CN108820222B - Launch control method for ball-borne solar unmanned aerial vehicle - Google Patents
Launch control method for ball-borne solar unmanned aerial vehicle Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
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Abstract
The invention provides a method for controlling the throwing of a ball-borne solar unmanned aerial vehicle, which comprises the steps of carrying out attitude control through a pitching channel, a rolling channel and a course channel, starting from the working moment of a cutter to the end of the cruise flight of an unmanned aerial vehicle body, and gradually increasing the pitching angle of the unmanned aerial vehicle body from vertical to downward through three-channel control until the cruise flight condition is met. The launching control method of the ball-borne solar unmanned aerial vehicle, which is provided by the disclosure, provides a feasible control scheme for the control logic problems of the roll channel, the pitch channel and the course channel and the problem of the intervention of the three control channels in the process from launching of the ball-borne solar unmanned aerial vehicle to the rotating and flat flying of the ball-borne solar unmanned aerial vehicle.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle control technology field especially relates to a control method is put in to ball year solar energy unmanned aerial vehicle.
Background
The near space solar unmanned aerial vehicle has the characteristic of long cruising time, can fly day and night and even around, has high flying height, and has wide development prospect along with the continuous progress of the energy storage battery technology. At present, a mode that a solar unmanned aerial vehicle enters a near space mainly depends on a runway to climb autonomously, the unmanned aerial vehicle climbs to a preset cruising height by a power device of the unmanned aerial vehicle, and the mode has higher requirement on the performance of a motor of the unmanned aerial vehicle; in addition, the unmanned aerial vehicle needs to consider the influence of the climbing process when designing.
In view of this, design a new solar energy unmanned aerial vehicle and get into and close on space mode, this mode combines solar energy unmanned aerial vehicle and high altitude balloon for the first time, utilize high altitude aerostatics platform to carry solar energy unmanned aerial vehicle to appointed height and put in order to get into and close on the space again, this mode only needs consider the state demand of cruising when carrying out the independent system design, unmanned aerial vehicle pneumatic design uses the flight altitude of cruising as the design point simultaneously, higher cruising performance has, reduce organism weight itself, increase load-carrying capacity.
However, in the process of implementing the present disclosure, the inventors of the present application find that a close-space spherical launching manner is adopted to put high requirements on a spherical solar unmanned aerial vehicle launching manner, and on one hand, the spherical solar unmanned aerial vehicle has a large size, a light weight and a large flexibility, and puts high requirements on overload in a launching process; on the other hand, the throwing process time is short, the change of the flight state of the ball-mounted solar unmanned aerial vehicle is large, the process conversion from the vertical zero initial speed state to the horizontal cruise flight state needs to be completed in a short time, and therefore the existing throwing mode cannot meet the requirements.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Technical problem to be solved
Based on the technical problem, the present disclosure provides a control method for launching a ball-borne solar unmanned aerial vehicle, so as to alleviate the technical problem that the launching mode in the prior art cannot meet the overload requirement and the launching time of the solar unmanned aerial vehicle.
(II) technical scheme
The utility model provides a control method is put in to ball year solar energy unmanned aerial vehicle carries out attitude control through every single move passageway, roll passageway and course passageway, and this ball year solar energy unmanned aerial vehicle includes: an unmanned aerial vehicle body; the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; the cutter is used for cutting off a rope between the high-altitude balloon and the unmanned aerial vehicle body; the method for controlling the spherical solar unmanned aerial vehicle to launch starts from the working moment of the cutter to the end of the cruise flight of the unmanned aerial vehicle body, and comprises the following steps:
step A: after the cutter works, the unmanned aerial vehicle body reaches a first pitch angle through the pulling of a pitch channel, the maintenance of a zero position of a roll channel and the stability augmentation of a course channel;
and B: performing zero position control and course channel stability augmentation through the pulling of a pitch channel and the roll angle of a roll channel, so that the unmanned aerial vehicle body reaches a second pitch angle from a first pitch angle;
and C: performing zero position control and course channel stability augmentation through the pulling of a pitch channel and the roll angle of a roll channel, so that the unmanned aerial vehicle body reaches a third pitch angle from a second pitch angle; and
step D: after the unmanned aerial vehicle body reaches a third pitch angle, when the unmanned aerial vehicle body meets a cruise flight state criterion, the unmanned aerial vehicle starts cruise flight, and the release control process is finished;
the first pitch angle, the second pitch angle and the third pitch angle are included angles between the axis of the unmanned aerial vehicle body and the horizontal plane, and the first pitch angle, the second pitch angle and the third pitch angle are all between-90 degrees and 0 degrees and sequentially increase in size.
In some embodiments of the present disclosure, the first pitch angle is-70 °, the second pitch angle is-50 °, and the third pitch angle is-20 °.
In some embodiments of the present disclosure, a pitch angle of the unmanned aerial vehicle body at an initial launching time is-90 °, and a direction of a heading angle of the unmanned aerial vehicle body in a pulling-up process is a heading of the unmanned aerial vehicle for controlling flight.
In some embodiments of the present disclosure, the pitch channel controls the elevator yaw angle of the drone body to be maintained at a negative value prior to the cutter on time.
In some embodiments of the present disclosure, in the step a and the step B, a pitch channel controls the elevator deflection angle to an angle maintained before the cutter operates.
In some embodiments of the present disclosure, in step C, a pitch channel controls the elevator drift angle in real time, so that the unmanned aerial vehicle body is located at a pitch angle position obtained by optimal track tracking calculation on the premise of minimum acceleration.
In some embodiments of the present disclosure, the working time of the cutter is a time when the initial condition of the unmanned aerial vehicle body meets the release requirement; wherein the delivery requirements include: the three-axis attitude angular rate of the spherical solar unmanned aerial vehicle is less than +/-5 degrees/s, and the wind speed is less than 2 m/s.
In some embodiments of the present disclosure, the step D comprises: step D1: if the criterion of the cruising flight state is met, the cruising flight is started; step D2: and if the cruise flight state criterion is not met, maintaining the control mode of the third stage until the unmanned aerial vehicle body meets the cruise flight state criterion.
In some embodiments of the present disclosure, the cruise flight status criteria include: the flight airspeed of the unmanned aerial vehicle body is greater than the stall speed; the pitch angle of the unmanned aerial vehicle body is within +/-3 degrees; the pitch angle rate of the unmanned aerial vehicle body is within +/-10 DEG/s.
In some embodiments of the present disclosure, the ball-borne solar drone further comprises: and the optical fiber inertial navigation is connected with a control module in the unmanned aerial vehicle body and used for giving control starting time when the cutter works.
(III) advantageous effects
According to the technical scheme, the spherical solar unmanned aerial vehicle launching control method has one or part of the following beneficial effects:
(1) the launching control method of the ball-borne solar unmanned aerial vehicle, which is provided by the disclosure, provides a feasible control scheme for the control logic problems of a roll channel, a pitch channel and a course channel and the problem of the intervention of the three control channels in the process of rotating and flying the ball-borne solar unmanned aerial vehicle after launching the ball-borne solar unmanned aerial vehicle, the control method is closely combined with engineering practice, the control method problem of a zero-speed launching type unmanned aerial vehicle control method can be solved, and the method has a very strong engineering application value;
(2) before a cutter (used for cutting off a rope of the suspended spherical solar unmanned aerial vehicle) works, the deflection angle of an elevator of the unmanned aerial vehicle is controlled to be a negative value, and after the cutter works, the unmanned aerial vehicle has a head-up moment, so that the situation that the longitudinal axis of the unmanned aerial vehicle enters a state of less than-90 degrees to cause risks is avoided;
(3) in the first stage of putting and pulling, only the longitudinal channel is pulled up and controlled, the rolling channel is kept, and the course is subjected to stability augmentation control, so that the transverse course is stable, the longitudinal direction is still controlled by a fixed rudder deflection angle, and the risk in the pulling process can be reduced as much as possible.
Drawings
Fig. 1 is a schematic structural diagram of a ball-mounted solar unmanned aerial vehicle provided by the embodiment of the disclosure.
Fig. 2 is a schematic flow chart of a launch control method for a ball-mounted solar unmanned aerial vehicle according to an embodiment of the present disclosure.
Fig. 3 is a logic structure diagram of a launch control method for a ball-mounted solar unmanned aerial vehicle according to an embodiment of the present disclosure.
Detailed Description
The putting control method for the ball-mounted solar unmanned aerial vehicle, provided by the embodiment of the disclosure, provides a feasible control scheme for the control logic problems of the roll channel, the pitch channel and the course channel and the problem of when the three control channels intervene in the process of flatly flying the ball-mounted solar unmanned aerial vehicle after the ball-mounted solar unmanned aerial vehicle is put in, so that the putting process of the ball-mounted solar unmanned aerial vehicle is smoothly carried out.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The utility model provides a control method is put in to ball year solar unmanned aerial vehicle carries out attitude control through every single move passageway, roll passageway and course passageway, as shown in figure 1, this ball year solar unmanned aerial vehicle includes: an unmanned aerial vehicle body; the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; and the cutter is used for cutting off the rope between the high-altitude balloon and the unmanned aerial vehicle body.
In some embodiments of the present disclosure, as shown in fig. 2, starting from a cutter working time to the end of the cruise flight of the unmanned aerial vehicle body, the launch control method of the ball-borne solar unmanned aerial vehicle includes: step A: after the cutter works, the unmanned aerial vehicle body reaches a first pitch angle through the pulling of the pitch channel, the zero position maintenance of the roll channel and the stability augmentation of the course channel; and B: the unmanned aerial vehicle body is pulled up through a pitching channel, and zero position control and course channel stability augmentation are carried out through a rolling angle of a rolling channel, so that the unmanned aerial vehicle body reaches a second pitch angle from a first pitch angle; and C: performing zero position control and course channel stability augmentation through the pulling of the pitching channel and the rolling angle of the rolling channel to enable the unmanned aerial vehicle body to reach a third pitch angle from a second pitch angle; and step D: after the unmanned aerial vehicle body reaches the third pitch angle, when the unmanned aerial vehicle body meets the cruise flight state criterion, the unmanned aerial vehicle starts cruise flight, and the release control process is finished; the first pitch angle, the second pitch angle and the third pitch angle are included angles between the axis of an unmanned aerial vehicle body and the horizontal plane, the first pitch angle, the second pitch angle and the third pitch angle are all between-90 degrees and 0 degrees and are sequentially increased in size, the control method for the launch of the ball-borne solar unmanned aerial vehicle, provided by the disclosure, provides a feasible control scheme for the control logic problems of a roll channel, a pitch channel and a course channel and the problem of when three control channels intervene in the process from the launch of the ball-borne solar unmanned aerial vehicle to the rotating and flat flying of the ball-borne solar unmanned aerial vehicle, the control method is closely combined with engineering practice, the problem of the control method of the zero-speed launch type unmanned aerial vehicle can be solved, and the control method has a strong engineering application value.
In some embodiments of the present disclosure, as shown in FIG. 1, the first pitch angle
Is at a angle of-70 DEG and a second pitch angle
Is-50 degrees and a third pitch angle
Is-20 deg.
In some embodiments of the present disclosure, the head of the spherical solar unmanned aerial vehicle faces downward at the initial launching time, the normal direction of the unmanned aerial vehicle may be any direction, the pitch angle of the unmanned aerial vehicle body at the initial launching time is-90 °, the projection of the longitudinal axis of the body on the horizontal plane is a point, the heading angle of the unmanned aerial vehicle body may be any direction during the pulling-up process, and the direction is the heading for controlling the flight of the unmanned aerial vehicle.
In some embodiments of the present disclosure, before the cutter working time, as shown in fig. 3, the deflection angle of the elevator of the pitching channel control unmanned aerial vehicle body is maintained at a negative value, and after the cutter is working, the unmanned aerial vehicle has a head raising moment, so as to avoid the risk caused by the fact that the longitudinal axis of the unmanned aerial vehicle enters a state smaller than-90 °.
In some embodiments of the present disclosure, in step a and step B, as shown in fig. 3, the pitch channel controls the elevator deflection angle to be the angle maintained before the working moment of the cutter, so as to reduce the control difficulty during the pulling-up process, thereby reducing the risk.
In some embodiments of the present disclosure, in step C, as shown in fig. 3, the pitch channel controls the elevator yaw angle in real time, so that the unmanned aerial vehicle body is located at the pitch angle position obtained by the optimal track tracking calculation on the premise of the minimum acceleration, that is, within the allowable overload range and the allowable attack angle range of the strength of the unmanned aerial vehicle body, the pitch angle capable of enabling the unmanned aerial vehicle body to bear the minimum acceleration is calculated by the optimal track tracking calculation method. Currently, common optimal track tracking calculation methods include a track tracking calculation method based on overload control, a track tracking calculation method for giving a fixed target pitch angle and simultaneously performing angular rate amplitude limiting, and the like.
In some embodiments of the present disclosure, as shown in fig. 3, the cutter working time is a time when the initial condition of the drone body meets the release requirement.
In some embodiments of the present disclosure, the placement requirements include: the triaxial attitude angle rate of the unmanned aerial vehicle body is less than +/-5 degrees/s; the wind speed is less than 2 m/s.
In some embodiments of the present disclosure, as shown in fig. 3, step D comprises: step D1: if the criterion of the cruising flight state is met, the cruising flight is started; step D2: and if the cruise flight state criterion is not met, maintaining the control mode of the third stage until the unmanned aerial vehicle body meets the cruise flight state criterion.
In some embodiments of the present disclosure, the cruise flight status criteria include: the flight airspeed of the unmanned aerial vehicle body is greater than the stall speed; the pitch angle of the unmanned aerial vehicle body is within +/-3 degrees; the pitch angle rate of the unmanned aerial vehicle body is between +/-10 degrees/s.
In some embodiments of the present disclosure, the ball-borne solar drone further comprises: the optical fiber inertial navigation system is connected with a control module in an unmanned aerial vehicle body and used for giving out control starting time when a cutter works, the unmanned aerial vehicle body is not electrically connected with a high-altitude balloon and a throwing system, and the starting time cannot be obtained from a cutter cutting instruction, so that the control starting time of the ball-mounted solar unmanned aerial vehicle is given out by the optical fiber inertial navigation system, namely the cutter works instantly, the unmanned aerial vehicle body belongs to a weightless state instantly, and after the optical fiber inertial navigation system senses the weightless state of the unmanned aerial vehicle body, starting control signals are sent to the control module in the unmanned aerial vehicle body, and the ball-mounted solar unmanned aerial vehicle throwing control method provided by the disclosure is started.
From the above description, those skilled in the art should clearly recognize that the launch control method for the ball-borne solar unmanned aerial vehicle provided in the embodiment of the present disclosure.
To sum up, the method for controlling launching of the ball-borne solar unmanned aerial vehicle provided by the embodiment of the disclosure provides a feasible control scheme for the control logic problems of the roll channel, the pitch channel and the course channel and the problem of when the three control channels intervene in the process of rotating and flying the ball-borne solar unmanned aerial vehicle after launching the ball-borne solar unmanned aerial vehicle, so that the launching process of the ball-borne solar unmanned aerial vehicle is smoothly performed.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (5)
1. A method for controlling the throwing of a ball-borne solar unmanned aerial vehicle performs attitude control through a pitching channel, a rolling channel and a course channel, and the ball-borne solar unmanned aerial vehicle comprises the following steps:
an unmanned aerial vehicle body;
the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; and
the cutter is used for cutting off a rope between the high-altitude balloon and the unmanned aerial vehicle body;
the method for controlling the spherical solar unmanned aerial vehicle to launch starts from the working moment of the cutter to the end of the cruise flight of the unmanned aerial vehicle body, and comprises the following steps:
step A: after the cutter works, the unmanned aerial vehicle body reaches a first pitch angle through the pulling of a pitch channel, the maintenance of a zero position of a roll channel and the stability augmentation of a course channel;
and B: performing zero position control and course channel stability augmentation through the pulling of a pitch channel and the roll angle of a roll channel, so that the unmanned aerial vehicle body reaches a second pitch angle from a first pitch angle;
and C: performing zero position control and course channel stability augmentation through the pulling of a pitch channel and the roll angle of a roll channel, so that the unmanned aerial vehicle body reaches a third pitch angle from a second pitch angle; and
step D: after the unmanned aerial vehicle body reaches a third pitch angle, when the unmanned aerial vehicle body meets a cruise flight state criterion, the unmanned aerial vehicle starts cruise flight, and the release control process is finished; the step D comprises the following steps:
step D1: if the criterion of the cruising flight state is met, the cruising flight is started;
step D2: if the cruise flight state criterion is not met, maintaining the control mode of the third stage until the unmanned aerial vehicle body meets the cruise flight state criterion;
the first pitch angle, the second pitch angle and the third pitch angle are included angles between the axis of the unmanned aerial vehicle body and the horizontal plane, and the first pitch angle, the second pitch angle and the third pitch angle are all between-90 degrees and 0 degrees and are sequentially increased in size;
before the cutter works, the pitching channel controls the deflection angle of the elevator of the unmanned aerial vehicle body to be maintained at a negative value;
in the step A and the step B, a pitch channel controls the deflection angle of the elevator to be an angle kept before the working moment of the cutter;
in the step C, a pitch channel controls the deflection angle of the elevator in real time, so that the unmanned aerial vehicle body is located at a pitch angle position obtained by optimal track tracking calculation on the premise of minimum acceleration;
the working time of the cutter is the time when the initial condition of the unmanned aerial vehicle body meets the throwing requirement;
wherein the delivery requirements include: the three-axis attitude angular rate of the spherical solar unmanned aerial vehicle is less than +/-5 degrees/s, and the wind speed is less than 2 m/s.
2. The launch control method for a ball-borne solar unmanned aerial vehicle according to claim 1, wherein the first pitch angle is-70 °, the second pitch angle is-50 °, and the third pitch angle is-20 °.
3. The launch control method for the ball-borne solar unmanned aerial vehicle according to claim 1, wherein the pitching angle of the unmanned aerial vehicle body at the launch initial moment is-90 °, and the direction of the heading angle of the unmanned aerial vehicle body in the process of pulling up is the heading of the unmanned aerial vehicle for controlling flight.
4. The launch control method for a ball-borne solar unmanned aerial vehicle according to claim 1, wherein the cruise flight status criteria include:
the flight airspeed of the unmanned aerial vehicle body is greater than the stall speed;
the pitch angle of the unmanned aerial vehicle body is within +/-3 degrees;
the pitch angle rate of the unmanned aerial vehicle body is within +/-10 DEG/s.
5. The launch control method for a ball-borne solar unmanned aerial vehicle according to any one of claims 1 to 4, further comprising: and the optical fiber inertial navigation is connected with a control module in the unmanned aerial vehicle body and used for giving control starting time when the cutter works.
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| CN109455300A (en) * | 2018-12-06 | 2019-03-12 | 中国科学院光电研究院 | Near space vehicle jettison system and its application method |
| CN109739251B (en) * | 2018-12-28 | 2022-03-29 | 中国科学院工程热物理研究所 | Unmanned aerial vehicle time-sharing control method |
| CN110920921B (en) * | 2019-10-30 | 2022-08-30 | 中国科学院光电研究院 | Near space aircraft launching system and method |
| CN111984023B (en) * | 2020-08-17 | 2023-12-19 | 中国科学院工程热物理研究所 | Dynamic pressure compensation-based ball-carried unmanned aerial vehicle system throwing section guidance law design method |
| CN112729343B (en) * | 2020-12-29 | 2023-03-10 | 广东空天科技研究院 | System for vertically putting and transmitting near space |
| CN114802794B (en) * | 2022-05-24 | 2023-02-10 | 西北工业大学 | Diamond-layout flexible unmanned aerial vehicle hanging tilting system and control method |
| CN116501079B (en) * | 2023-03-09 | 2023-12-01 | 浙江大学 | Unmanned aerial vehicle high-altitude ball-load throwing control method based on reinforcement learning |
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