RU2589236C1 - Method of generating signal for controlling angular motion of unmanned aircraft in wide spectrum of disturbance actions and control system therefor - Google Patents

Abstract

FIELD: electronics.

SUBSTANCE: group of inventions relates to a method of generating a control signal for angular motion of an unmanned aerial vehicle (UAV) and a control system for this method. To control angular motion of UAV, method includes setting an angular position control signal, measuring angular position and angular velocity signal, by subtracting preset and measured angular position signals generating and then amplifying error signal, by means of anti-flexural filtration generating output control signal, using two threshold signal to generate in a certain manner an additional component of error signal and exclusion thereof, respectively. Control system comprises angular position signal setter, three subtractors, three amplifiers, adder, anti-flexural filter, angle meter, angular velocity meter, two modular function generators, positive polarity signal selection unit, relay element with insensitivity zone and hysteresis characteristic, controlled switch, connected in a certain manner.

EFFECT: stable angular motion of UAV.

2 cl, 1 dwg

Description

The invention relates to airborne devices for automatic control systems for unmanned aerial vehicles (UAVs).

The known method includes setting the signal of the angular position, measuring the signal of the angular position, measuring the signal of the angular velocity, amplifying the error signals and the angular velocity, summing the received signals and filtering the total signal [1].

A known automatic control system for a UAV, which contains a set of action unit, angle and angular velocity meters, a subtraction unit, a summing amplifier, an anti-bend filter [1].

The disadvantages of the known method and control system are the limited functionality in conditions of significant discrepancies due to factors of significant external disturbances such as aerodynamic interference, wind gusts, shock waves, variations in aircraft parameters, etc., as well as technical limitations of the process levels, which is especially typical for the departure time interval UAV from the carrier. The noted factors reduce the performance of the UAV task as a whole.

The closest solution is the method and system for generating a UAV control signal according to [2]. The method consists in setting the signal of the angular position, measuring the signal of the angular position, measuring the signal of the angular velocity, generating a mismatch signal by subtracting the given signal of the angular position of control from the signal of the angular position, amplifying the mismatch signal, amplifying the angular velocity signal, generating the basic control signal for summing the amplified the mismatch signal and the amplified signal of the current angular velocity, form the output control signal by anti-bending filtering bases new control signal.

The known control system (SU) comprises serially connected angular position signal adjuster, a first subtraction unit and a first amplifier, an adder and an anti-bending filter connected in series, the output of which is the output of the device, an angle meter whose output is connected to the second input of the first subtraction unit, and connected in series an angular velocity meter and a second amplifier, the output of which is connected to the first input of the adder.

The disadvantages of the known solutions are limited functionality in the conditions of a significant change in flight conditions in speed and altitude, with hardware limitations on the parameters of digital-analog elements, the presence of failures for exceeding the angular mismatch signals and other factors, which reduces the reliability of the control system and can lead to a breakdown of stability and tasks in whole.

The technical problem to be solved in the proposed method and device is to increase the stability of the processes of angular motion and expand the functionality, taking into account the occurrence of situations under multifactorial flight conditions. An integral part of the synthesis of the angular stabilization loop is to take into account the variation in the parameters and elasticity factors of the object. The proposed construction provides a functional-logical change in the parameters of the control system with an incorrect increase in the angular coordinates, which ensures increased stability and quality of the processes.

The specified technical result is achieved by the fact that the known method consisting in setting the angular position signal, measuring the angular position signal, measuring the angular velocity signal, generating a mismatch signal by subtracting the specified angular position signal from the angular position signal, amplifying the mismatch signal, amplifying the angular signal speed, form the basic control signal by summing the amplified error signal and the amplified angular velocity signal, form the control output signal through anti-bending filtering of the basic control signal, complemented by the fact that a signal modular function of the mismatch signal is extracted, a signal of the modular function of the given control signal is extracted, a signal is subtracted from the signal of the modular function of the mismatch signal, the signal of the modular function of the given control signal is set to the first threshold signal, set the second threshold signal, while the value of the second threshold signal is mε, where ε is the value of the first threshold signal, and the parameter m was it is m = 0.7-0.9, an additional component of the mismatch signal is formed by its additional amplification when the subtraction signal exceeds the first threshold signal, the obtained additional component is subtracted from the amplified mismatch signal and a reverse exclusion of the additional component is formed when the value of the subtraction signal is less than the value of the second threshold signal, while the additional gain is ΔK ₁ = (0.5-0.8) · K ₁ , where K ₁ is the gain of the error signal.

The specified technical result is achieved by the fact that in the known control system comprising a serially connected angular position signal adjuster, a first subtraction unit and a first amplifier, an adder and an anti-bending filter connected in series, the output of which is the output of the device, the angle meter, the output of which is connected to the second input the first subtraction unit, and the angular velocity meter and the second amplifier connected in series, the output of which is connected to the first input of the adder, additionally о introduced a first shaper of a modular function, the input of which is connected to the output of the angular position signal generator, a second subtraction unit, a positive polarity signal isolation unit, a relay element with a deadband and a hysteresis characteristic, a controlled key, the second input of which is connected to the output of the first subtraction unit , the third amplifier and the third subtraction unit, the second input of which is connected to the output of the first amplifier, and the output - with the second input of the adder, and the second a modular function target whose input is connected to the output of the first subtraction unit, and the output to the second input of the second subtraction unit.

Indeed, this ensures the development of control signals with maximum quality in a wide range of changes in UAV altitude and flight speed.

The drawing shows a block diagram of a control system with the implementation of the method.

The control system contains a serially connected signal positioner of the angular position signal 1 (ZSU), the first subtraction unit 2 (1BV) and the first amplifier 3 (1U), the adder 4 (C) and the anti-bending filter 5 (UIF) connected in series, the output of which is the output of the control system , an angle meter 6 (DUT), the output of which is connected to the second input of the first subtraction unit 2, and a serially connected angular velocity meter 7 (IMS) and a second amplifier 8 (2U), the output of which is connected to the first input of the adder 4, connected in series to The first driver of the modular function 9 (1FMF), the input of which is connected to the output of the signal setter of the angular position 1, the second subtraction unit 10 (2БВ), the block for isolating the signal of positive polarity 11 (BVSPP), a relay element with a dead zone and hysteresis characteristic 12 (REZNGH) , a controlled key 13 (CC), the second input of which is connected to the output of the first subtraction unit 2, the third amplifier 14 (memory) and the third subtraction unit 15 (3BV), the second input of which is connected to the output of the first amplifier 3, and the output to the second input adder 4, and the second ormirovatel modulo function 16 (2FMF) having an input connected to the output of the first subtracter 2, and an output - to a second input of the second subtractor 10.

The control system with the implementation of the method operates as follows.

The control signals φ _y from the setter 1 and the current position φ from the sensor 6 are fed to the subtraction unit 2, from the output of which the mismatch signal Δφ:

arrives at the first amplifier 3, which forms the basic component of the control signal for the mismatch

where K ₁ - gear ratio of the amplifier 3.

The component of the control signal u ₂ in angular velocity is formed in the amplifier 8:

where ω is the angular velocity signal received from the sensor 7;

K ₂ - gear ratio of the angular velocity of the amplifier 8.

In the adder 4, the components of the control signal are summed, forming a signal u, which is filtered by the anti-bending filter 5, generating the output signal of the device u _output .

The calculation of the gear ratios K ₁ and K _{2 is} determined based on ensuring the stability and quality of the processes. The controlled key 13 is open.

It is possible that a situation of really high levels of control signals φ _y from the master 1, exceeding the regulated ones, and large initial mismatch values Δφ in block 2 may occur, as a result of which disruption of stable movement is possible in real equipment that has technical limitations. The proposed solution to this situation is excluded as follows. The functions of the signal modules φ _y and Δφ are distinguished by blocks 9 and 16, respectively. The second block of subtraction 10 forms the difference of the received signals

над сигналом $$\left|{\varphi }_{\text{у}}\right|$$

и о возможном отказе и срыве процесса управления.Block 11 selects the positive component a _{2 of the} signal a ₁ , indicating the excess of the signal $$\left|\text{Δ}\varphi \right|$$

over the signal $$\left|{\varphi }_{\text{at}}\right|$$

and the possible failure and disruption of the management process.

If the value of signal a ₂ exceeds the value of the dead zone ε corresponding to the first threshold signal of block 12, a signal A is generated in block 12, which ensures the closure of key 13, including an additional component of the mismatch control signal Δφ through the third amplifier 14 with coefficient ΔK ₁ to the third block subtraction 15. At the output of block 15 form a signal u _1k equal to

The signal u _{1k is} supplied to the adder 4, the output of which is formed by a signal u equal to

The signal is filtered by anti-bending filter 5, the output of which is the output signal SU u _output .

It should be noted that the solution in the situation considered is based on a decrease in the total coefficient of the error signal, which becomes equal to (K ₁ -ΔK ₁ ). Moreover, ΔK ₁ = (0.5 ÷ 0.8) · K ₁ . Such a solution allows one to be in the stability region with a large distance from the stability boundary.

Subsequently, when processing a given signal φ _{у, the} signal Δφ decreases and when signal a ₂ is reached, it is less than the value mε corresponding to the second threshold signal, where m = 0.7-0.9, of block 12, signal A becomes equal to 0, key 13 opens, restoring the total gear ratio in Δφ equal to K ₁ , i.e. restoring the calculated regulated quality of the control system for stability, dynamic quality and static accuracy. It is impossible to take advantage of the change in coefficient K _{2 of} block 8 under UAV control conditions taking into account elastic vibrations in order to avoid going beyond the stability region.

The proposed method and control system are easily implemented on the elements of automation and computer technology, for example, according to [3, 4] and algorithmically.

The proposed method for generating a control signal and a system for its implementation solve the problem of complex complex situations and increase the reliability of work.

Information sources

1. Aerodynamics, stability and controllability of supersonic aircraft. / Ed. G.S. Buesgens. M .: Science. Fizmatlit, 1998, p. 443.

2. RF patent No. 2338236, 11/10/2008, cl. G05D 1/08.

3. V. B. Smolov. Functional information converters. L .: Energy Publishing House, Leningrad Branch, 1981, p. 22, 41.

4. A.U. Yalyshev, O.I. Razorenov. Multifunctional analog control devices for automation. M., Mechanical Engineering, 1981, p. 107, 126.

Claims (2)

1. The method of generating a control signal for the angular movement of an unmanned aerial vehicle with a wide range of disturbing effects, which consists in setting the angular position signal, measuring the angular position signal, measuring the angular velocity signal, generating a mismatch signal by subtracting the specified angular position signal from the angular position signal, amplify the mismatch signal, amplify the angular velocity signal, form the basic control signal by summing the amplified mismatch signal and of the angular velocity signal, an output control signal is generated by anti-flexion filtering of the basic control signal, characterized in that the signal modular function of the error signal is extracted, the signal of the modular function of the given signal of the angular position is extracted, the signal of subtraction of the error signal of the modular function is generated, the signal of the modular function of the predetermined signal angular position, set the first threshold signal, set the second threshold signal, the value of the second threshold of the signal is mε, where ε is the value of the first threshold signal, and the value of the parameter m is m = 0.7-0.9, an additional component of the mismatch signal is formed by its additional amplification when the subtraction signal exceeds the first threshold signal, the obtained additional component is subtracted from amplified mismatch signal and form a reverse exception of the additional component when the value of the subtraction signal is less than the value of the second threshold signal, while the additional gain coefficient nent ΔK ₁ = (0.5-0.8) · K _1, where K ₁ - gain error signal. 2. The control system for implementing the method according to claim 1, comprising a series-connected signal positioner of the angular position signal, a first subtraction unit and a first amplifier, a series-connected adder and an anti-bending filter, the output of which is the output of the device, the angle meter, the output of which is connected to the second input of the first a subtraction unit, and a serially connected angular velocity meter and a second amplifier, the output of which is connected to the first input of the adder, characterized in that it is additionally introduced connected in series are the first shaper of the modular function, the input of which is connected to the output of the angular position signal generator, a second subtraction unit, a positive polarity signal isolation unit, a relay element with a deadband and a hysteresis characteristic, a controlled key, the second input of which is connected to the output of the first subtraction unit, a third amplifier and a third subtraction unit, the second input of which is connected to the output of the first amplifier, and the output to the second input of the adder, and the second driver muzzle function, the input of which is connected to the output of the first subtraction block, and the output - to the second input of the second subtraction block.

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