WO2008063101A2 - Procédé permettant de commander à distance l'altitude de vol d'un avion radiocommandé et dispositif destiné à sa mise en oeuvre - Google Patents

Procédé permettant de commander à distance l'altitude de vol d'un avion radiocommandé et dispositif destiné à sa mise en oeuvre Download PDF

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Publication number
WO2008063101A2
WO2008063101A2 PCT/RU2007/000652 RU2007000652W WO2008063101A2 WO 2008063101 A2 WO2008063101 A2 WO 2008063101A2 RU 2007000652 W RU2007000652 W RU 2007000652W WO 2008063101 A2 WO2008063101 A2 WO 2008063101A2
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WO
WIPO (PCT)
Prior art keywords
height
altitude
level
speed
control
Prior art date
Application number
PCT/RU2007/000652
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English (en)
Russian (ru)
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WO2008063101A3 (fr
Inventor
Aleksei Zaitsevsky
Original Assignee
Naidovich, Vladimir Evgenievich
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Naidovich, Vladimir Evgenievich filed Critical Naidovich, Vladimir Evgenievich
Publication of WO2008063101A2 publication Critical patent/WO2008063101A2/fr
Publication of WO2008063101A3 publication Critical patent/WO2008063101A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys
    • A63H27/12—Helicopters ; Flying tops
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission

Definitions

  • the invention relates to methods for controlling unmanned aerial vehicles and more specifically relates to a method for remote control of the flight altitude of a radio-controlled model of an aircraft, especially in landing and flight modes at very low altitudes, and also relates to a device for implementing this method.
  • SUBSTITUTE SHEET (RULE 26) obstacles, however, in the case of an incorrect assessment of height, the human reaction time may not be enough to avoid a crash.
  • Signal warning methods, as well as methods requiring switching the flight mode, are not sufficient, since fast-moving radio-controlled aircraft require a higher response speed.
  • the ability to control the aircraft from the remote control must remain at any time, since a sudden change of control can disorient the manager.
  • the device that can be placed on a light unmanned aerial vehicle should be small in size and light in weight. Placing expensive devices on small radio-controlled models would be impractical.
  • the basis of the invention is the task of creating such a method for remote control of the flight altitude of an unmanned aerial vehicle, in particular a radio-controlled model, which would provide automatic correction of the control signal, eliminating the dangerous approach of the aircraft to the earth's surface when flying at extremely low altitudes, and also create a device for in such a way that would have small dimensions and weight, which
  • SUBSTITUTE SHEET (RULE 26) would allow installing it on board an unmanned controlled aircraft using standard remote control systems.
  • the problem is solved in that in the method of remote control of the flight altitude of the radio-controlled model of the aircraft by applying from the remote control signal to the deviation of the altitude control in accordance with a predetermined flight path, according to the invention, set the maximum lower level of flight altitude, during the flight, the actual altitude, the current value of the vertical component of the speed of the aircraft and the sign of its change are calculated from the measurement results, comparing the actual measured height with a predetermined level, and if the actual height is less than a predetermined level, the control signal is adjusted to compensate for the deviation of the height from the preset level using a feedback signal from the actual height value and the current value of the vertical component of the speed, if the sign of the change in speed is negative, or only according to the actual value of the height, if the sign of the change in speed is positive, and the control signal is left unchanged if if the actual height exceeds the set level.
  • a preliminary lower level is set in excess of the lower limit level, and, starting from this level, the vertical speed is limited to a set acceptable value at which a decrease from the lower limit level is safe.
  • the control signal is adjusted to compensate for the deviation of the height from the set level by means of a feedback signal according to the current value of the vertical velocity component, if the sign of the change in speed is positive, and at heights below the level of the held height, the control is adjusted signal for compensating height deviations from a predetermined level by a feedback signal of the current value of the vertical velocity component changes sign if the velocity is negative.
  • SUBSTITUTE SHEET (RULE 26) the preset flight altitude is held, which may be necessary to perform individual tasks or for demonstration purposes.
  • control signal with pulses, and measure the height and calculate the current value of the vertical component of the velocity in the intervals between the incoming pulses of the control signal.
  • the remote control device for the flight altitude of the radio-controlled model of the aircraft comprising a transmitter for controlling the position of the model’s height-adjusting bodies mounted on the control panel and a transmitter signal receiver located on board the model and connected to the output by the drive for moving the height-adjusting bodies, according to the invention is provided with at least one height measuring sensor and a microprocessor having software software configured to analyze data on the actual flight altitude received from the altitude sensor, calculate from this data the current value of the vertical component of the aircraft’s speed and the sign of its change, compare the actual flight altitude with a given limit lower value of the flight altitude, and if it is less than the specified value , changes in the control signal are inversely proportional to the value of the flight altitude and the vertical component of the speed, if the sign of the change in speed is negative, and only for the height value if the sign of speed change is positive.
  • control panel provide means for changing the set value of the limit lower level of flight altitude, the set allowable value of the rate of descent from this level, or the value of the coefficient of change in the magnitude of the control signal (gain).
  • a change in the value of the coefficient of change in the magnitude of the control signal implies a change in the degree of automatic reaction of the actuator to changes in the vertical component of speed or height in accordance with the described control method.
  • the microprocessor is located on a control panel provided with a receiver, and the aircraft has a transmitter for
  • SUBSTITUTE SHEET (RULE 26) transmitting flight altitude data from an airborne altitude sensor.
  • the landing gear control unit and the means for turning on the take-off and landing equipment on board the aircraft are connected to the microprocessor output.
  • sensors are installed on the aircraft. Sensors are installed on opposite edges of the aircraft and are designed to change the control signal of the rudder drives, or engines located on the same side as the sensor, in order to eliminate a possible roll relative to the surface of the earth.
  • FIG. L depicts a structural diagram of a method for remote control of the flight altitude of a model of an aircraft according to the invention
  • figure 2 is a block diagram of a device for remote control of the flight altitude of a radio-controlled model of an aircraft, according to the invention
  • FIG. 3 is a timing diagram of the operation of the device of FIG. 2
  • FIG. 4 - an option for installing a height sensor on a helicopter model
  • FIG. 5 an option for installing two height sensors on an airplane model
  • FIG. 6 is a variant of installing four altitude sensors on an aircraft model with four rotors.
  • the number 1 indicates the operation by the operator from the remote control of the altitude control signal
  • position 2 the signal from the altimeter that measures the current value of the flight altitude at fixed intervals
  • position 3 the preset height value, relative to which the correction of the control signal is carried out
  • position 4 the operation of comparing the current height value and the set height value measured by the altimeter
  • position 5 the operation howl switching and transmission of adjustment for subsequent processing in case the signal if
  • SUBSTITUTE SHEET (RULE 26) the signal received from position 2 is lower than the value set at position 3.
  • Position 6 denotes the operation of determining, using the mismatch unit, the difference between the given height value and the current height value measured by the altimeter, and position 7, the operation of calculating the vertical velocity component by changing the signal values from the altimeter between successive measurements of the current height value and position 8 is the operation of determining the sign of this vertical component of speed.
  • the second switching and transmission of the speed signal for subsequent processing is carried out if the sign determined at position 8 is negative.
  • the adjusted control signal is generated at position 10 - by means of an adder, to the input of which a control signal from position 1 is received, a signal proportional to the vertical speed value from position 9 and a mismatch signal between the set height value and the current height value from position 6.
  • Position 12 denotes the feedback that is carried out when measuring the current height value with an altimeter (position 2), which has changed as a result of the operation of the actuator.
  • the presented scheme corresponds to the simpler of the above-described variants of the method for adjusting the vertical speed control signal.
  • the device for remote control of the flight altitude of the radio-controlled model of the aircraft in accordance with the above method, is presented in figure 2.
  • the device includes a control panel 13 with a transmitter 14 of pulsed control radio signals, a receiver 15 mounted on board the model so that it is capable of receiving signals from a transmitter 14, a microprocessor 16, to the input 17 of which a receiver 15 is connected, and an ultrasonic sensor 19 is connected to the output 18 altitude (altimeter) connected by its output to the information input 20 of the microprocessor 16.
  • the output 21 of the microprocessor 16 is connected to the input of the drive 22 for moving the aircraft flight altitude control.
  • the microprocessor 16 has an input 23 for starting the programming mode using the key 24 and an output 25 to which an LED 26 is connected, which is an indicator of the modes
  • the ultrasonic height sensor 19 comprises a piezo emitter 27, a microphone 28, and a received signal amplifier 29.
  • a pulse signal repeated every 20 ms, with a pulse duration in the range from 1 to 2 ms, is used as a signal that determines the position of the aircraft height control.
  • the adjustment is carried out by changing the duration of the control signal. If a change in the pulse width is not required (in the mode when the actual flight altitude exceeds the lower limit level), then immediately after the control pulse received from the receiver 15 (position C in the time diagram of FIG. 3), a pulse of the same duration is generated at the output 21 of the microprocessor 16 ( position D in the time chart). At the next stage, the ultrasonic signal is emitted in the direction of the earth (position A in the time diagram).
  • the ultrasonic signal comes from the piezoelectric transducer 27 of the ultrasonic sensor 19 and, after reflection from the surface of the earth, is picked up by the resonant microphone 28 of the same sensor.
  • the delay between the moment of emission and the moment of reception of the reflected signal determines the actual flight altitude.
  • the attenuation of the sound signal in the air is proportional to the square of the distance traveled, so the amplifier 29 of the signal received from the microphone 28 should change the gain level from the minimum to the maximum set during the standby period, or this task is solved by the comparator or analog input built into the microprocessor 16.
  • the period of maximum waiting for the reflected signal (position B in the time diagram) is limited and accordingly limited is the height that can be determined.
  • This period essentially defines a predetermined lower limit level of flight altitude.
  • the maximum height that can be measured is 2.5 meters in the described example, and within this value, the device changes (adjusts) the control pulse signal supplied to the input of the drive 22 for moving the flight altitude control.
  • the vertical component of the speed and the sign of its change are calculated (by comparing the last measured height values), and the actual measured height is compared with the set value. If, as a result of comparison
  • SUBSTITUTE SHEET (RULE 26) the actual measured height with a given lower limit flight level, the actual measured height is less than the maximum set level and the sign of the speed change is negative, the feedback signal from the actual height value is received at the corresponding input of the control signal generating means, for example, an adder (not shown conventionally in the drawing) and the current value of the vertical component of the speed, or only the actual value of the height, if the sign of the change in speed is positive. In this case, the duration of the control pulse D at the output 21 of the microprocessor 16 changes accordingly. If, as a result of the comparison, the actual measured height exceeds a predetermined limit level (2.5 m), the control signal is repeated without changes. In the period indicated by the letter F in the time diagram, the duration of the outgoing control pulse D is calculated.
  • the device Before starting the model on the ground, the device is put into programming mode by locking key 24.
  • data determining the neutral position, the maximum deviation of the elevator in both directions, the value of the permissible value of the descent rate, are entered into the memory of the software of the microprocessor 16 from the control panel 13 the value of the maximum lower level of flight altitude, the value of the preliminary lower level.
  • LED 26 displays a series of flashes of the current mode during programming, and during operation, the frequency of flashes displays the actual flight altitude.
  • the device according to the invention automatically provides the following flight modes of the model:
  • the signal changes with the calculation of the increase in height in the reduction mode inversely proportional to the height and in proportion to the rate of decline;
  • the signal changes with the calculation of the increase in height and is inversely proportional only to the height, in climb mode.
  • the implementation of the height-holding mode is also implemented on the basis of the device shown in FIG. 2, but with a change in the program embedded in the microprocessor
  • the device When executing the altitude retention program, the device automatically provides the following flight modes of the model:
  • the signal changes with the calculation of the increase in height and in proportion to the rate of decline.
  • the device according to the invention is structurally simple enough, has a low weight and can be installed on various aircraft models. On models of winged aircraft, the device is installed in the elevator control circuit. On helicopter models, the device is installed in the control circuit of the collective pitch of the main rotor, and a tutor must be used to control the engine speed.
  • a helicopter model with an installed device according to the invention is capable of performing a safe landing in autorotation mode, as well as flying at low altitude in aerobatic mode, when the engine speed is kept constant thanks to the tutor.
  • the operation of the device is described by the example of flight control of a light radio-controlled model of an airplane.
  • the device does not replace manual control, but carries out a relative deviation of the elevator.
  • Starting from a preset height value of 10 meters (a predetermined preliminary lower level) it is necessary to ensure that the decrease rate does not exceed 5 meters per second (the established allowable value of the decrease rate from the lower limit level); below a height of 2.5 meters, a gradual shift of the elevator position occurs, so that the neutral position of the helm corresponds to a flight at a height of at least 2.5 meters (lower limit level).
  • Landing from the lower limit is carried out by reducing the horizontal component of the model’s flight speed, while
  • SUBSTITUTE SHEET (RULE 26) the angle of attack increases and the speed of the model to landing gradually decreases (all altitude values are set depending on the design of the aircraft model). If, as a result of the hilly nature of the earth's surface, the height sensor 19 detects a sudden and significant increase in height, then the elevator will return to a position corresponding to the position of the helm, and if the operator puts the control handle in a neutral position, then further control will occur in normal mode. In order for the operation of the device not to cause a cabling with a sharp decrease, the value of the deviation of the elevator decreases as soon as the flight altitude begins to increase. Thus, the model smoothly gains the required height.
  • a horizontal speed sensor can be connected, to eliminate possible dangerous rolls of the aircraft, it is possible to install a gyroscopic or other electronic stabilization device on board.
  • the roll relative to the surface of the earth can be eliminated through the use of two or more sets of the described device on one aircraft. For example, on an airplane model, two devices are installed at the ends of the wings and change the control signal for the flaps (flaperons) each for its wing. With such a setup, it is desirable to synchronize the operation of the units of ultrasonic height measurement.
  • the synchronization function of control signals is provided in Spectgum remote control systems manufactured by Norizop Nobu ips.
  • the figure 4 presents the installation option of the ultrasonic sensor 30 for measuring height on a helicopter model.
  • the sensor 30 is placed between boarding skis on the bottom of the housing.
  • the device described above which changes the control signal, is connected to the control channel by the collective pitch of the rotor.
  • the presence of a gyroscope on the model, preventing the rotation of the model along the vertical axis and the presence of an engine speed stabilizer (goverpoor) is mandatory.
  • SUBSTITUTE SHEET (RULE 26)
  • the figure 5 presents a variant of the installation of two ultrasonic sensors for measuring height on a model airplane. Sensors 31 and 32 are mounted at the ends of the wings. On each wing there are flaps 33 and 34, controlled by separate actuators. The flap control signal 33 and 34 is adjusted in accordance with the determined sensors 31 and 32 with the values 35 and 36 of the height. Separate control of the flaps 33 and 34 eliminates the lateral roll of the model relative to the runway. When flaps are released, the lift of the wing increases and the horizontal flight speed decreases.
  • one height sensor In the case of installing one height sensor on an airplane model, it is installed in the center of the fuselage and, as a rule, is used to correct the elevator control signal.
  • FIG. 6 schematically shows a model of an aircraft with four rotors 37, 38. 39 and 40.
  • the step or revolution control signal of each of the four rotors 37 to 40 is corrected in accordance with the height value by the corresponding sensor 41 to 44 located on the same side.
  • the use of an electronic gyroscope is also mandatory.
  • the same installation scheme for ultrasonic height sensors is applicable for models with ion engines.
  • the device makes it possible for the radio-controlled model to fly and maneuver over a smooth surface at a height of tens of centimeters, which would be impossible otherwise, since with a change in speed and flight path it would be necessary to synchronously and proportionally control the pitch / gas of the rotor of the helicopter or respond immediately to any roll of a winged aircraft.
  • To maintain a given height provides an additional mode of operation of the device described above. In this mode, the model freely descends to the level specified
  • SUBSTITUTE SHEET (RULE 26) held height, and then held at that level. To carry out a landing in this mode, it is enough to slow down the engine speed, and for lifting it is necessary to give a command to raise a larger value than would be required in a normal control mode.
  • An embodiment of the device in which a signal is received from the microprocessor output to release the landing gear and launch other takeoff and landing equipment allows these operations to be performed automatically, depending on the flight mode.
  • the fixed values of the signals arriving at the output for flight modes at the surface of the earth and at altitude are set in advance from the remote control, in the programming mode of the device.
  • the control of the model requires complex mixing of control signals for several actuators
  • the most convenient option is to implement a device in which an altitude data transmitter is installed on board the aircraft, and the remote control is equipped with a receiver and microprocessor and mixes the channels taking into account deviation signal based on flight altitude data.
  • the step / gas knob is mixed directly onto four control channels of the actuators and the mixing method depends on the set flight mode.
  • the method for remote control of the flight distance of a radio-controlled model of an aircraft and a device for its implementation, made according to the present invention, can be used on models of a wide variety of aircraft.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé permettant de commander à distance l'altitude de vol d'un avion radiocommandé, par la transmission, à partir d'une télécommande, d'un signal de commande visant à orienter les organes de régulation de l'altitude conformément à une trajectoire de vol donné. Le procédé selon l'invention consiste : à déterminer une limite inférieure d'altitude de vol; à mesurer, pendant le vol, l'altitude de vol réelle; à calculer, sur la base des résultats des mesures, la valeur actuelle de la composante verticale de vitesse de l'avion et un signe indiquant la variation de cette dernière; à comparer l'altitude mesurée réelle à la limite déterminée; si l'altitude réelle est inférieure à la limite déterminée, à corriger le signal de commande afin de compenser l'écart entre l'altitude réelle et la limite déterminée, soit par l'intermédiaire d'un signal de rétroaction en fonction de l'altitude réelle et de la valeur actuelle de la composante verticale de vitesse si le signe de variation de la vitesse est négatif, soit uniquement en fonction de l'altitude réelle si le signe de variation est positif; et à laisser le signal de commande inchangé si la hauteur réelle est supérieure à la limite déterminée. L'invention concerne également un dispositif permettant de mettre en oeuvre ledit procédé, qui est doté d'un capteur (19) de mesure de l'altitude et d'un microprocesseur (16) possédant un moyen logiciel.
PCT/RU2007/000652 2006-11-24 2007-11-21 Procédé permettant de commander à distance l'altitude de vol d'un avion radiocommandé et dispositif destiné à sa mise en oeuvre WO2008063101A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2006141483/09A RU2319191C1 (ru) 2006-11-24 2006-11-24 Способ дистанционного управления высотой полета радиоуправляемой модели летательного аппарата и устройство для его осуществления
RU2006141483 2006-11-24

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WO2008063101A2 true WO2008063101A2 (fr) 2008-05-29
WO2008063101A3 WO2008063101A3 (fr) 2008-09-25

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Cited By (1)

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CN103585769A (zh) * 2012-08-15 2014-02-19 安凯(广州)微电子技术有限公司 一种遥控飞机及相应的测控方法

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DE102011010679A1 (de) * 2011-02-08 2012-08-09 Eads Deutschland Gmbh Unbemanntes Luftfahrzeug mit eingebautem Kollisionswarnsystem
WO2015179797A1 (fr) 2014-05-23 2015-11-26 Lily Robotics, Inc. Drone pour la photo et/ou la vidéo
RU2568293C1 (ru) * 2014-07-10 2015-11-20 Акционерное общество "Московский ордена Трудового Красного Знамени научно-исследовательский радиотехнический институт" (АО "МНИРТИ") Способ измерения высоты полета летательного аппарата на малых и сверхмалых высотах при заходе на посадку
JP2019113992A (ja) * 2017-12-22 2019-07-11 カシオ計算機株式会社 飛行装置、飛行装置の制御方法及びプログラム

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RU51587U1 (ru) * 2005-10-11 2006-02-27 Открытое Акционерное Общество "Государственное Машиностроительное Конструкторское Бюро "Радуга" Имени А.Я. Березняка" Система автоматического управления высотой полета беспилотного летательного аппарата
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RU2062503C1 (ru) * 1993-07-06 1996-06-20 Центральный научно-исследовательский институт "Гранит" Система управления движением беспилотного летательного аппарата
US6520824B1 (en) * 1999-09-27 2003-02-18 Toytronix Balloon toy vehicle
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RU2279119C1 (ru) * 2005-02-04 2006-06-27 Федеральное государственное унитарное предприятие Московское опытно-конструкторское бюро "Марс" (ФГУП МОКБ "Марс") Адаптивная система управления высотой полета летательного аппарата
RU51587U1 (ru) * 2005-10-11 2006-02-27 Открытое Акционерное Общество "Государственное Машиностроительное Конструкторское Бюро "Радуга" Имени А.Я. Березняка" Система автоматического управления высотой полета беспилотного летательного аппарата

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103585769A (zh) * 2012-08-15 2014-02-19 安凯(广州)微电子技术有限公司 一种遥控飞机及相应的测控方法
CN103585769B (zh) * 2012-08-15 2016-06-29 安凯(广州)微电子技术有限公司 一种遥控飞机及相应的测控方法

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