JPH03164697A - Controlling device for airframe - Google Patents

Abstract

PURPOSE:To fly an airframe strictly in accordance with a planned course and substantially reduce a fatigue of a controlling person by a method wherein a vector of the airframe is compared with a planned vector, a difference between both vectors is used as a guiding control signal for the airframe. CONSTITUTION:In a control device, a planned flying lotus of an airframe is displayed on a plotter 1 expressing an X-Y coordinate and its position and vector are stored in a data memory 5 at a certain specified time interval. Position data of the airframe converted in the X-Y coordinate system is displayed on the plotter 1 and stored in the data memory 5 as data of instantaneous time. In addition, data is inputted to a data processor 6 and a speed vector of the airframe is calculated in reference to this data. A comparison between the speed vector and a planned speed vector stored in the data memory 5 in advance is calculated and then a controlling amount U for the airframe is determined. The controlling amount U is transmitted to the airframe through a data converter 4 and a data transmittance cable 3 and further via an antenna 7 of the control device as an electromagnetic wave 2b applied as a guiding signal.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control system for flying objects, and in particular to control devices for flying objects such as unmanned aircraft that are remotely controlled by radio from the ground, aboard a ship, or an aircraft. Regarding control equipment.

[Conventional technology]

Conventional unmanned aircraft control systems are shown in Figures 3 and 4. FIG. 3 shows the relationship between a flying object and a control device on the ground. The control device 8 has an antenna 7 that tracks the position of the flying object, and the antenna 7 captures radio waves 10 emitted from the flying object 9. In particular, the position of the flying object 9, which changes with time, is tracked. On the other hand, a controller (pilot) operating the control device 8 remotely controls the flying object using radio waves 11 based on the position information of the flying object 9 captured and tracked by the control device 8 .

FIG. 4 is a diagram showing a comparison between the planned trajectory displayed on the control device 8 of FIG. 3 and the position of the flying object tracked by the control device 8, that is, the actual flight trajectory.

The control device 8 is equipped with a plotter or a display device having an X-Y coordinate plane as shown in FIG. 4, and is placed in front of a controller that guides and controls the flying object 9.

On the other hand, the position information based on the actual flight trajectory 13 of the flying object 9, which is captured and tracked by the control device 8, is converted into fiX-Y coordinates by the processing device built into the control device 8,
Displayed on the aforementioned plotter or display.

The controller visually compares and determines the position of the flying object 9 displayed on the plotter or display with the planned flight trajectory 12, and controls the flying object 9 to match the two.

[Problem to be solved by the invention]

In the conventional flying object control device described above, when the position of the flying object, that is, the flight trajectory, deviates from the planned trajectory, the controller determines the control amount to be sent to the flying object to correct it. This method has the disadvantage that the workload is heavy. Furthermore, the method for determining this control amount is determined by the controller's intuition based on the error between the position of the flying object at a certain point and the planned position, the speed of the flying object, etc. It takes a great deal of experience to match them, and since flying objects are affected by wind and other factors, it is generally difficult to match them.

[Means to solve the problem]

The control device of the present invention is a control device for a flying object that remotely controls a flying object such as an unmanned aerial vehicle by means of means for storing a planned flight trajectory of the flying object as a set of vectors having a position and direction in plane coordinates. a means for capturing the position of the flying object that changes with time; a means for storing information regarding the position of the flying object; and a means for calculating a velocity vector of the flying object from information regarding the position of the flying object.
The device is configured to include means for comparing a planned vector of the flying object with a current vector and calculating a guidance control amount for the flying object, and a means for transmitting the guidance control amount to the flying object.

〔Example〕

Next, the present invention will be explained with reference to the drawings.

FIG. 1 is a schematic diagram of an embodiment of a control device for a flying object according to the present invention. In the control system shown in FIG. 1, the planned flight trajectory of a flying object is displayed on a plotter 1 in X-Y coordinate representation, and its position and vector are stored in a data memory 5 at regular time intervals. . On the other hand, the current position of the flying object is captured by the control device at a fixed sampling interval ΔT using radio waves 23t6 emitted from the flying object, and then input to the data converter 4 via the data transmission cable 3. The data is converted into values in the X-Y coordinate system as time-and-time position data of the flying object. The position data of the flying object converted into the X-Y coordinate system is displayed on the plotter 1, and is also stored in the data memory 5 as time data. Furthermore, this data is processed by the data processor 6
′, and the velocity vector of the projectile is calculated from this data.

Furthermore, this velocity vector and data memory 5
A control amount U for the flying object is determined by comparison calculation with the planned velocity vector stored in the projector. This control amount U is transmitted via the data converter 4 and the data transmission cable to the flying object via the antenna 7 of the control device as a radio wave 2b as a guidance signal.

FIG. 2 is an explanatory diagram of data processing performed by the data memory 5 and data processor 6 in the embodiment of FIG. 1.

The planned flight trajectory is at constant intervals Δ in the X-Y coordinate system.
For each L, the position Ks ("t + ys) and the velocity vector V1.2 and the velocity vector ■2, . . . are stored in the data memory 5 as a set of the position Kn and the velocity vector ■. , the position X(x) of the flying object that is tracked and captured by the antenna 7 at fixed time intervals Δ1'.

y) are stored in the data memory 5 as ``the current value Xt and the value Xt-t'' one sample period before.Using this Xt and Xt, the data processor 6 calculates the velocity vector of the flying object. Xt is calculated.

In order to match the flight trajectory of the flying object with the planned flight trajectory, it is necessary to compare the current velocity vector of the flying object with the planned velocity vector and match the position, direction, and size of the two. .

The position and direction factors of the flying object are the roll angle φ and the yaw angle 9 of the flying object, and the factors determining the magnitude of the vector, that is, the speed, are the pitch angle θ and the output T of the engine. Therefore, the planned speed vector and the current speed vector are compared, and the roll angle φ, yaw angle ψ, pitch angle θ, and engine output T for the flying object are determined from the difference between the two, and these results are used as guidance control signals for the flying object. The basic feature of the present invention is to provide feedback as follows to minimize trajectory deviation.

Next, from both vectors, control amounts (φ, ψ,
A method for calculating θ, T) will be described.

Position data X, , and X, after calculating the velocity vector Xt of the flying object at a certain time t, the distance between the Xt vector and the position (Xt-1+Yi-t) as shown in the following equation (1). j1''' (Xt-1-Xm)2+ 0'1-1- y
m) 2-”・Position K of the planned trajectory where the value of (1) is the minimum
Find m(xm, ym) and vector vm.

Next, find the angle A between the Xt vector and the ■□ vector. The angle A between the Xt vector and the ■□ vector can be determined by using the scalar product (Xt, vm) of the vectors.

Furthermore, the difference between the Xt vector and the ■□ vector is D = 1X
It can be determined by tI -lVml --- (3).

With the above steps, the difference in position, direction, and magnitude of both vectors can be found.

Finally, from these quantities, control quantities (φ, ψ
, θ, T) using the constant at-cs as follows (4),
(Determine as in formula 51.

[φ] = C1 [θ) + C2 (J) ・・・・・・・・・
...(4) ψ θ (T) = Ca (D) ...
- Old Group - (5) The φ, ψ, θ, and T thus determined on the data processor are fed back to the flying object.

By performing the above process at intervals of time ΔT, the flight trajectory of the flying object can be made to match the planned flight trajectory.

〔Effect of the invention〕

As explained above, the present invention compares the vector of the flying object with the planned vector, and uses the difference between the two as a guidance control signal for the flying object. It has the effect of significantly reducing the load on the controller.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the flying object control device of the present invention, FIG. 2 is an explanatory diagram of the data processing process in the embodiment of FIG. 1, and FIG. 3 is a conventional flying object control device. FIG. 4 is an explanatory diagram showing a comparison between the planned flight trajectory shown on the X-Y plotter of the control device in FIG. 3 and the actual flight trajectory. DESCRIPTION OF SYMBOLS 1... Plotter, 2a, 2b... Radio wave, 3... Data transmission cable, 4... Data converter, 5... Data memory, 6... Data processor, 7... Antenna, 8... Control device, 9... Flying object, 10.11
... Radio waves, 12... Planned flight trajectory, 13... Actual flight trajectory.

Claims (1)

[Claims] A control device for a flying object that remotely controls a flying object such as an unmanned aircraft by radio, comprising: means for storing the planned flight trajectory of the flying object as a set of vectors having positions and directions in plane coordinates; means for capturing the position of a flying object; means for storing information regarding the position of the flying object; means for calculating a velocity vector of the flying object from information regarding the position of the flying object; and a planned vector of the flying object. and a current vector to calculate a guidance control amount for the flying object, and means for transmitting the guidance control amount to the flying object.