CN105652879A - Autonomous flight control method for unmanned plane without ailerons - Google Patents

Abstract

The invention provides an autonomous flight control method for an unmanned plane without ailerons, aiming at the characteristics of the unmanned plane without the ailerons. A sensor obtains location and attitude information of the unmanned plane without the ailerons in the flight process of the unmanned plane without the ailerons. A self-driving instrument of the unmanned plane without the ailerons processes the location and attitude information obtained by the sensor and sends a corresponding control instruction to the unmanned plane without the ailerons so as to control the unmanned plane without the ailerons in real-time. The control instruction comprises a rudder instruction and an elevator instruction. The autonomous flight control method for the unmanned plane without the ailerons comprises the steps that: a target roll angel is calculated by a guidance algorithm and is mapped to a rudder channel, a yaw manipulation moment is produced through the deflection of the rudder, and the yaw angle of the plane is changed, thereby realizing horizontal yaw control of the unmanned plane without the ailerons; and the elevator simultaneously compensates the lift loss in the roll angle attitude change process of the unmanned plane according to the current rudder deflection angle, and the coordinated turning and the flight path tracking control of the unmanned simultaneously can be effectively realized.

Description

A kind of without aileron unmanned plane autonomous flight control method

Technical field:

The invention belongs to unmanned air vehicle technique field, refer in particular to a kind of without aileron unmanned plane autonomous flight control method.

Background technology:

Along with the level of informatization improves constantly, the development of SUAV increasingly comes into one's own, and especially the miniature self-service machine technology of the U.S. and Israel is the most ripe perfect. For SUAV, under the premise ensureing performance requirement, its advantage prominent, reduces the complexity of aircraft, reduces cost, raising reliability and maintainability, be the requirement used, be also its deciding factor won victory in same type unmanned plane is competed. Therefore, without aileron, it is electric-only propulsion and becomes the design that SUAV is widely used. This general structure of unmanned plane without aileron is much like with conventional unmanned plane, and topmost difference is not have aileron, and the research for the autonomous flight control method of this type of unmanned plane is design, produces the basis of this type of unmanned plane.

Unmanned vehicle aloft performs aerial mission, its flight track is made up of a series of way points with serial number, way point mainly contain longitude and latitude, highly, the information such as flight speed, primarily serving the purpose of guiding unmanned vehicle to fly along fixation locus, way point may be simply referred to as destination. Design before way point usually flight, upload in unmanned vehicle autopilot, can also change by real-time online, the way point designed before flight is called default way point or default destination, between the default way point of two adjacent numberings, the track of line is called default flight path, in real-time flight process, unmanned plane is controlled system and guides the way point wishing to arrive and do not arrive temporarily to be called current target course point or target destination. Unmanned plane current location is perpendicular to the air line distance of default flight path and is called lateral course-line deviation. Unmanned plane arrives after near target course point, and target course point will be operated by control system according to certain control logic, target course point switches to Next Serial Number or specifies the way point of numbering.

Summary of the invention

The present invention is directed to the feature without aileron unmanned plane, it is proposed that a kind of without aileron unmanned plane autonomous flight control method. It is a kind of method adopting rudder replacement aileron to carry out autonomous flight control. Being calculated target roll angle by guidance algorithm and re-map on rudder passage, produce yaw control moment by the deflection of rudder, the yaw angle of change of flight device, thus realizing the horizontal Heading control without aileron unmanned plane; Elevator compensates the loss of lift in unmanned vehicle roll angle attitudes vibration process according to current rudder simultaneously, it is possible to effectively realize controlling without the coordinate turn of aileron unmanned plane, Track In Track. The method can effectively realize the horizontal course gesture stability without aileron unmanned plane and Track In Track, has practicality.

The technical scheme is that

A kind of without aileron unmanned plane autonomous flight control method, unmanned plane without aileron is in flight course, sensor obtains the position and attitude information without aileron unmanned plane, the position and attitude information that the autopilot of unmanned plane without aileron obtains according to sensor processes, and send corresponding control instruction to without aileron unmanned plane, controlling in real time without aileron unmanned plane, described control instruction includes rudder instruction and elevator instruction.

The computational methods of described rudder instruction are,

S1: read the position coordinates current without aileron unmanned plane and without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, coordinate according to both, calculate the target course under earth axes, target course deducts current unmanned plane course angle, obtains course angle deflection command.

S2: according to the position coordinates current without aileron unmanned plane with without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, calculate the unmanned plane lateral course-line deviation relative to default flight path, course-line deviation is multiplied by certain gain coefficient, obtains course angle revision directive.

S3: course angle deflection command obtains course angle control instruction plus course angle revision directive.

S4: course angle control instruction is resolved by PID, obtains target roll angle instruction.

S5: target roll angle instruction and current roll angle do difference, obtain roll angle deviation, and roll angle deviation, through pid calculation, obtains aileron control instruction.

S6: aileron control instruction is multiplied by feed-forward coefficients k_f1Obtain rudder instruction.

The computational methods of described elevator instruction are:

(1) done difference by present level and object height, by pid algorithm, generate angle of pitch instruction.

(2) done difference by angle of pitch instruction and the current angle of pitch, by pid algorithm, generate elevator control instruction.

(3) feed-forward coefficients k is multiplied by rudder instruction_f2Obtain elevator compensating instruction.

(4) elevator compensating instruction adds elevator control instruction, obtains the final instruction of elevator.

Compared with prior art, the invention have the advantage that

The present invention generates target roll angle by pid algorithm, and target roll angle instruction calculates rudder instruction again through pid algorithm, produces yawing by the deflection of rudder, and the yaw angle of change of flight device, thus realizing the horizontal Heading control without aileron unmanned plane.

The present invention is according to the current angle of pitch of unmanned plane, resolved by pid algorithm, rudder instruction is multiplied by certain feed-forward coefficients simultaneously and is added, generate elevator instruction, compensate because rudder kick drives roll angle to change the loss of lift caused, it is possible to achieve without the coordinate turn of aileron unmanned plane.

The small-sized simple in construction of unmanned plane without aileron, it is good that individual soldier carries performance, is suitable for closely investigation strike task, and the present invention has filled up this blank on the one hand, has practicality; What the control method that the present invention proposes adopted is the pid algorithm in classical control theory, has calculating simple, and reliability is high, controls effective feature; Unmanned aerial vehicle onboard number of sensors is required low by the control method that the present invention proposes, it is only necessary to some basic sensors, it is possible to effectively alleviate unmanned vehicle body weight, reduces production cost.

Accompanying drawing illustrates:

Fig. 1 is without aileron unmanned plane independent flight control system block diagram.

In figure, earth station is the military notebook computer of Getac, and the built-in flight of independent research, load control program, are sent out and receive data by computer serial port, and data are interacted by the communication station of the 900M bandwidth of lift-launch on unmanned plane; The ground station control instruction that radio station receives can be real-time transmitted in autopilot, and the sensor information collected also can be sent back to earth station's computer by radio station by autopilot simultaneously.

Detailed description of the invention:

Below in conjunction with accompanying drawing, the present invention is described further.

With reference to Fig. 1, for without aileron unmanned plane independent flight control system block diagram. Unmanned plane without aileron is in flight course, sensor obtains the position and attitude information without aileron unmanned plane, the position and attitude information that autopilot obtains according to sensor processes, and send corresponding control instruction to without aileron unmanned plane, controlling in real time without aileron unmanned plane, described control instruction includes rudder instruction and elevator instruction. The invention mainly comprises two parts, Part I is that rudder instruction calculates, and Part II is that elevator instruction calculates.

The computational methods of described rudder instruction are:

(1) position coordinates current without aileron unmanned plane is read and without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, coordinate according to both, calculate the target course under earth axes, target course deducts current unmanned plane course angle, obtains course angle deflection command Yaw1.

$\left\{\begin{array}{c}\mathrm{\Δ}x=x_e-x_a\\ \mathrm{\Δ}y=y_e-y_a\end{array}\right.$

Heading=atan2 (�� x, �� y)

Yaw1=Heading-heading

Wherein, x_eAnd y_eIt is unmanned plane current location relative coordinate under earth axes, x_aAnd y_aBeing the relative coordinate of current goal way point, Heading is target course, and heading is the unmanned plane course angle that sensor is measured.

(2) according to the position coordinates current without aileron unmanned plane with without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, calculate the unmanned plane lateral course-line deviation d relative to default flight path, course-line deviation d is multiplied by certain gain coefficient, obtains course angle revision directive Yaw2.

$d=\frac{(x_a-x_e)(y_b-y_e)-(x_b-x_e)(y_a-y_e)}{\sqrt{{(x_a-x_b)}^2+{(y_a-y_b)}^2}}$

Yaw2=K d

Wherein, x_bAnd y_bBeing the relative coordinate of a upper target course point, K is gain coefficient, rule of thumb chooses, and different aircraft values are different, and scope is between 0.012 to 0.048.

(3) course angle deflection command obtains course angle control instruction Yaw plus course angle revision directive.

Yaw=Yaw1+Yaw2

(4) course angle control instruction is resolved by PID, obtains target roll angle instruction;

$\left\{\begin{array}{c}e=Yaw\\ dRoll=k_{p}e+k_i\∫edt+k_d\frac{de}{dt}\end{array}\right.$

Wherein, dRoll is target roll angle instruction, k_p��k_i��k_dRespectively ratio, integration, differential coefficient, rule of thumb choose, be generally taken as-2.5,0.01 ,-0.05 respectively.

(5) instruction of target roll angle and current roll angle do difference, obtain roll angle deviation, and roll angle deviation, through pid calculation, obtains aileron control instruction.

$\left\{\begin{array}{c}e=dRoll-Roll\\ {\mathrm{\δ}}_a=k_{p}e+k_i\∫edt+k_d\frac{de}{dt}\end{array}\right.$

Wherein, Roll is the current roll angle of unmanned plane that sensor is measured, ��_aFor aileron control instruction, k_p��k_i��k_dRespectively ratio, integration, differential coefficient, rule of thumb choose, be generally taken as-0.4,0.01 ,-0.05 respectively.

(6) aileron control instruction is multiplied by feed-forward coefficients k_f1Obtain rudder instruction.

��_r=k_f1��_a

Wherein, ��_rFor rudder instruction, k_f1For feed-forward coefficients, rule of thumb choose, generally take 0.7.

The computational methods of described elevator instruction are:

(1) done difference by present level and object height, by pid algorithm, generate the instruction of target pitch angle.

$\left\{\begin{array}{c}e=H_c-H\\ dPitch=k_{p}e+k_i\∫edt+k_d\frac{de}{dt}\end{array}\right.$

Wherein, H_cFor object height, H is the unmanned plane present level that sensor is measured, and dPitch is the instruction of target pitch angle, k_p��k_i��k_dRespectively ratio, integration, differential coefficient, rule of thumb choose, be generally taken as 0.5,0.01,0.05 respectively.

(2) done difference by the instruction of target pitch angle and the current angle of pitch, by pid algorithm, generate elevator control instruction.

$\left\{\begin{array}{c}e=dPitch-Pitch\\ {\mathrm{\δ}}_{e1}=k_{p}e+k_i\∫edt+k_d\frac{de}{dt}\end{array}\right.$

Wherein, Pitch is the current angle of pitch of unmanned plane that sensor is measured, ��_e1For elevator control instruction, k_p��k_i��k_dRespectively ratio, integration, differential coefficient, rule of thumb choose, be generally taken as-0.7 ,-0.35,0.05 respectively.

(3) feed-forward coefficients k is multiplied by rudder instruction_f2Obtain elevator compensating instruction.

��_e2=k_f2��_r

Wherein, ��_e2For elevator compensating instruction, k_f2For feed-forward coefficients, rule of thumb choose, generally take-0.01.

(4) elevator compensating instruction adds elevator control instruction, obtains the final instruction of elevator.

��_e=��_e1+��_e2��

The explanation of the preferred embodiment of the present invention contained above; this is the technical characteristic in order to describe the present invention in detail; being not intended to be limited in the concrete form described by embodiment summary of the invention, other amendments and the modification that carry out according to present invention purport are also protected by this patent. The purport of present invention is to be defined by the claims, but not is defined by the specific descriptions of embodiment.

Claims (5)

1. one kind without aileron unmanned plane autonomous flight control method, it is characterized in that: without aileron unmanned plane in flight course, sensor obtains the position and attitude information without aileron unmanned plane, the position and attitude information that the autopilot of unmanned plane without aileron obtains according to sensor processes, and send corresponding control instruction to without aileron unmanned plane, controlling in real time without aileron unmanned plane, described control instruction includes rudder instruction and elevator instruction.

2. the autonomous flight control method of unmanned plane without aileron according to claim 1, it is characterised in that: the computational methods of described rudder instruction comprise the following steps:

S1: read the position coordinates current without aileron unmanned plane and without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, coordinate according to both, calculate the target course under earth axes, target course deducts current unmanned plane course angle, obtains course angle deflection command;

S2: according to the position coordinates current without aileron unmanned plane with without the current goal way point coordinate preset in the autopilot of aileron unmanned plane, calculate the unmanned plane lateral course-line deviation relative to default flight path, course-line deviation is multiplied by certain gain coefficient, obtains course angle revision directive;

S3: course angle deflection command obtains course angle control instruction plus course angle revision directive;

S4: course angle control instruction is resolved by PID, obtains target roll angle instruction;

S5: target roll angle instruction and current roll angle do difference, obtain roll angle deviation, and roll angle deviation, through pid calculation, obtains aileron control instruction;

S6: aileron control instruction is multiplied by feed-forward coefficients k_f1Obtain rudder instruction.

3. the autonomous flight control method of unmanned plane without aileron according to claim 1, it is characterised in that: the computational methods of described elevator instruction comprise the following steps:

S1: done difference by present level and object height, by pid algorithm, generates the instruction of target pitch angle;

S2: done difference by the instruction of target pitch angle and the current angle of pitch, by pid algorithm, generates elevator control instruction;

S3: feed-forward coefficients k is multiplied by rudder instruction_f2Obtain elevator compensating instruction;

S4: elevator compensating instruction adds elevator control instruction, obtains the final instruction of elevator.

4. one kind without the computational methods of rudder instruction in aileron unmanned plane autonomous flight process, it is characterised in that comprise the following steps:

S1: read the position coordinates current without aileron unmanned plane and without the destination coordinate preset in the autopilot of aileron unmanned plane, coordinate according to both, calculating the target course under earth axes, target course deducts current unmanned plane course angle, obtains course angle deflection command;

S2: according to the position coordinates current without aileron unmanned plane with without the way point coordinate preset in the autopilot of aileron unmanned plane, calculate the unmanned plane lateral course-line deviation relative to default flight path, course-line deviation is multiplied by certain gain coefficient, obtains course angle revision directive;

S3: course angle deflection command obtains course angle control instruction plus course angle revision directive;

S4: course angle control instruction is resolved by PID, obtains target roll angle instruction;

S5: target roll angle instruction and current roll angle do difference, obtain roll angle deviation, and roll angle deviation, through pid calculation, obtains aileron control instruction;

S6: aileron control instruction is multiplied by feed-forward coefficients k_f1Obtain rudder instruction.

5. one kind without the computational methods of elevator instruction in aileron unmanned plane autonomous flight process, it is characterised in that comprise the following steps:

S1: done difference by present level and object height, by pid algorithm, generates angle of pitch instruction;

S2: done difference by angle of pitch instruction and the current angle of pitch, by pid algorithm, generates elevator control instruction;

S3: feed-forward coefficients k is multiplied by rudder instruction_f2Obtain elevator compensating instruction;

S4: elevator compensating instruction adds elevator control instruction, obtains the final instruction of elevator.