CN108762288A - A kind of take-off attitude control method of vertical air-drop unmanned plane - Google Patents
A kind of take-off attitude control method of vertical air-drop unmanned plane Download PDFInfo
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- CN108762288A CN108762288A CN201810645874.0A CN201810645874A CN108762288A CN 108762288 A CN108762288 A CN 108762288A CN 201810645874 A CN201810645874 A CN 201810645874A CN 108762288 A CN108762288 A CN 108762288A
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- 230000005484 gravity Effects 0.000 claims description 7
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- 238000005096 rolling process Methods 0.000 abstract description 13
- 241000208340 Araliaceae Species 0.000 abstract description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 abstract description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 abstract description 3
- 235000008434 ginseng Nutrition 0.000 abstract description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of take-off attitude control method of vertical air-drop unmanned plane, carrier aircraft launches unmanned plane in the air, gyroscope measures the angular speed and angle of unmanned machine rolling direction and pitch orientation in real time, measured value is passed to the controller of unmanned plane, vertically downward, controller controls the angular speed and angle in unmanned machine rolling direction using PID double-closed-loop controls method head when unmanned plane is launched；Pitch angle is gradually adjusted to 0 degree by unmanned plane pull rod operation simultaneously, completes to take off, this control method is simple and reliable；After unmanned plane is dropped, by movement of falling object unmanned plane can get before to initial velocity, be conducive to take off；It avoids carrying out ginseng control using pitch angle, and leads to control failure of the gyroscope pitch angle at 90 degree of polar regions occur.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of take-off attitude controlling party of vertical air-drop unmanned plane
Method.
Background technology
Unmanned plane has the advantages such as light-weight, maintenance cost is low, no one was injured risk, easy to use, at present application neck
Domain is increasingly extensive, in the side such as resource exploration, environmental monitoring, emergency disaster relief, public safety, fire monitoring and rescue, express delivery dispensing
There are relevant technology and product development in face.
When the air-drop of folding wings unmanned plane is taken off, it is desirable that the height that carrier aircraft discharges unmanned plane must be sufficiently high, and flying field is wanted
It is sufficiently large.After carrier aircraft drops unmanned plane, the movement of falling object will be carried out, and by influences such as extraneous wind speed, it is necessary to
Unmanned plane pitch angle and roll angle are controlled by corresponding controllers, by the pitch angle of unmanned plane and rolling before landing
Angle is adjusted to 0, achievees the effect that smoothly to take off.Currently, in the prior art, the control after dropping folding wings unmanned plane
Method is complicated, less efficient；Ginseng control is carried out using pitch angle, gyroscope pitch angle is susceptible at 90 degree of polar regions, causes to control
Failure；The initial velocity reached before being completed to take-off attitude control after unmanned plane air-drop is inadequate, and unmanned plane is caused smoothly to rise
Fly failure.
Invention content：
It is an object of the present invention to provide a kind of take-off attitude control methods of vertical air-drop unmanned plane, to solve the prior art
The initial velocity to take off after middle folding wings unmanned plane air-drop is insufficient, and control method is complicated, control efficiency is relatively low, is joined using pitch angle and is controlled
It is susceptible to gyro pitch angle and causes the control technical problems such as unsuccessfully at 90 degree of polar regions.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of take-off attitude control method of vertical air-drop unmanned plane, carrier aircraft launch unmanned plane in the air, and gyroscope is real
When measure unmanned plane pitch angle and roll angle, measured value is passed to the controller of unmanned plane, controller is to unmanned plane pitching
Angle and roll angle are controlled, and vertically downward, it is 0 degree that controller controls roll angle to head, is controlled simultaneously when unmanned plane is launched
Device controls the operation of unmanned plane pull rod, and the pitch angle of unmanned plane is gradually adjusted to 0 degree by minus 90 degree, completes to take off.
Preferably, controller controls roll angle using PID double-closed-loop control methods.
Preferably, PID double-closed-loop controls method is to form PID inner ring with roll angle angular speed, is outside PID with roll angle
Ring forms PID two close cycles.
Preferably, start throttle during unmanned plane pull rod.
Preferably, during pull rod, when the pitch angle of unmanned plane is less than a threshold value, throttle does not start, and is allowed by gravity
Unmanned plane obtains forward acceleration；When the pitch angle tune of unmanned plane is equal to or more than threshold value, throttle starts, and starts propeller.
Preferably, threshold value is minus 15 degree.
Preferably, unmanned plane is folding wings unmanned plane.
Preferably, when unmanned plane air-drop is fallen, the expansion of unmanned plane wing.
Preferably, it is that unmanned plane is mounted in cylinder to launch together, unmanned plane is falling with cylinder when carrier aircraft launches unmanned plane
It detaches in the process.
Preferably, when unmanned plane is detached with cylinder, the expansion of unmanned plane wing.
This programme has the advantages that：
1, the control strategy that unmanned plane goes out after cylinder is mainly roll angle control, and control mode is simple and reliable；
2, in take-off process, ginseng control is not carried out using pitch angle, avoids gyro pitch angle in minus 90 degree of polar regions, it is caused
Uncontrollable factor；
3, unmanned plane goes out cylinder with perpendicular attitude, it is ensured that unmanned plane has enough initial velocity, and can be after going out cylinder
Continue to obtain acceleration by gravity, smoothly takes off for unmanned plane and enough speed is provided；
4, unmanned plane and cylinder are fallen in a manner of vertical posture, using adding parachute to carry out the mode of slowing down etc. to cylinder, are protected
The reliability of cylinder and unmanned plane separation is demonstrate,proved, the method is simple and easy to implement.
Description of the drawings
Fig. 1 is the air-drop unmanned plane take-off attitude control method flow diagram of the present invention；
In figure, pitch is unmanned plane pitch angle, and roll is unmanned machine rolling angle.
Specific implementation mode
The selected embodiment of the present invention, the following the description of the embodiment of the present invention are illustrated referring now to Figure of description is only
Illustratively, the scheme being not meant to limit the present invention.
Embodiment 1
The folding wings unmanned plane that the present embodiment uses is equipped with controller and gyroscope in advance, mainly utilizes unmanned machine rolling
Gyroscopic compass detects rolling angular speed and roll angle, and controller adjusts the posture and flying speed of unmanned plane, completes to take off
The control of posture.
After carrier aircraft carries unmanned plane during flying to certain altitude, with the posture of the head of unmanned plane vertically downward, throw in the air
It puts, that is, the pitch angle of unmanned plane is minus 90 degree when launching, and unmanned plane starts the movement of falling object after being launched, while controller opens
Dynamic unmanned plane take-off attitude control flow.
Unmanned plane normally takes off, and needs to adjust to suitable flight attitude, and has certain forward speed.In flight appearance
State control aspect needs to adjust the roll angle of unmanned plane and pitch angle to 0 degree.Unmanned plane freely falling body in the present embodiment
Certain vertical speed will be obtained in the process, therefore enough certain initial velocity can be provided to unmanned plane.When unmanned plane from
After falling bodies a distance, wing is unfolded rapidly, and head still carries out the movement of falling object downward at this time, can continue acquisition one
Fixed acceleration.To normally take off, need the pitch angle for adjusting unmanned plane and roll angle to 0 degree.When unmanned plane pitch angle
Degree changes, and when gravity deficiency is to improve forward acceleration, needs to start throttle offer power.When unmanned plane roll angle and
Pitch angle is adjusted to 0 degree or so, while when also having enough forward flight speeds, indicates that unmanned plane takes off success, then
Orthodox flight flow can be entered.
Referring now to attached drawing 1, the specific method of the folding wings unmanned plane air-drop take-off attitude control of the present embodiment is specifically introduced.
After carrier aircraft launches unmanned plane in the air, gyroscope measures angular speed and angle and the pitching in unmanned machine rolling direction in real time
Angle, and by measured value real-time delivery to the controller of unmanned plane.Pitch angle when unmanned plane is launched is minus 90 degree, and unmanned plane is complete
At the adjustment of take-off attitude, need controller control unmanned machine rolling angle and pitch angle to 0 degree, specific control method is as follows：Profit
Control adjustment is carried out to unmanned machine rolling direction angular speed and angle with PID double-closed-loop controls method, with roll angle angular speed shape
At PID inner ring, with roll angle for PID outer shrouds, PID two close cycles are formed, the control at unmanned machine rolling angle is participated in, controls its roll angle
It is 0 degree always；It is operated using pull rod, under the premise of roll angle is 0, pull rod is carried out to unmanned plane, so that it may with by unmanned plane
Pitch angle is adjusted to 0 by minus 90 degree, and after completing take-off attitude adjustment, controller can be changed to flat winged state control flow.
Wherein, above PID (full name in English is Proportion Integration Differentiation) is meant
Proportional integral differential, PID control are ratio, integral, differential control；Belong to electrotechnical, electronic class technical term.
Control for unmanned machine rolling angle：Due to unmanned plane drop after head downward, to avoid unmanned plane from entering spiral
State needs to control unmanned machine rolling angle posture always to be 0.It is adjusted using PID two close cycles, unmanned machine rolling angle appearance can be controlled
State is 0, and the control method is simple and reliable.
Control to unmanned plane pitch angle：Unmanned plane can be adjusted in advance, be in pull rod state after unmanned plane air-drop, in this way
Under the premise of roll angle is 0, pull rod is carried out to unmanned plane, is achieved that and pitch angle is adjusted to 0 degree of target.
During unmanned plane carries out freely falling body after being discharged by air-drop, when unmanned plane pitch angle is smaller, due to weight
The reason of power and flight angle, unmanned plane can obtain certain forward acceleration, therefore the stage can not start throttle and be
Unmanned plane provides power；And when unmanned plane pitch angle is bigger, gravity acceleration winged before cannot being provided again for unmanned plane,
Unmanned plane will do at the uniform velocity or slow down at the uniform velocity, at this moment need startup throttle that propeller is driven to provide power for unmanned plane.In this implementation
In example, unmanned plane starts throttle during adjusting pitch angle after air-drop to 0 degree.Specifically, when the pitch angle of unmanned plane
When less than minus 15 degree, gravity can provide certain forward acceleration for unmanned plane, not start throttle at this time；When bowing for unmanned plane
When the elevation angle is equal to or more than minus 15 degree, gravity can not continue to provide forward acceleration, and unmanned plane will do at the uniform velocity or slow down at the uniform velocity, this
When controller start throttle, start propeller and provide rotating speed for unmanned plane.Propeller is the rotating speed size that provides of unmanned plane, can be with
It is remained unchanged after being gradually increased to a certain size as needed.
The unmanned plane during flying attitude control method of the present embodiment, unmanned plane have enough initial velocity during freely falling body
Degree, control mode are simple and reliable；It is not referred to using pitch angle, avoids control of the pitch angle in minus 90 degree of polar regions, it can
Ensure success of taking off.
Embodiment 2
With continued reference to attached drawing 1, the folding wings unmanned plane that the present embodiment uses is in the same manner as in Example 1, is equipped with control in advance
Device and gyroscope processed.Difference lies in folding wings unmanned plane is previously charged into cylinder, and carrier aircraft carries unmanned plane and cylinder with embodiment 1
Fly together to after certain altitude, unmanned plane and cylinder launched with head vertically downward together in the air, namely launch when nobody
The pitch angle of machine is minus 90 degree.Unmanned plane and cylinder start the movement of falling object after being released together, during freely falling body
Unmanned plane is detached with cylinder after obtaining certain initial velocity, and then unmanned plane wing rapidly take off by expansion, while controller starts nothing
Man-machine take-off attitude control flow.
To ensure that cylinder and unmanned plane are smoothly detached, it is provided with parachute in the cylinder of the present embodiment, is detached in cylinder and unmanned plane
Moment before opens the parachute entrained by cylinder.In this way, cylinder does unmanned plane moving line when can avoid separation
It relates to.
In the present embodiment, specific method of the controller to unmanned plane air-drop take-off attitude control and the method in embodiment 1
It is identical, therefore repeat no more.
Finally it should be noted that above example is merely to illustrate the technical solution of the application rather than to its protection domain
Limitation, although the application is described in detail with reference to above-described embodiment, the those of ordinary skill in the field should
Understand：Those skilled in the art read the specific implementation mode of application can still be carried out after the application various changes, modification or
Equivalent replacement, but the above change, modification or equivalent replacement, the application wait authorizing or the claim of issued for approval protects model
Within enclosing.
Claims (10)
1. a kind of take-off attitude control method of vertical air-drop unmanned plane, carrier aircraft launch unmanned plane in the air, gyroscope is used for
Measured value, is passed to the controller of the unmanned plane, the controller is to nobody by the pitch angle and roll angle for measuring unmanned plane
Machine pitch angle and roll angle are controlled, it is characterised in that：When the unmanned plane is launched head vertically downward, the controller
It is 0 degree to control roll angle, while the controller controls the unmanned plane pull rod operation, by the pitch angle of the unmanned plane by bearing
90 degree are gradually adjusted to 0 degree, complete to take off.
2. control method according to claim 1, it is characterised in that：The controller uses PID double-closed-loop control methods
Roll angle is controlled.
3. control method according to claim 2, it is characterised in that：The PID double-closed-loop controls method is with roll angle
Angular speed forms PID inner ring, with roll angle for PID outer shrouds, forms PID two close cycles.
4. control method according to claim 1, it is characterised in that：Start throttle during the unmanned plane pull rod.
5. control method according to claim 4, it is characterised in that：During the pull rod, the pitching of the unmanned plane
When angle is less than a threshold value, throttle does not start, and allows the unmanned plane to obtain forward acceleration by gravity；When the unmanned plane
When pitch angle is equal to or more than the threshold value, throttle starts, and starts propeller.
6. control method according to claim 5, it is characterised in that：The threshold value is minus 15 degree.
7. according to the control method one of described in claim 1-6, it is characterised in that：The unmanned plane is folding wings unmanned plane.
8. control method according to claim 7, it is characterised in that：When the unmanned plane air-drop is fallen, unmanned plane wing
Expansion.
9. according to the control method one of described in claim 1-6, it is characterised in that：When the carrier aircraft launches unmanned plane, be by
The unmanned plane is mounted in cylinder and launches together, and the unmanned plane is detached with the cylinder in dropping process.
10. control method according to claim 9, it is characterised in that：When the unmanned plane is detached with the cylinder, unmanned plane
Wing is unfolded.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810645874.0A CN108762288A (en) | 2018-06-21 | 2018-06-21 | A kind of take-off attitude control method of vertical air-drop unmanned plane |
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| CN201810645874.0A CN108762288A (en) | 2018-06-21 | 2018-06-21 | A kind of take-off attitude control method of vertical air-drop unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277063A (en) * | 2021-06-03 | 2021-08-20 | 中国人民解放军军事科学院国防科技创新研究院 | Design method of folding wing unmanned aerial vehicle aerial delivery control system |
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| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
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| CN104260889A (en) * | 2014-08-29 | 2015-01-07 | 中国运载火箭技术研究院 | Hanging frame for helicopter to deliver aircraft at low speed and aircraft attitude control method |
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2018
- 2018-06-21 CN CN201810645874.0A patent/CN108762288A/en active Pending
Patent Citations (4)
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| DE3421140A1 (en) * | 1984-06-07 | 1986-01-30 | Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn | Method for the location of, and target search for, engine-driven targets, and munition bodies for carrying out the method |
| CN101264797A (en) * | 2008-03-20 | 2008-09-17 | 北京航空航天大学 | Unmanned machine rolling leveling control method |
| CN103728880A (en) * | 2013-12-31 | 2014-04-16 | 北京中宇新泰科技发展有限公司 | Parachuting-type small unmanned aerial vehicle stable control method and system |
| CN104260889A (en) * | 2014-08-29 | 2015-01-07 | 中国运载火箭技术研究院 | Hanging frame for helicopter to deliver aircraft at low speed and aircraft attitude control method |
Non-Patent Citations (1)
| Title |
|---|
| 刘畅: "伞降式小型飞行器初始转平飞控制技术研究", 《中国博士学位论文全文数据库（电子期刊），工程科技‖辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277063A (en) * | 2021-06-03 | 2021-08-20 | 中国人民解放军军事科学院国防科技创新研究院 | Design method of folding wing unmanned aerial vehicle aerial delivery control system |
| CN113277063B (en) * | 2021-06-03 | 2022-03-08 | 中国人民解放军军事科学院国防科技创新研究院 | Design method of folding wing unmanned aerial vehicle aerial delivery control system |
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Effective date of registration: 20181218 Address after: 518000 West Side of 5th Building, 37th Building, Chentan Industrial Zone, Baotian Road, Xixiang Street, Baoan District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN CHINA COMMUNICATION SYSTEM TECHNOLOGY CO.,LTD. Address before: 518000 Guangdong Province, Baoan District, Bao'an District, Xixiang Street, Baotian Road, Chentan Industrial Zone, 37th Building, 5th Floor, right side Applicant before: SHENZHEN YIFEI FANGDA TECHNOLOGY CO.,LTD. |
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Application publication date: 20181106 |