CN107643763A - A kind of aircraft is unpowered to give an encore energy track integrated control method - Google Patents
A kind of aircraft is unpowered to give an encore energy track integrated control method Download PDFInfo
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Abstract
The present invention relates to a kind of unpowered energy of the giving an encore/Path Generation control method of aircraft, it includes：Calculate non-power state to get off the plane downslide in-flight unit voyage, the energy absorbing device of unit interval, and determine that aircraft is got off the plane energy and voyage or the relation of endurance in non-power state；Dump energy under aircraft non-power state is calculated according to above-mentioned energy absorbing device, judges that can aircraft give an encore by the surplus capacity, and dynamic calculation is given an encore flight path.Present invention is mainly applied to the unpowered flight of giving an encore after engine flame-out in flight, from the angle of energy, plans transfer and the dissipation process of unmanned plane gross energy, realizes the energy-optimised of flight of giving an encore.The aircraft state amount that relies on is few in the control method of the present invention, calculating process is simple, real-time, is easy to realize in unmanned aerial vehicle control system, can greatly improve survival rate of the aircraft/UAS under this malfunction, strengthening system reliability.
Description
Technical field
The invention belongs to technical field of flight control, more particularly to a kind of unpowered energy track Comprehensive Control of giving an encore of aircraft
Method.
Background technology
For unmanned plane, engine flame-out in flight is one of failure the most serious, if after engine cut-off
Being capable of safe landing recovery, it will greatly improve failure-survival capability, the strengthening system reliability of unmanned plane, and to a certain degree
The use cost of upper reduction system.Currently invention addresses the unpowered flight of giving an encore after unmanned vehicle engine flame-out in flight, from flying
The angle of machine gross energy is set out, and energy transfer, the control method of dissipation process are extended through in control law and flight control strategy,
Realize the guiding control of the power-off gliding after engine cut-off failure.
Space industry Reusable launch vehicles (RLV) are all surrounded mostly for the unpowered research given an encore both at home and abroad at present
Terminal area energy (TAEM) expansion, and utilization of being succeeded in engineering practice.It should be noted that existing this end
Energy management technology is held, what is be mainly directed towards is the flight of giving an encore under RLV non-faulting states, is normal navigation Guidance and control strategy
A part；It is a kind of increasing and the control algolithm that present invention design is realized is mainly in unmanned vehicle engine flame-out in flight failure
The emergency disposal control strategy of strong flight safety.Through simulating, verifying, this set algorithm has stronger robustness, is adapted to from energy mistake
Remain the emergent navigation guide control of giving an encore under energy critical condition..
The content of the invention
It is an object of the invention to provide a kind of unpowered energy track integrated control method of giving an encore of aircraft, mainly for nobody
Machine engine flame-out in flight failure, from energy transfer and the angle to dissipate, design and realize a kind of energy for emergency landing
Path Generation control algolithm is measured, is given an encore ability with improving aircraft.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：A kind of aircraft is unpowered give an encore energy track synthesis
Control method, it includes
Calculate non-power state to get off the plane downslide in-flight unit voyage, the energy absorbing device of unit interval, and determine
Aircraft is got off the plane the relation of energy and voyage or endurance in non-power state；
Dump energy under aircraft non-power state is calculated according to above-mentioned energy absorbing device, judged by the surplus capacity
Can aircraft be given an encore, and dynamic calculation is given an encore flight path.
Further, the energy absorbing device computational methods of aircraft non-power state lower unit interval are：
In above formula,For the mechanical energy of unit weight, t is the time, and m is Aircraft Quality, and V is aircraft under inertial coodinate system
Speed, g is acceleration of gravity, and Q is the air drag that aircraft is subject to.
Further, the energy absorbing device computational methods of the unit voyage under aircraft non-power state are：
In above formula, s is flying distance, and K is lift-drag ratio.
Further, aircraft gets off the plane energy in non-power state and the relation of voyage or endurance is：
In above formula, Δ K is correction factor,Dump energy for aircraft relative to target point.
Further, engine cut-off initial stage, judge whether aircraft has ability of giving an encore according to the relation of voyage and energy,
If aircraft has ability of giving an encore, aircraft is guided to airport and carries out forced landing in the airport, if aircraft selects without ability of giving an encore
Other low spots of making preparation for dropping carry out forced landing out of the airport；
During forced landing, the flight path guidance control method of unpowered aircraft is：
Stage one：Control aircraft is flown with low-power consumption mode, and adjustment aircraft configuration is glided with optimal lift-drag ratio, and according to most
Short-circuit line traffic control aircraft glides from engine cut-off point to target point, and calculates dump energy in real time；
Stage two：Aircraft is flown after flying to target point nearby with waiting energy to justify, and judges that aircraft is according to aircraft surplus capacity
No to need to wait energy circle flight around described, aircraft dump energy meets landing conditions, then controls aircraft landing；If aircraft residual energy
Amount surplus is unsatisfactory for landing conditions, then aircraft is controlled around the flight of energy garden is waited to consume dump energy, until meeting landing conditions；
Stage three：During around grade energy disk rotary, aircraft flies according to given big Circular test, and control strategy is real
When resolve dump energy, and judge terminate etc. energy disk rotary opportunity；If the dump energy of aircraft meets that terminating great circle spirals
Condition, great circle is flown to target point under aircraft；If be unsatisfactory for, continue around great circle and spiral power consumption；
Stage four：Aircraft terminates after waiting energy disk rotary, is glided from current point in the way of shortest path to target point,
Aircraft is still glided in a manner of optimal lift-drag ratio during this；
Stage five：After fly past target point, compound guiding process, in this stage, aircraft are decoupled into final approach
With relatively rich energy；After completing configuration switching, aircraft tracks glide paths by normal g-load instruction, controls simultaneously
Strategy introduces aircraft dump energy as feedback information, using resistance adjustment effector control aircraft gliding speed, until final
Even up, ground contact；Compound guiding rule adjusts energy dissipation according to energy voyage surplus, can ensure aircraft flight speed simultaneously
It is precisely controlled with glide paths.
Further, the determination methods force-landed outside engine flame-out in flight initial stage, airport infield are：
In above formula, ratio for consider gliding during probabilistic safety coefficient be present,It is aerial for engine
The dump energy of cut-off time, SinitShown up the most short flying distance of interior forced landing point for engine flame-out in flight position；
If above-mentioned inequality is set up, aircraft performs forced landing in the airport；Otherwise aircraft selection forced landing out of the airport.
Further, aircraft is close to waiting near energy circle, judge whether be into the great circle energy consuming methods that spiral
In above formula,To approach the aircraft dump energy for waiting energy circle neighbouring, ratio1For safety coefficient, SnFor approach etc.
The beeline of aircraft and target point when near energy circle；
If above-mentioned inequality is set up, aircraft energy surplus, it is necessary into etc. the power consumption of energy disk rotary；Otherwise aircraft is surplus
Complementary energy, which meets to land, to be required and has affluence, can directly be landed.
Further, during waiting energy disk rotary to consume energy, system real-time resolving dump energyWith aircraft with
The beeline S of target pointn, and judge whether that terminating great circle spirals according to following relation
If above-mentioned inequality is set up, aircraft dump energy, which has met to land, to be required, aircraft can perform landing maneuver；Otherwise
Aircraft dump energy is still excessive, it is necessary to continue power consumption of spiraling.
After the unpowered energy track integrated control method of giving an encore of aircraft of the present invention is mainly used in engine flame-out in flight
Unpowered flight of giving an encore, from the angle of energy, plan transfer and the dissipation process of unmanned plane gross energy, realization is given an encore winged
Capable is energy-optimised.The aircraft state amount that capability assessment method of being given an encore in the present invention to aircraft and dynamic trajectory planing method rely on
Less, calculating process is simple, real-time, is easy to realize in unmanned aerial vehicle control system, can greatly improve aircraft unmanned plane system
Survival rate of the system under this malfunction, strengthening system reliability.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and for explaining principle of the invention together with specification.
Fig. 1 is the unpowered energy management method of giving an encore of wide area energy adjusting post of the present invention；
The unpowered emergency landing that Fig. 2 is the present invention guides control strategy flow chart；
Fig. 3 is the longitudinal direction decoupling compound guiding control law framework of the present invention；
Fig. 4 is final landing typical case's downslide section of one embodiment of the invention.
Embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.
The present invention is the unpowered energy track integrated control method of giving an encore of aircraft, after being mainly used in engine flame-out in flight
Unpowered flight of giving an encore, from the angle of energy, plan transfer and the dissipation process of unmanned plane gross energy, realization is given an encore winged
Capable is energy-optimised, and its method includes
Calculate non-power state to get off the plane downslide in-flight unit voyage, the energy absorbing device of unit interval, and determine
Aircraft is got off the plane the relation of energy and voyage or endurance in non-power state；
Dump energy under aircraft non-power state is calculated according to above-mentioned energy absorbing device, judged by the surplus capacity
Can aircraft be given an encore, and dynamic calculation is given an encore flight path.
In the above method, unit voyage, the energy absorbing device of unit interval, energy and the relation of voyage or endurance, aircraft
Can determination methods that given an encore etc. referring to content in detailed below.
The total mechanical energy of aircraft is made up of kinetic energy and potential energy：
Wherein, E is the vertical mechanical energy of aircraft, and m is Aircraft Quality, and V is speed of the aircraft under inertial coodinate system, and g attaches most importance to
Power acceleration, h are relative altitude；
Mechanical energy formula is switched to the mechanical energy formula of Unit Weight：
Obtain the mechanical energy that dimension is Aircraft Quality mKinetic energy can be converted and arrived by application unit weight mechanical energy simultaneously
On potential energy, thereforeAlso referred to as " energy height ", used in unmanned plane gives an encore capability evaluation
Aircraft is unpowered, and gliding is along the speed axle equation of motion：
Wherein,For the derivation to speed, i.e., along the acceleration on velocity attitude；Q is the air drag that aircraft is subject to；
θ is the glide paths angle of aircraft.
After engine cut-off in-flight, aircraft is only acted on by aerodynamic force and gravity, therefore transfer, the dissipation of energy
It is relevant with aerodynamic force and gravity acting.
The mechanical energy of Unit WeightUnit voyage, the consumption of unit interval energy are described to the derivative of voyage, time
The rate of dissipating.
Energy obtains to time derivation, and with reference to unpowered gliding speed paraxial equation,
The energy dissipation computational methods of unit interval, i.e. energy time-derivative are obtained, its dimension is consistent with elevation rate, single
Position is ms.
Above formula is introduced, obtained
And glide range just obtains energy to the derivative of time, and unpowered gliding balance flight mechanics flying condition
Voyage derivative is,
That is the energy dissipation computational methods of unit voyage, wherein s are flying distance, and L is the lift that aircraft is subject to, and K is liter
Resistance ratio.
It is unpowered give an encore flight when be primarily upon aircraft can fly how far, the estimation for ability of giving an encore mainly is navigated using unit
The energy dissipation computational methods of journey.
It is usually to wait the angle of attack to glide to consider unpowered flight of gliding, and lift-drag ratio approximation is constant, then the relation of energy and voyage
It can be approximated to be,
Wherein s is flying distance, sjFor flying distance corresponding to original state, siFor flying distance corresponding to end state,For initial energy,For end energy；Dump energy for aircraft relative to target point, all energy are by winged
Machine starting altitude, starting velocity and target point height, the speed of arrival target point are calculated according to formula (2).
Consider that windmilling drag, spillage drag, resistance coefficient of the engine blade under dead ship condition are accurate in practical flight
Property and configuration the factor such as change, introduce correction factor Δ K, the relational expression for obtaining voyage and energy is,
Engine flame-out in flight initial stage, judge whether aircraft has the energy for returning to airport according to the relational expression of voyage and energy
Power：If having the ability to return to airfield landing, aircraft is guided near airports, we term it " compel in field for this process
Drop "；If airport can not be returned to, other places of making preparation for dropping are selected, we term it " forced landing out of the airport " for this process.
The unpowered compound guiding control strategy of giving an encore of wide area energy adjusting post method is used during forced landing.Fig. 1 is provided
The schematic diagrames of the unpowered energy management strategies of giving an encore of wide area energy adjusting post.
It is determined that after target point, unpowered emergency landing process undergoes such as the next stage：
Stage oneGuiding control strategy constrained control unmanned plane is flown in a manner of low power consuming, and adjustment aircraft configuration is with optimal liter
Resistance is than gliding, by the shortest path of planning from engine cut-off initial position to forced landing target point gliding；And real-time resolving aircraft
Dump energy, flight performance of giving an encore is assessed, feeds back to ground monitoring personnel.
Stage twoAfter near the energy circle such as aircraft arrival, control strategy is according to aircraft present energy residue situation, resolution
It is no to need spiral around great circle to consume dump energy.If energy surplus, it is unsatisfactory for the condition directly landed, vector aircraft
Spiraled power consumption around great circle；If energy meets the condition directly landed, do not enter great circle and spiral, by initial planning path to target
Point slides.
Stage threeDuring around grade energy disk rotary, aircraft flies according to given big Circular test, and control strategy is real
When resolve dump energy, and judge terminate etc. energy disk rotary opportunity.If the dump energy of aircraft meets that terminating great circle spirals
Condition, great circle is flown to target point under aircraft；If be unsatisfactory for, continue around great circle and spiral power consumption.
Stage fourAircraft terminates after waiting energy disk rotary, is glided from current point in the way of shortest path to target point,
Aircraft is still glided in a manner of optimal lift-drag ratio during this.
Stage fiveAfter fly past target point, compound guiding process is decoupled into final approach, in this stage, aircraft tool
There is relatively rich energy.After completing configuration switching, aircraft tracks glide paths by normal g-load instruction, while controls plan
Aircraft dump energy is slightly introduced as feedback information, using resistance adjustment effector control aircraft gliding speed, until final draw
Flat, ground contact.Compound guiding rule according to energy voyage surplus adjust energy dissipation, can ensure simultaneously aircraft flight speed with
Glide paths are precisely controlled.
As shown in Fig. 2 E_init is the aircraft dump energy at engine cut-off initial stage；E_n is close waits near energy circle
Aircraft dump energy；E_circle is around dump energy when waiting energy to justify flight.S_init is that engine cut-off flies initial stage
Machine is to the Distance To Go of target point, and S_n is the Distance To Go close to aircraft when waiting energy circle nearby to target point, and S_circle is
Distance To Go of the aircraft to target point in grade energy circle flight course.K is the aircraft lift-drag ratio for considering actual deviation factor；
Ratio is the proportionality coefficient that capability evaluation uses of initially giving an encore, and is also safety coefficient；Ratio1 is to judge whether around grade energy circle
Spiral the proportionality coefficient used, is also safety coefficient.
The aircraft dump energy is made to beThe dump energy for then having the engine flame-out in flight moment isJustify close to energy is waited
Neighbouring aircraft dump energy isDump energy Deng aircraft during energy disk rotary isAfter flying over target point
Dump energy beMake aircraft wait to fly it is most short from engine flame-out in flight position interior forced landing point of showing up away from for S, then having
Flying distance is Sinit, the beeline close to aircraft when waiting energy circle nearby and target point is Sn, during waiting energy disk rotary
The most short flying distance of aircraft to target point is Scircle.Because the unpowered target point given an encore and landing speed are to preset
Alright, thus aircraft end state, it is known that the dump energy and Distance To Go of aircraft can be according to relative with target point
Position and current flight speed are calculated.
At engine flame-out in flight initial stage, the determination methods of forced landing out of the airport are as follows in field,
Wherein ratio be consider gliding during probabilistic safety coefficient be present, it is generally the case that ratio is big
In 1.If inequality (9) is set up, illustrate that aircraft has the ability for returning to airport, forced landing in the airport can be performed；Otherwise illustrate
Aircraft presence can not return to the possibility on airport, and in security consideration, selection performs forced landing out of the airport.
Aircraft judges whether to spiral power consumption into great circle close to waiting near energy circle,
To ensure that energy is rich after fly past forced landing point, usual safety coefficient ratio1Value be slightly larger than 1.If no
Equation (10) set up, then illustrate aircraft energy surplus, it is necessary into etc. energy disk rotary power consumption；Otherwise the residual energy of aircraft is illustrated
Amount, which meets to land, to be required and has affluence, can directly be landed.
During waiting energy disk rotary to consume energy, system real-time resolving dump energyWith aircraft and target point most
Short distance Sn, and judge whether that terminating great circle spirals according to following relation,
If inequality (11) is set up, illustrate that aircraft dump energy has met to land and require, landing maneuver can be performed；
Otherwise illustrate that the dump energy of aircraft is still excessive, it is necessary to continue power consumption of spiraling.
It should be noted that in above-mentioned narration, safety coefficient ratio and ratio1Size setting to be more than 1 be general
Situation, need to be determined according to the flight performance of different aircrafts in real process.
As shown in figure 1, A points are engine flame-out in flight position, C points are close to waiting energy circle resolution great circle to spiral judgement
Point, E points are lower large circle point, and H points are that (during forced landing in the airport, the point is that airfield runway extended line soft strip is attached to emergency landing target point
Near point；Then it is the point near the depletion region of a certain suitable forced landing during forced landing out of the airport).When being sent out in airflight
Motivation trouble of shutdown, Aircraft Management System starts the guiding control strategy immediately, first according to aircraft current location and speedometer
Dump energy is calculated, after confirming that dump energy meets forced landing in the airport demand, to target in a manner of shortest path, optimal lift-drag ratio
Point gliding, the shortest path of planning be the form of " arc-straight line-circular arc " (in Fig. 1 for track AB → BK → KGH →
HJ)。
When aircraft glide is to C points, assesses aircraft and give an encore ability.The dump energy of aircraft is superfluous, it is necessary to around grade energy circle
Spiral power consumption, control strategy vector aircraft enters using H as the center of circle, radius R along CD tracksNECWait energy circle O2Orbit,
And the dump energy of aircraft is calculated in real time, make a decision lower great circle opportunity.
When aircraft spirals to E points, the dump energy of aircraft meets great circle condition down, terminates spin-off around grade energy disk
OK.Control strategy is that terminating point generates shortest path EF → FG → GH using E points as starting point, H points, and vector aircraft glides to target
Point.
After target point H, aircraft has been located on airfield runway extended line aircraft, course line up with runway, into final
Approach phase, perform the operation that the configurations such as blow the gear down change.Vertical passage using decoupling compound guiding control, control structure by
Fig. 3 is provided.Glide paths are tracked by normal g-load instruction, while control strategy introduces aircraft dump energy as feedback letter
Breath, using resistance adjustment effector control aircraft gliding speed, until finally evening up, ground contact, complete the complete of emergent forced landing
Process is flown, as shown in Figure 4.
As shown in figure 3, H_cmd is to be instructed according to the height of the glide paths section real-time resolving of final approach in figure；H_
Info is the relative altitude on unmanned plane and airport, and V_info is the table speed of unmanned plane, and Dert_z is vertical passage control instruction.
After the unpowered energy track integrated control method of giving an encore of aircraft of the present invention is mainly used in engine flame-out in flight
Unpowered flight of giving an encore, from the angle of energy, plan transfer and the dissipation process of unmanned plane gross energy, realization is given an encore winged
Capable is energy-optimised.The aircraft state amount that capability assessment method of being given an encore in the present invention to aircraft and dynamic trajectory planing method rely on
Less, calculating process is simple, real-time, is easy to realize in unmanned aerial vehicle control system, can greatly improve aircraft unmanned plane system
Survival rate of the system under this malfunction, strengthening system reliability.Further it is proposed that landing guidance algorithm can move
Plant in manned fixed wing aircraft system, as the reference flight during power-off gliding, mitigate the work of driver
Burden.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Enclose and be defined.
Claims (8)
1. a kind of aircraft is unpowered to give an encore energy/Path Generation control method, it is characterised in that aircraft is unpowered give an encore energy/
Path Generation control method includes
Calculate non-power state to get off the plane downslide in-flight unit voyage, the energy absorbing device of unit interval, and determine aircraft
The relation for energy and the voyage or endurance of being got off the plane in non-power state；
Dump energy under aircraft non-power state is calculated according to above-mentioned energy absorbing device, aircraft is judged by the surplus capacity
It can give an encore, and dynamic calculation is given an encore flight path.
2. aircraft according to claim 1 is unpowered to give an encore energy/Path Generation control method, it is characterised in that aircraft
The energy absorbing device computational methods of non-power state lower unit interval are：
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In above formula,For the mechanical energy of unit weight, t is the time, and m is Aircraft Quality, and V is speed of the aircraft under inertial coodinate system
Degree, g are acceleration of gravity, and Q is the air drag that aircraft is subject to.
3. aircraft according to claim 2 is unpowered to give an encore energy/Path Generation control method, it is characterised in that aircraft
The energy absorbing device computational methods of unit voyage under non-power state are：
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In above formula, s is flying distance, and K is lift-drag ratio.
4. aircraft according to claim 3 is unpowered to give an encore energy/Path Generation control method, it is characterised in that aircraft
Energy is got off the plane in non-power state and the relation of voyage or endurance is：
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In above formula, Δ K is correction factor,Dump energy for aircraft relative to target point.
5. aircraft according to claim 4 is unpowered to give an encore energy/Path Generation control method, it is characterised in that starts
Machine stops initial stage, judges whether aircraft has ability of giving an encore according to the relation of voyage and energy, if aircraft has ability of giving an encore,
Aircraft is guided to airport and carries out forced landing in the airport, if aircraft selects other low spots of making preparation for dropping to carry out outside the venue without ability of giving an encore
Forced landing；
During forced landing, the flight path guidance control method of unpowered aircraft is：
Stage one：Control aircraft is flown with low-power consumption mode, and adjustment aircraft configuration is glided with optimal lift-drag ratio, and according to shortest path
Line traffic control aircraft glides from engine cut-off point to target point, and calculates dump energy in real time；
Stage two：Aircraft fly to target point nearby after with wait energy circle flight, according to aircraft surplus capacity judge aircraft whether need
Energy circle flight is waited around described, aircraft dump energy meets landing conditions, then controls aircraft landing；If aircraft dump energy mistake
It is surplus to be unsatisfactory for landing conditions, then aircraft is controlled around the flight of energy garden is waited to consume dump energy, until meeting landing conditions；
Stage three：During around grade energy disk rotary, aircraft flies according to given big Circular test, and control strategy solves in real time
Dump energy is calculated, and judges the energy disk rotary opportunitys such as end；If the dump energy of aircraft meets to terminate the bar that great circle is spiraled
Part, great circle is flown to target point under aircraft；If be unsatisfactory for, continue around great circle and spiral power consumption；
Stage four：Aircraft terminates after waiting energy disk rotary, is glided from current point in the way of shortest path to target point, at this
During aircraft still glided in a manner of optimal lift-drag ratio；
Stage five：After fly past target point, compound guiding process is decoupled into final approach, in this stage, aircraft has
Rich energy relatively；After completing configuration switching, aircraft tracks glide paths, while control strategy by normal g-load instruction
Introduce aircraft dump energy be used as feedback information, using resistance adjustment effector control aircraft gliding speed, up to finally even up,
Ground contact；Compound guiding rule adjusts energy dissipation according to energy/voyage surplus, can ensure aircraft flight speed with simultaneously
Slide rail mark is precisely controlled.
6. aircraft according to claim 5 is unpowered to give an encore energy/Path Generation control method, it is characterised in that is sending out
Motivation flame-out in flight initial stage, in airport/determination methods of forced landing out of the airport are：
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In above formula, ratio for consider gliding during probabilistic safety coefficient be present,For engine flame-out in flight
The dump energy at moment, SinitShown up the most short flying distance of interior forced landing point for engine flame-out in flight position；
If above-mentioned inequality is set up, aircraft performs forced landing in the airport；Otherwise aircraft selection forced landing out of the airport.
7. aircraft according to claim 5 is unpowered to give an encore energy/Path Generation control method, it is characterised in that aircraft
Close to waiting near energy circle, judge whether be into the great circle energy consuming methods that spiral
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In above formula,To approach the aircraft dump energy for waiting energy circle neighbouring, ratio1For safety coefficient, SnEnergy is waited to approach
The beeline of aircraft and target point when near circle；
If above-mentioned inequality is set up, aircraft energy surplus, it is necessary into etc. the power consumption of energy disk rotary；Otherwise the residual energy of aircraft
Amount, which meets to land, to be required and has affluence, can directly be landed.
8. aircraft according to claim 5 is unpowered to give an encore energy/Path Generation control method, it is characterised in that is waiting
During the power consumption of energy disk rotary, system real-time resolving dump energyWith aircraft and the beeline S of target pointn, and
Judge whether that terminating great circle spirals according to following relation
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<mo>&le;</mo>
<msub>
<mi>ratio</mi>
<mn>1</mn>
</msub>
<mo>&CenterDot;</mo>
<msub>
<mi>S</mi>
<mi>n</mi>
</msub>
</mrow>
If above-mentioned inequality is set up, aircraft dump energy, which has met to land, to be required, aircraft can perform landing maneuver；Otherwise aircraft
Dump energy is still excessive, it is necessary to continue power consumption of spiraling.
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| CN108931990A (en) * | 2018-07-19 | 2018-12-04 | 四川腾盾科技有限公司 | A kind of empty sliding Landing Control method that high aspect ratio unmanned plane is unpowered |
| CN109388140A (en) * | 2018-09-13 | 2019-02-26 | 江苏大学 | A kind of improved pure tracing control method for surface car path trace |
| CN110262536A (en) * | 2019-06-25 | 2019-09-20 | 湖北航天技术研究院总体设计所 | The longitudinally controlled flight energy management method and system of unpowered vehicle |
| CN110361984A (en) * | 2019-06-25 | 2019-10-22 | 电子科技大学 | A kind of intersection rudder energy consuming methods increasing resistance |
| CN110362111A (en) * | 2019-07-16 | 2019-10-22 | 洲际联合超伦科技（北京）有限公司 | Method and device for determining safe landing of engine of unmanned helicopter after parking |
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