (1) K2 = f2 (ρ) (2) K = f3 (K1, K2) (3)

One example is shown in the block of the memory 41 in FIG. 1. The functions of these equations (1) to (3) are adjusted so that the optimum gain is obtained corresponding to each parameter V and ρ. Each of them is calculated and determined, and is configured in the form of a ROM (Read Only Memory).

In the memory 43 of the control device 4, the atmospheric density ρ is stored in advance as a function of the altitude H and the temperature T as shown in the following equation: ρ = f4 (H, T) (4) The memory 43 is also configured in a ROM format.

Accordingly, in the memory 43 of the control device 4, the atmospheric density ρ according to the above equation (4) is obtained from the altitude H and the temperature T. Next, the optimum gain K is obtained from the memory 41 from the atmospheric density ρ and the measurement speed V according to the equations (1) to (3). Using the optimum gain K, the actuator drive amount calculation unit 42 calculates the actuator drive amount δ according to a predetermined function of δ = K · f (θ, φ) (5) You.

In the control device 4, the above-described calculations are continuously performed during the flight of the unmanned flying object, and the optimum gain is always set according to the speed and altitude that change every moment. The drive amount δ of the actuator is calculated based on the optimum gain, and the posture control is optimally performed.

FIG. 2 is a system block diagram of another embodiment of the present invention, and the same parts as those in FIG. 1 are denoted by the same reference numerals. In the present embodiment, the attitude control is performed by obtaining the gain optimally according to the mass of the flying object and the position of the center of gravity, and the mass and the position of the center of gravity that change due to the fuel consumption are momentarily determined according to the remaining fuel amount. The optimum gain K is determined accordingly.

Referring to FIG. 2, the airspeed indicator 1 and the barometric altimeter 2 measure the speed V and the altitude H, and send the results to the control device 4. The temperature sensor 3 measures the ambient air temperature T and sends the result to the control device 4. In addition, rotation speed data rp, which is a rotation speed of an engine (not shown),
m is input to the control device 4.

In the control device 4, the optimum gains K3, K4
And K is a function of the mass m and the position of the center of gravity xCG. K3 = f7 (xCG) (6) K4 = f8 (m) (7) K = f9 (K3, K4) (8) and stored in the memory 41 in advance.

Further, the memory 46 of the control device 4, heavy
The center position xCG is given as xCG = f6 (Fuel) (9) and stored in advance as a function of the remaining fuel amount Fuel.

Further, when the fuel consumption rate Fc of the engine is a function of the engine speed r · p · m, the speed V and the atmospheric density ρ, Fc = f5 (rp · mV, ρ)... (10) and stored in the memory 44 in advance.

Further, the atmospheric density ρ is given as ρ = f4 (H, T) (11) as a function of the altitude H and the temperature T, and is stored in the memory 43 in advance.

In the control device 4, the atmospheric density ρ determined from the input altitude H and temperature T based on the equation (11) is obtained from the memory 43. Next, based on the result, the input speed V and the input engine speed r · p · m, (10)
Sometimes momentary fuel consumption rate Fc is determined based on equation is obtained from the memory 44.

The remaining fuel amount Fuel and the mass m are calculated by the calculation unit 45 based on the fuel consumption rate Fc. In this calculation method, the fuel consumption is obtained from the time integral value of the fuel consumption rate Fc, and the remaining fuel amount is obtained by the following equation: Fuel = [total fuel amount] − [fuel consumption amount] (12) be able to.

The mass m is obtained by the following equation: m = [total mass] − [fuel consumption] (13)

Then, the center of gravity xCG corresponding to Fuel is obtained from the memory 46, and the optimum gains K3, K4 and K corresponding to this xCG and the calculated mass m are calculated as (6) to (8).
It is obtained from the memory 41 according to the equation.

Finally, using the optimum gain K, the actuator drive amount calculating section 42 calculates the actuator drive amount δ according to a predetermined function of δ = K · f (θ, φ). Become.

Also in this example, the above-described calculations are continuously performed during the flight of the flying object, and the optimal control gain is always set according to the momentarily changing mass and the position of the center of gravity. Control becomes possible.

Each of the memories 41, 43 to 46 may be a memory other than the ROM, or may be constituted by an arithmetic processing function by software.

[0034]

As described above, according to the present invention, the optimal gain control can always be performed by changing the attitude control gain in accordance with the speed, altitude or mass, and the center of gravity of the flying object which change every moment. Therefore, there is an effect that a stable flight can be performed as compared with the related art.

[Brief description of the drawings]

FIG. 1 is a system block diagram of one embodiment of the present invention.

FIG. 2 is a system block diagram of another embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Airspeed meter 2 Atmospheric altimeter 3 Temperature sensor 4 Control device 5 Gyro 41 Gain setting memory 42 Actuator drive amount calculation unit 43 Atmospheric density setting memory 44 Fuel consumption rate setting memory 45 Remaining fuel amount and weight setting memory 46 Center of gravity position setting memory

──────────────────────────────────────────────────の Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) G05D 1/10 B64C 13/18 F42B 15/01 FPAT (QUESTEL) WPI (DIALOG)

Claims (2)

(57) [Claims] 1. The atmospheric density for altitude and atmospheric temperature is predicted.
A first memory, calculated and stored , for controlling the attitude of the flying object with respect to the atmospheric density and velocity.
A second memory in which an appropriate gain is calculated and stored in advance, speed detecting means for detecting the speed of the flying object, altitude detecting means for detecting the altitude of the flying object, and temperature detecting means for detecting the atmospheric temperature And the detection results of the altitude detection means and the temperature detection means.
Reading the atmospheric density from the first memory;
Air density and the speed detected by the speed detecting means.
Read out the optimum gain from the second memory
An attitude control device for an unmanned aerial vehicle, comprising: control means for performing attitude control with an optimum gain . 2. The first and second memories are read-only.
The attitude control device for an unmanned flying object according to claim 1, wherein the attitude control apparatus is a memory .