CN110032797A - Unmanned plane UAV control law parameter adjustment method - Google Patents
Unmanned plane UAV control law parameter adjustment method Download PDFInfo
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Abstract
Unmanned plane UAV control law parameter adjustment method disclosed by the invention, it is desirable to provide a kind of tune ginseng freedom degree is big, can effectively improve system design efficiency, the parameter adjustment method of save the cost.The technical scheme is that: using Matlab as tool, the general service desk for building unmanned aerial vehicle (UAV) control rule, Aerodynamic Coefficient module, engine block, undercarriage, wheel, brake model are generated, the general module library of pitch angle local control, six degree of freedom model aircraft, sensor model at unmanned plane equalization point；The control instruction that field bus control system FCS is provided according to general service desk, control modal calculation control law, throttle position instruction and the rudder of setting is selected to instruct partially, send unmanned plane during flying state parameter, controller parameter at the characteristic point of acquisition is directly fitted, controller parameter is obtained about the function of height H and Mach number M and global internal controller parameter and joins control law with the tune of parameter consecutive variations rule.
Description
Technical field
The present invention relates to one kind to be mainly used for unmanned plane UAV Flight Control Law structure and control parameter design and non real-time number
Word emulation, is based especially on the unmanned plane UAV control law parameter adjustment method developed under Matlab environment.
Background technique
Unmanned plane UAV is highly complex nonlinear kinetics object, and for nonlinear system, there is no form line
Mature theoretical system as property system.The aerodynamic derivative of aircraft occurs significantly to become with Mach number, height or the change of dynamic pressure
Change, therefore, the kinetic model of aircraft also can be generated and significantly be perturbed with the change of the state of flight.Flight control system is set
The difficult point of meter is that the control law for how finding and can adapt to the variation of its controlled device-aircraft kinetic model, to protect
For card in entire flight envelope, the flying quality of aircraft is able to satisfy the requirement of flight quality index.Fixed-wing unmanned plane is linear
Model is the basis of design of control law, and traditional modeling method is to solve the derivative of power and torque using the derivation of equation, determine small disturb
The coefficient of dynamic equation.With unmanned plane constantly towards speed faster, aerodynamic characteristic is more complicated, the more superior direction hair of performance
Exhibition, maneuvering flight of the unmanned plane being consequently formed in big airspace are a close coupling, strong nonlinearity time-varying system, a certain fixed ginseng
Several controllers is difficult to guarantee the global superperformance of unmanned aerial vehicle control system, and therefore, gain asymmetry control law, which becomes, to be compared
Ideal to fly control solution, Flight Control Law (FlightControlLaw) determines the performance of unmanned plane.However, with right
The continuous improvement that controller requires, how using the reasonable effective control system of gain asymmetry design, in engineer application and theory
It also needs further to seek new thinking in research.UAV Flight Control System be a kind of independent navigation with high performance,
The integrated system of automatic flight control, task management, and the design of whole system and final realize are with the full stage of flying
Based on Flight Control Law design and system emulation.The basic thought of conventional gain tune ginseng Flight Control Law design is: choosing
The characteristic point that can cover entire flight envelope is taken, the Linear Control object at characteristic point is obtained, is secondly flown for satisfaction is certain
Row quality standard, using the linear controller of linear control theory design feature point, the method for finally utilizing certain interpolation fitting,
Linear controller parameter fitting at all characteristic points is obtained to form global controller about the function for adjusting parameter.Tradition
After gain asymmetry Flight Control Law principle obtains the controller at characteristic point, it can be obtained by certain interpolation or the method for fitting
The corresponding relationship between global scope internal controller parameter and scheduling variable is obtained, that is, adjusts ginseng curve, this is also conventional gain tune ginseng
The difficult point of design of control law.Currently, the experience for relying on designer that the selection of characteristic point is more, to ensure to adjust the accurate of ginseng curve
Property, it is necessary to the number of enough characteristic points is chosen, but selection will excessively increase design efforts would.The office of conventional gain tune ginseng thought
The sex-limited robust performance for also residing in the overall situation, stability can not be theoretically proven, the performance quality of entire nonlinear system
It has to pass through a large amount of calculating and emulates to verify, heavy workload.Simultaneously as unmanned plane develops towards high maneuvering characteristics, it is
System parameter area constantly expands and changes quickly, so conventional gain tune ginseng control law has been unable to satisfy control and has required.
The purpose of design of Flight Control Law is using effective information, angular movement, the centre-of-gravity motion of operating aircraft, to keep
Aircraft flies according to scheduled posture and track.For the design of Flight Control Law, controlled device aircraft is as one
Six-freedom motion body, itself is a very complicated without easy-operating system, mutually comprehensive with the systems such as navigation, fire control in addition
It closes, the design of system will be more complicated and arduous.The six-freedom degree of aircraft space movement is that three lines of mass center move
With rigid body around three angular movements of mass center.Power and the torque producing cause for influencing aircraft space movement are different, to design
UAV Flight Control rule of good performance out, only method manually is very difficult, not only heavy workload, degree of difficulty
It is difficult to hold, and design efficiency is low.Universal design development platform is restrained as unmanned aerial vehicle (UAV) control, on the one hand to complete flight control
The design work of rule is made, on the other hand, also live flying can be replaced to control computer completely, into UAV Flight Control system
System participates in real-time simulation, therefore it will be a system more huger than flight control system, increasingly complex.
Unmanned aerial vehicle (UAV) control rule universal design development platform is comprehensive UAV Flight Control technology, UAV Flight Control rule
Designing technique and computer technology realize that the software modularity of Flight Control Law and structuring are set in a manner of computer assisted
The development platform of meter.It can effectively improve the design efficiency of system, save the cost, and enable staff from cumbersome nobody
It frees in machine Flight Control Law design work, and there are more time and efforts to go to solve how to improve system quality and change
Key issues of kind system performance.Flight Control Law is in the step of concept phase, main follow procedures: establishing mathematical modulo
Type trim and line traffic control rule design Digital Simulation verifying.Trim is to obtain nonlinear model equalization point and extraction linear mould
The premise of type, linearisation are to carry out microvariations processing near equalization point on the basis of trim, obtain inearized model, just
System is analyzed and is designed in using various linearization method of controlling.In the object modeling design process of control system
In, generally first assume that aircraft is in certain equilibrium state, then gives corresponding constraint condition, when being balanced to solve
Each quantity of state of aircraft, rudder face drift angle, accelerator open degree etc., and then obtain the equilibrium-like under the nonlinear model of aircraft
State.Typical trim condition specifically includes that horizontal unaccelerated flight gives flying speed, flying height seeks engine throttle
Aperture, lifting angle of rudder reflection and the angle of attack；Stable state climbing flight gives flying speed, flying height and engine throttle opening and seeks rising
Angle of rudder reflection, the angle of attack and track inclination angle drop；Given flying speed, flying height and track inclination angle are sought lifting angle of rudder reflection, are met
Angle and engine throttle opening；Lifting angle of rudder reflection, the angle of attack are sought in given engine throttle opening, flying height and track inclination angle
With flight speed；Unmanned plane trim and linearisation tool design of the stable state downslide flight based on MATLAB environment, usually give and fly
Row height, and the two of them amount that needs restraint in flying speed, track inclination angle and engine throttle opening these three amounts is sought
Another.Linearisation generallys use nonlinear differential equation to the description of aircraft and rents, in order to utilize various Linear Control sides
Method needs to carry out Nonlinear Equations of Motion group reasonable simplify and handles, makes its linearisation.
The difficult point of UAV Flight Control and emulation, it is desired to there is high control precision and robustness, need direct face
To the nonlinear model and environmental uncertainty of controlled device, the control law structure design based on the correction of nonlinear operation point is provided
Method.For flight control system, generallys use microvariations linearization technique and carry out linear process.Microvariations or little deviation side
Journey can be calculated according to assuming to derive by microvariations, previous to be obtained mostly by programming or manual calculation.Conventional linear
Gain asymmetry method in control method can be good at being applied in UAV Flight Control, although can be by UAV Maneuver
Plant characteristic when flight is described as a series of linear models, but this description be it is incomplete, especially when the allusion quotation of selection
When type operating point is not the operating point of balance.
It changes in the parameter of control object or there are under the premise of Unmarried pregnancy, obtains systematicness as well as possible
It can be most of control design case problem institutes facing challenges.It, be with the controller of a preset parameter for this kind of control problem
Come while obtaining dynamic performance, stability and robustness to be nearly impossible.Traditional robust Controller Design makes more
Parameter of the aircraft under different flight state " is endured " with the robustness of the model aircraft under hovering mode, and dependence controller to become
Change, this makes performance decline of controller when far from projected working point work, or even unstability.It generally requires by a large amount of artificial
The work for adjusting ginseng, looks for optimized parameter or constraint, and workload is very big, and needs experience abundant.Lead to often debugging result
Precision is low, poor robustness.Traditional robust control system design cannot be considered in terms of the problem of robustness and agility.Prior art systems
The raising of performance is often to sacrifice robustness as cost, conversely, the raising of robustness is also using sacrificial system performance as cost.
This phenomenon, when image parameter variation is violent, shows especially prominent in system operation.The prior art is in linearisation mould
The influence of model uncertainty factor generation is had ignored when type, it cannot be guaranteed that meeting robustness in global scope and stability refers to
Furthermore target requirement determines that the parameter in control law also needs largely to emulate and iterate to calculate.Due to the microvariations line of aircraft
Property model many parameter values be decided by a series of unknown physical quantitys in advance, mainly have Mach number, flying height etc., cause
Making the dynamic property of aircraft, great changes have taken place in big envelope, thus, flight controller has to flying using one kind
It in the process also can changed controller.One typical scenario of design variation controller be exactly entire working region according to
Different matching points separately design controller, and obtain global controller using certain type of interpolation or fitting.
Currently, the research and development about system for flight control computer design platform both at home and abroad, is based on a certain specific mostly
The aircraft of model, and a large amount of repetitive works have been done in the design of the foundation and certain Flight Control Laws for model aircraft,
Without certain versatility.For the design of flight control system, it should focus on the design of control law, make every effort to by one
Kind better simply language development provides the universal design platform of standby multiple-working mode, multiple functions, in versatility, expansible
Property, friendly interface etc. have breakthrough.I.e. platform is wanted to realize generalization in terms of modeling of aircraft and design of control law.
Matlab is exactly this large-scale technological applications software for being suitable for multidisciplinary more workbenches, Simulink group provided by it
Part provides the workbench of a modeling and simulation for user.Simulink creates dynamic using the method for block combiner
The computer model of system provides great convenience for the analysis and design of control system.But up to the present, Simulink
It is still not perfect in terms of Design of Flight Control and emulation, various control laws, disturbing source etc. are not established special
Module library.Generally in Matlab/Simulink operational process, it is difficult to send instruction to running Simulink, changes nothing
Man-machine flight state of a control.Matlab system simplifies science due to the provision of the tool box for being largely related to each engineering field
The work such as calculating, engineering design and analysis, and the programming language with own characteristic is provided, it can easily realize a large amount of numbers
According to analysis, processing and display task.Simulink component, provides the work of a modeling and simulation for user provided by it
Make platform.Simulink creates the computer model of dynamical system using the method for block combiner, is the analysis of control system
Great convenience is provided with design.But up to the present, Simulink in terms of Design of Flight Control and emulation also not
Perfect, various control laws, disturbing source etc. do not establish special module library.Matlab language has following typical case again
Feature: language is compact, operator very abundant, extremely easy to use flexible；Not only with the control language of structuring, but also towards right
As programming；Grammer limitation is not stringent, and programming freedom degree is big, and the portability of program is preferably；Powerful graphics process
Function；The tool box of powerful in function.
Summary of the invention
In place of in view of the shortcomings of the prior art, it is to establish one based on Matlab environment
Under, it adjusts ginseng freedom degree big, system design efficiency can be effectively improved, the unmanned aerial vehicle (UAV) control of save the cost restrains parameter adjustment method.
Above-mentioned purpose of the invention can be obtained by following measures, a kind of unmanned plane UAV control law parameter adjustment method, tool
There is following technical characteristic: using Matlab as tool, being automatically generated as needed based on flight control system and build the logical of unmanned aerial vehicle (UAV) control rule
With console, Aerodynamic Coefficient module, engine block, undercarriage, wheel, brake model, the pitch angle at unmanned plane equalization point
Local control, actuator model, six degree of freedom model aircraft, sensor model, environmental variance and oscilloscope module it is general
Module library, and all designed parameters are loaded into the simulated environment of Matlab in a manner of file read-write, it automatically generates
Embedded real-time simulation code, on-line tuning model parameter and the monitoring emulation data of optimization, recall packaged good respective mode
The simulation architecture figure of state；The control instruction that field bus control system FCS is provided according to general service desk, is selected by controller
Control modal calculation control law, throttle position instruction and the rudder of setting instruct partially, unmanned plane during flying state parameter are sent, by rudder
Rudder deviator after machine model is sent into Aerodynamic Coefficient module, and throttle position is sent to engine block and calculates motor power, is risen and fallen
Wheel revolving speed is sent into flight/cunning and runs control system by frame, wheel, brake model；Aerodynamic Coefficient module is according to data and code phase
Isolated principle is automatically generated linear, the nonlinear model of aircraft by control instruction, pneumatically to various forms of input parameters
The position of control law control unmanned plane aileron, rudder, amount of elevator and throttle lever that coefficient module is transmitted according to outside,
Aerodynamic force suffered by unmanned plane, aerodynamic moment and winged unmanned plane UAV is calculated in conjunction with unmanned plane during flying state and atmospheric parameter to work as
The state variable of preceding acceleration, speed, posture, position and angular speed etc., aircraft carries out down again after sensor model
One control instruction clapped calculates；Flight/cunning runs control system and utilizes the tool box sftool by the controller at the characteristic point of acquisition
Parameter is directly fitted, and function and global internal controller parameter of the controller parameter about height (H) and Mach number (M) are obtained
Join control law with the tune of parameter consecutive variations rule.
The present invention has the following beneficial effects: compared with the prior art
The present invention carries out mathematical simulation, semi-physical simulation using nonlinear model, completes ground stage last parameter and adjusts ginseng
Work；And be finally completed the test of whole flight simulation, and the test of the robustness including parameter bias test, wind interference test with
Verify robustness, the anti-interference ability of controller and the correctness of control logic of Flight Control Law.Total system nonlinear model
Type is all bases to design a model, and inearized model used in design process all passes through linearizing for nonlinear model
It arrives, including puts down and fly, climb, declining, the huge work that design point one by one establishes inearized model is avoided in whole envelope design
It measures, especially climbs, declines model, and ensure that design, simulation model are completely the same.
The present invention is using Matlab as tool, the general module library based on flight control system, designs bowing at unmanned plane equalization point
Elevation angle local control builds the universal design platform of unmanned aerial vehicle (UAV) control rule.In the design platform under Windows, complete to fly
The modeling of machine, the selection of control mode, the design of control parameter and the setting of other relevant system parameters etc.；Then by its institute
There is designed parameter to be loaded into the simulated environment of Matlab in a manner of file read-write, recalls packaged good corresponding mode
Simulation architecture figure, carry out simulating, verifying.According to the principle that data are mutually separated with code, to various forms of input parameters, all
Linear, the nonlinear model of aircraft can be automatically generated as needed.Using the tool box sftool, by the control at the characteristic point of acquisition
Device parameter is directly fitted, and function of the controller parameter about height (H) and Mach number (M) is obtained, and obtains control in the overall situation
Device parameter joins control law with the tune of parameter consecutive variations rule, has obtained global program's tune ginseng of achievable unmanned plane pitch angle
The program tune of control joins gain scheduling table, adjusts ginseng curved surface that unmanned plane is made to have reached level-one flight quality standard using fitting.Benefit
With Simulink software emulated the result shows that, designed gain scheduling control rule is rationally effective, and control system is whole
All there is good dynamic response performance, it was demonstrated that there is certain engineering application value in a flight envelope.Simulation result shows
Adjust ginseng freedom degree bigger, control also more smooth and robust, in aircraft rapid deformation and parameter fast-changing situation on a large scale
Under still have good control performance.
The present invention is improved for unmanned plane UAV Flight Control Law structure and control parameter design and non-realtime digital emulation
After can be used for real-time semi-physical simulation.
Detailed description of the invention
Fig. 1 is the system framework figure of unmanned plane UAV control law tune ginseng of the present invention.
Fig. 2 is the system emulation Simulink illustraton of model in unmanned plane UAV control law tune ginseng of the present invention tool box.
Specific embodiment
Refering to fig. 1.According to the present invention, unmanned plane UAV control law parameter adjustment method has following technical characteristic: with Matlab
For tool, the general service desk for building unmanned aerial vehicle (UAV) control rule, Aerodynamic Coefficient module, hair are automatically generated as needed based on flight control system
Motivation module, undercarriage, wheel, brake model, pitch angle local control, actuator model at unmanned plane equalization point, six from
By the general module library of degree model aircraft, sensor model, environmental variance and oscilloscope module, and by all designed ginsengs
Number be loaded into a manner of file read-write in the simulated environment of Matlab, automatically generate optimization embedded real-time simulation code,
On-line tuning model parameter and monitoring emulation data, recall the simulation architecture figure of packaged good corresponding mode；Fieldbus control
The control instruction that system FCS processed is provided according to general service desk, the control modal calculation control law set by controller selection,
Throttle position instruction and rudder instruct partially, send unmanned plane during flying state parameter, and the rudder deviator after actuator model is sent into pneumatic
Throttle position is sent to engine block and calculates motor power by coefficient module, and undercarriage, wheel, brake model turn wheel
Speed is sent into flight/cunning and runs control system；The principle that Aerodynamic Coefficient module is mutually separated according to data with code, to various forms of defeated
Enter parameter, linear, the nonlinear model of aircraft, the control that Aerodynamic Coefficient module is transmitted according to outside are automatically generated by control instruction
The position of rule control unmanned plane aileron, rudder, amount of elevator and throttle lever, joins in conjunction with unmanned plane during flying state and atmosphere
Number calculate aerodynamic force suffered by unmanned plane, aerodynamic moment and the current acceleration of winged unmanned plane UAV, speed, posture, position with
And angular speed etc., the control instruction that the state variable of aircraft carries out next bat again after sensor model calculate；Flight/cunning is run
Controller parameter at the characteristic point of acquisition is directly fitted by control system using the tool box sftool, obtains controller ginseng
Number joins control with the tune of parameter consecutive variations rule about the function and global internal controller parameter of height (H) and Mach number (M)
System rule.
Aerodynamic Coefficient module calculates various flight force and moments according to aircraft aerodynamic data.
Engine block calculates motor power and oil consumption rate etc. according to throttle size and state of flight." sensor module
Naive model comprising various sensors, such as inertial navigation, angle of attack sideslip angle transducer, atmosphere height sensor, GPS, RA.
Undercarriage, wheel, brake model include to rise and fall booster and torque module, rise and fall booster and torque module is calculated by preceding
The related ground supports power of undercarriage that wheel angle, brake input and wheel speed influence, frictional ground force and its relevant
Various torques.Specifically, rise and fall booster and torque module is according to aircraft position signal, attitude signal and aircraft, undercarriage
Relative positional relationship calculates undercarriage wheel with respect to the positional relationship of runway, thus obtains the pressure of undercarriage damper leg and tire
Contracting amount, thus further according to ground attachment coefficient, brake pressure, preceding wheel angle etc. calculate ground supports power, longitudinal frictional force and
Side-friction force.
Six degree of freedom model aircraft combines air force suffered by aircraft, gravity, motor power and ground force
And its various power of various torques and torque, be connected each axial line of the system of axis of the computer body system of axis or ground accelerate
Degree and angular acceleration are completed to fly then by signals such as the various speed of integral element generation aircraft, position, angular speed, postures
The resolving of machine six degree of freedom rigid block element resolves aircraft six degree of freedom rigid block element, exports various kinematic parameters.
Flight/cunning runs control system and contains brake control system and rudder surface control system.Brake control system and rudder face
Control system includes navigation calculating, control logic, the control selections module of various controllers.Control selections module is according to certain
Logical relation receives the various signals from sensor module, calculates various primary control surface output orders, brake instruction and oil
Door instruction etc. calculates Aircraft Quality and position of centre of gravity using Quality Calculation Module, according to oil consumption rate and center of gravity with mass change number
According to.
Refering to Fig. 2.Field bus control system FCS receives from cockpit, sensor model according to control logic relationship
Various signals calculate various primary control surface output orders, brake instruction and throttle commands, by rudder face, throttle, brake, after
Brake instruction is transferred to undercarriage, wheel, brake model, what calculating was influenced by preceding wheel angle, brake input and wheel speed
The related ground supports power of undercarriage, frictional ground force and its relevant various torques.Engine Engine modular system according to
Throttle size and state of flight calculate motor power and oil consumption rate.Undercarriage, wheel, brake model, engine Engine mould
Its calculated result is all sent into six degree of freedom model aircraft by block system and pneumatic coefficient module.
Sensor model includes the various biographies of inertial navigation, angle of attack sideslip angle transducer, atmosphere height sensor, GPS, RA model
Sensor.
The above description is only an embodiment of the present invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane UAV control law parameter adjustment method has following technical characteristic: using Matlab as tool, being based on control is flown
System automatically generate as needed build unmanned aerial vehicle (UAV) control rule general service desk, Aerodynamic Coefficient module, engine block, undercarriage,
Wheel, brake model, pitch angle local control, actuator model, six degree of freedom model aircraft at unmanned plane equalization point, sensing
The general module library of device model, environmental variance and oscilloscope module, and by all designed parameters with the side of file read-write
Formula is loaded into the simulated environment of Matlab, automatically generates embedded real-time simulation code, the on-line tuning model parameter of optimization
And monitoring emulation data, recall the simulation architecture figure of packaged good corresponding mode；Field bus control system FCS is according to general
The control instruction that console provides passes through the control modal calculation control law of controller selection setting, throttle position instruction and rudder
Instruction partially sends unmanned plane during flying state parameter, and the rudder deviator after actuator model is sent into Aerodynamic Coefficient module, throttle position
It sets and is sent to engine block calculating motor power, wheel revolving speed is sent into flight/cunning and runs control by undercarriage, wheel, brake model
System processed；The principle that Aerodynamic Coefficient module is mutually separated according to data with code, to various forms of input parameters, by control instruction
Automatically generate linear, the nonlinear model of aircraft, control law control unmanned plane aileron that Aerodynamic Coefficient module is transmitted according to outside,
The position of rudder, amount of elevator and throttle lever calculates unmanned plane institute in conjunction with unmanned plane during flying state and atmospheric parameter
Aerodynamic force, aerodynamic moment and the winged unmanned plane UAV received current acceleration, speed, posture, position and angular speed, aircraft
The control instruction that state variable carries out next bat again after sensor model calculates；Flight/cunning is run control system and is utilized
Controller parameter at the characteristic point of acquisition is directly fitted by the tool box sftool, obtains controller parameter about height H
Join control law with the tune of parameter consecutive variations rule with the function of Mach number M and global internal controller parameter.
2. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: Aerodynamic Coefficient module is according to winged
Machine aerodynamic data calculates various flight force and moments.
3. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: engine block is according to throttle
Size and state of flight calculate motor power and oil consumption rate.
4. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: undercarriage, wheel, brake mould
Type includes to rise and fall booster and torque module, rises and falls booster and torque module is calculated by preceding wheel angle, brake input and wheel speed
Spend the related ground supports power of undercarriage, frictional ground force and its relevant various torques influenced.
5. unmanned plane UAV control law parameter adjustment method as claimed in claim 4, it is characterised in that: rise and fall booster and torque module
Undercarriage wheel is calculated with respect to runway according to the relative positional relationship of aircraft position signal, attitude signal and aircraft, undercarriage
Thus positional relationship obtains the decrement of undercarriage damper leg and tire, to press further according to ground attachment coefficient, brake
Power, preceding wheel angle etc. calculate ground supports power, longitudinal frictional force and side-friction force.
6. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: six degree of freedom model aircraft is comprehensive
Air force suffered by aircraft, gravity, motor power and ground force and its various power of various torques and torque have been closed, has been counted
Each axial linear acceleration and angular acceleration for calculating the connected system of axis of body axis system or ground, then by integral ring
Section generates the various speed of aircraft, position, angular speed, attitude signal, completes the resolving of aircraft six degree of freedom rigid block element,
Aircraft six degree of freedom rigid block element is resolved, various kinematic parameters are exported.
7. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: flight/cunning runs control system packet
Brake control system and rudder surface control system are contained.
8. unmanned plane UAV control law parameter adjustment method as claimed in claim 7, it is characterised in that: brake control system and rudder face
Control system includes navigation calculating, control logic, the control selections module of various controllers；Control selections module is logically closed
System receives the various signals from sensor module, calculates various primary control surface output orders, brake instruction and throttle and refer to
It enables, using Quality Calculation Module, Aircraft Quality and position of centre of gravity is calculated with mass change data according to oil consumption rate and center of gravity.
9. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: field bus control system FCS
According to control logic relationship, receive the various signals from cockpit, sensor model, calculate various primary control surface output orders,
Rudder face, throttle, brake, rear braking instruction are transferred to undercarriage, wheel, brake model by brake instruction and throttle commands,
Calculate influenced by preceding wheel angle, brake input and wheel speed the related ground supports power of undercarriage, frictional ground force and
Its relevant various torque.
10. unmanned plane UAV control law parameter adjustment method as described in claim 1, it is characterised in that: sensor model includes used
It leads, the various sensors of angle of attack sideslip angle transducer, atmosphere height sensor, GPS, RA model.
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