CN104750112A - Safe landing method of unmanned parachuting plane - Google Patents

Abstract

The invention provides a safe landing method of an unmanned parachuting plane. The safe landing method of the unmanned parachuting plane comprises the following steps of calculating a difference value between a track angle and a course angle before landing and after parachute-opening of the plane; and carrying out a leftward circling instruction or rightward circling instruction according to a calculating result. On the basis of the original leftward circling or rightward circling control rule, the course of the plane is finely adjusted by low dynamic pressure of air on a control surface in a parachuting process. By the safe landing method of the unmanned parachuting plane, the number of hardware equipment and the cost are not increased, functions are automatically fulfilled via programs, and the operation burden on flight control personnel cannot be increased. The safe landing method is simple and feasible.

Description

A kind of safe landing method of parachuting unmanned plane

Technical field

The present invention relates to unmanned plane field, more specifically to the method for operating after the parachute-opening of parachuting unmanned plane.

Background technology

A kind of implementation mode of parachuting unmanned plane is that skid damping lands, and two skids are arranged on below ventral, along the symmetrical distribution in fuselage direction, is fixed on ventral axis after centre connects with herringbone hound.Its shortcoming is while after parachute-opening, aircraft falls with the wind, and fuselage does 360 degree of rotations centered by umbrella rope.If fuselage axis is perpendicular to wind direction when landing, namely aircraft breaks away and lands, and the soil property that lands is soft, hound and ventral tie point will be caused to rupture, even tear ventral covering.Wind speed is higher, occurs that the risk of this type of accident is larger.Reason is when landing, and skid is absorbed in soft soil with slipspeed component, makes aircraft slipspeed drop to zero instantaneously, and skid and fuselage junction fracture because lateral force is excessive.

A solution of the problems referred to above installs an air bag that can stretch backward, launches out air bag and inflate during parachuting.When there being crosswind incoming flow, air bag produce the effect of yawing under, unmanned plane is aimed at crosswind all the time and is carried out flow path direction, improves the security of cross wind landing process.

This device comprises machinery release, launches the parts such as inflation, Electronic Control, air bag, not only complex structure, add aircraft weight, and add operating difficulty.After installing this device additional, aircraft can only upwind landing, because of this in turn increases empennage and air bag and connecting link thereof land slide time impaired possibility.

Summary of the invention

In order to overcome the deficiencies in the prior art, under the invention provides a kind of condition not changing the existing topworks of unmanned plane, utilize parachuting process apoplexy the impact of rudder face to be carried out to the method for course fine setting, when reducing parachuting, aircraft causes fuselage and the impaired risk of skid because breakking away.

The technical solution adopted for the present invention to solve the technical problems comprises the following steps:

A. aircraft performs normal flight control program;

B. carry out parachute-opening judgement, if non-parachute-opening, then return step a, if aircraft parachute-opening, then enter step c;

C. timing in a second is started;

D., after timing in a second completes, judge whether aircraft lands; If landed, enter step I, if do not landed, enter step e;

E. extraction algorithm desired parameters, comprises flight-path angle A and course angle B, and flight-path angle A is aircraft tangential movement direction after parachute-opening, and course angle B is target pointing, 0 °≤A<360 °, 0 °≤B<360 °;

F. the difference C=B-A between flight-path angle and course angle is calculated;

If g. 0 °≤C < 90 ° or 180 °≤C < 270 °, then perform a left side and to spiral instruction; If 90 °≤C < 180 ° or 270 °≤C < 360 °, then perform the right side and to spiral instruction;

H. step c is returned;

I. perform and throw umbrella instruction.

The invention has the beneficial effects as follows: spiral on an original left side and spiral on the basis of control law with right, utilize the wind in parachuting process to the low dynamic pressure of rudder face, vector is finely tuned.The present invention does not increase any hardware device and cost, and function is automatically performed by program, and can not increase the manipulation burden of flight controllers, method is simple.The effect of the present invention's course fine setting when wind speed is larger is more obvious, and when aircraft parachuting is reclaimed, loss percentage reduces more than 80%, achieves significant economic benefit.

Accompanying drawing explanation

Fig. 1 is method general flow chart;

Fig. 2 is course vernier control algorithm flow chart;

Course vernier control schematic diagram when Fig. 3 is 0 °≤B-A < 90 °;

Course vernier control schematic diagram when Fig. 4 is 90 °≤B-A < 180 °;

Course vernier control schematic diagram when Fig. 5 is 180 °≤B-A < 270 °;

Course vernier control schematic diagram when Fig. 6 is 270 °≤B-A < 360 °.

Embodiment

Below in conjunction with drawings and Examples, the present invention is further described, the present invention includes but be not limited only to following embodiment.

As shown in Figure 1, the present embodiment step is as follows:

A. arrange parachute-opening flag RF, aircraft power-up initializing is non-parachute-opening (RF=0), performs normal flight control program;

B., during aircraft parachute-opening, flag is set to RF=1;

C. 1 second timing program is entered;

D.1, after timing second completes, judge whether aircraft lands.If landed, directly enter step I; If do not landed, enter course fine setting flow process (as shown in Figure 2);

If e. enter course fine setting flow process, aircraft tangential movement direction, course angle B (0 °≤B<360 °) i.e. target pointing after extraction algorithm desired parameters: flight-path angle A (0 °≤A<360 °) i.e. parachute-opening;

F. the difference C=B-A between flight-path angle and course angle is calculated;

G. according to difference, judge that aircraft should left dish or right dish.

If 0 °≤B-A < 90 ° or 180 °≤B-A < 270 °, then spiral (as shown in Fig. 3, Fig. 5) on a left side; If 90 °≤B-A < 180 ° or 270 °≤B-A < 360 °, then spiral (as shown in Fig. 4, Fig. 6) on the right side.Control the opposite direction of target pointing aircraft tangential movement direction or tangential movement, when avoiding to greatest extent landing, target pointing is vertical with aircraft tangential movement direction;

H. again step c is entered;

If i. aircraft lands, automatically perform and throw umbrella instruction, avoid because wind is large and draw the machine of brandishing;

J. EOP (end of program).

Claims (1)

1. a safe landing method for parachuting unmanned plane, is characterized in that comprising the steps:

A. aircraft performs normal flight control program;

B. carry out parachute-opening judgement, if non-parachute-opening, then return step a, if aircraft parachute-opening, then enter step c;

C. timing in a second is started;

D., after timing in a second completes, judge whether aircraft lands; If landed, enter step I, if do not landed, enter step e;

E. extraction algorithm desired parameters, comprises flight-path angle A and course angle B, and flight-path angle A is aircraft tangential movement direction after parachute-opening, and course angle B is target pointing, 0 °≤A<360 °, 0 °≤B<360 °;

F. the difference C=B-A between flight-path angle and course angle is calculated;

If g. 0 °≤C < 90 ° or 180 °≤C < 270 °, then perform a left side and to spiral instruction; If 90 °≤C < 180 ° or 270 °≤C < 360 °, then perform the right side and to spiral instruction;

H. step c is returned;

I. perform and throw umbrella instruction.