CN110147107A - Unmanned plane is sliding to run correction control method, device, unmanned plane and storage medium - Google Patents
Unmanned plane is sliding to run correction control method, device, unmanned plane and storage medium Download PDFInfo
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- CN110147107A CN110147107A CN201910459220.3A CN201910459220A CN110147107A CN 110147107 A CN110147107 A CN 110147107A CN 201910459220 A CN201910459220 A CN 201910459220A CN 110147107 A CN110147107 A CN 110147107A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
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Abstract
The embodiment of the invention discloses a kind of sliding race correction control method of unmanned plane, device, unmanned plane and storage mediums.Wherein, method includes: to obtain the current running speed of unmanned plane, and unmanned plane is the unmanned plane for having man-machine repacking；According to current running speed and at least one preset speed threshold, target correction control mode corresponding with unmanned plane is determined；It is rectified a deviation control mode according to target, controls the left and right brake steering engine and/or rudder of unmanned plane, left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking, and rudder is to have original component before man-machine repacking.The embodiment of the present invention utilizes original component before having man-machine existing brake system and reequiping, without increasing additional system, reduce repacking workload, reduce repacking cost, it can be in conjunction with the velocity variations process during the sliding race of unmanned plane, correction control is carried out using segmentation composite correcting control mode, the accelerating ability of aircraft is promoted, reduces takeoff distance.
Description
Technical field
The present embodiments relate to air vehicle technique field more particularly to a kind of sliding race correction control methods of unmanned plane, dress
It sets, unmanned plane and storage medium.
Background technique
Currently, there is man-machine unmanned repacking more and more common.Have it is man-machine be adapted as unmanned plane after, since unmanned plane takes off
It requires to run this process by ground is automatically sliding with landing, therefore the automatic deviation correction control for how realizing that unmanned plane is sliding when running is
One key.The sliding purpose for running correction control of unmanned plane, is to slide unmanned plane along runway center line marking always.
Have there are two types of man-machine common sliding race correction control modes: one is front-wheel steer corrections to control, i.e. pilot's root
According to the position of aircraft drift off the runway middle line, correction control is carried out by the direction of control front-wheel deflection.This control mode needs
Aircraft itself is equipped with foresteerage gear, and aircraft cannot be rear bikini, man-machine using having for front-wheel steer control mode
Without generality.Another kind is differential brake correction control, i.e., pilot passes through according to the position of aircraft drift off the runway middle line
Pedal control left and right sides brake system exports different brake weights to realize that (such as aircraft right avertence then increases left side and stops for correction
Che Li).
The existing sliding correction control program of running for having man-machine unmanned repacking to use mainly has following three kinds: 1) have it is man-machine
After being adapted as unmanned plane, left and right brake steering engine is installed additional to replace pilot manipulation left and right sides brake system, passes through differential brake
Correction control mode carries out sliding race correction control；2) removing completely has man-machine brake system, and it is special to reinstall a set of unmanned plane
Brake system, the brake system are sliding to run correction using differential brake correction controlling party according to steering engine position output brake weight
Formula；3) man-machine brake system is remained with, but increases or reequip front-wheel steer control mechanism, before sliding race correction control use
It rotates to correction control mode.
Using above-mentioned three kinds of corrections control program, have the following problems: first way is entangled using simple differential brake
Inclined control mode, it is elongated that whole process uses differential brake correction control mode to will lead to takeoff distance.The second way needs
Increase new brake system, there is man-machine unmanned repacking workload to increase more, repacking cost greatly increases, and is also complete
It is elongated to will lead to takeoff distance using differential brake correction control mode for journey.The third mode is rectified a deviation using front-wheel steer
Control mode, other than increasing cost and workload, the reliability of front-wheel steer control mechanism is difficult to ensure.
Summary of the invention
The present invention provides that a kind of unmanned plane is sliding to run correction control method, device, unmanned plane and storage medium, is existed with realizing
Have it is man-machine be adapted as unmanned plane after, using have man-machine existing brake system and reequip before original component unmanned plane cunning ran
Correction control is carried out in journey, reduces takeoff distance, and reducing has man-machine unmanned repacking workload and repacking cost.
In a first aspect, the embodiment of the invention provides a kind of sliding race correction control methods of unmanned plane, comprising:
The current running speed of unmanned plane is obtained, unmanned plane is the unmanned plane for having man-machine repacking；
According to current running speed and at least one preset speed threshold, target correction control corresponding with unmanned plane is determined
Mode processed；
According to target correction control mode, the left and right brake steering engine and/or rudder of unmanned plane, left and right brake steering engine are controlled
To have the left side steering engine and right side steering engine that add after man-machine repacking, rudder is to have original component before man-machine repacking.
Second aspect, the embodiment of the invention also provides a kind of sliding race correcting controllers of unmanned plane, comprising:
Speed acquiring module, for obtaining the current running speed of unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking；
Mode determining module, for according to current running speed and at least one preset speed threshold, determination and nobody
The corresponding target correction control mode of machine；
Control module, for controlling left and right brake steering engine and/or the direction of unmanned plane according to target correction control mode
Rudder, left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking, and rudder is former before having man-machine repacking
Some components.
The third aspect the embodiment of the invention also provides a kind of unmanned plane, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, further includes: left and right brake steering engine, for control have man-machine repacking before it is former
Some left and right sides brake system, left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking；Direction
Rudder, for controlling the course of unmanned plane；Processor realizes unmanned plane as described in the embodiments of the present invention when executing computer program
It is sliding to run correction control method.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes that unmanned plane provided by the embodiment of the present invention is sliding and runs correction controlling party when the computer program is executed by processor
Method.
The technical solution of the embodiment of the present invention passes through the current running speed and at least one preset speed according to unmanned plane
Thresholding is spent, determines target correction control mode corresponding with unmanned plane, then according to target correction control mode, controls unmanned plane
Left and right brake steering engine and/or rudder, left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking,
Rudder is to have original component before man-machine repacking, solves the prior art and uses simple differential brake correction control mode,
Need to increase new brake system, repacking cost greatly increases, and whole rectify a deviation using brake will lead to takeoff distance
Elongated problem, and using front-wheel steer correction control mode, cause to reequip cost and reequip workload to increase, and front-wheel
The problem of reliability of course changing control mechanism is difficult to ensure, can use man-machine existing brake system and repacking is preceding original
Component carries out correction control, without increasing additional system, reduces the workload for having man-machine repacking, and reduce and repack into
This, can carry out correction control using segmentation composite correcting control mode in conjunction with the velocity variations process during the sliding race of unmanned plane
System, improves the accelerating ability of aircraft, reduces takeoff distance.
Detailed description of the invention
Fig. 1 a is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention one provides；
Fig. 1 b is the sliding schematic diagram for running correction control process of a kind of unmanned plane that the embodiment of the present invention one provides；
Fig. 2 is a kind of sliding flow chart for running correction control method of unmanned plane provided by Embodiment 2 of the present invention；
Fig. 3 is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention three provides；
Fig. 4 is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention four provides；
Fig. 5 is the sliding structural schematic diagram for running correcting controller of a kind of unmanned plane that the embodiment of the present invention five provides；
Fig. 6 is a kind of structural schematic diagram for unmanned plane that the embodiment of the present invention six provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 a is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention one provides, the present embodiment
It is applicable to the case where carrying out correction control during unmanned plane sliding race, this method can run control dress of rectifying a deviation by unmanned plane is sliding
It sets to execute, described device is executed by software and/or hardware, and can be generally integrated in unmanned plane.As shown in Figure 1a, the party
Method specifically comprises the following steps:
Step 101, the current running speed for obtaining unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking.
Wherein, have it is man-machine be adapted as unmanned plane after, install additional left and right brake steering engine come replace pilot manipulation have it is man-machine original
Left and right sides brake system.Optionally, have man-machine using hydraulic brake system.Hydraulic brake system includes fuel tank, brake fluid
Cylinder, stopping brake valve, left and right is braked and the components such as oil pipe, connector.Hydraulic brake system oil circuit is segmented into left and right two substantially
Independent circuit, i.e. left and right sides brake system.
Left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking.Left side steering engine is in certain model
Linear movement back and forth in enclosing, so that the left side brake system of unmanned plane be driven to export different brake weights.Left side steering engine it is each
Movement position corresponds to certain brake weight.Right standard rudder machine linear movement back and forth in a certain range, to drive the right side of unmanned plane
Side brake system exports different brake weights.Each movement position of right standard rudder machine corresponds to certain brake weight.
When the steering engine position of left and right brake steering engine is less than effective steering engine position, brake weight 0；Have when steering engine position is greater than
When imitating steering engine position, the brake weight of brake system output and steering engine position are linear.When the steering engine position of left and right brake steering engine
When setting increase, brake weight increases with the increase of steering engine position.But it when direct reduction is set in the seat in the plane of left and right brake steering engine, stops
The variation of vehicle power is irregular.When i.e. brake steering engine in left and right continuously manipulates, brake weight increases with the increase of steering engine position, still
As the reduction changing rule of steering engine position is not fixed, accurate brake weight can not be exported according to the position of steering engine.Unmanned plane is all
It is that brake weight control is carried out by the steering engine position of precise control.The continuous operating pattern of right brake steering engine not can guarantee in nothing
Accurate correction control during man-machine sliding race.To solve the above-mentioned problems, when left and right brake steering engine is according to when front brake steering engine
When position control amount and history steering engine position control amount determine that steering engine position reduces, left and right brake steering engine using Manual Mode into
Row manipulation: steering engine position is first returned into zero-bit and keeps setting time, then re-moves corresponding steering engine position again.
Rudder is to have original component before man-machine repacking.Rudder refers to there is man-machine boat on vertical tail for realization
To mobilizable airfoil portion of manipulation.Have it is man-machine be adapted as unmanned plane after, can be by manipulation direction rudder deflection, to control
Unmanned plane course processed.Rudder turn left, airflow function generates one thereon makes the torque of tail portion to the right, make the head of unmanned plane to
A left side changes unmanned plane course.Rudder is turned right then unmanned plane Airplane Nose Right.
When detecting that unmanned plane slides race, the current running speed of unmanned plane is obtained.Unmanned plane take-off and landing requires
This process is run by ground is automatically sliding.
In a specific implementation example, unmanned plane receives take off instruction after, determine that unmanned plane starts takeoff phase
Race process is slided on ground automatically, obtains the flying speed of unmanned plane, the i.e. current running speed of unmanned plane in real time, and according to when advancing slip
Run the sliding race correction control that speed carries out unmanned plane.
In another specific implementation example, when unmanned plane is in glide landing state of flight, unmanned plane is by contacting to earth
Sensor obtain unmanned plane oneself after landing page information, obtain the flying speed of unmanned plane in real time, i.e., unmanned plane when advancing slip races it is fast
Degree, and the sliding of unmanned plane is carried out according to current running speed and runs correction control.
Step 102, according to current running speed and at least one preset speed threshold, determine mesh corresponding with unmanned plane
Mark correction control mode.
Wherein, Fig. 1 b is the sliding schematic diagram for running correction control process of a kind of unmanned plane that the embodiment of the present invention one provides.It is logical
Preset speed threshold is crossed, entire sliding race process is divided into low speed segment, middling speed section and high regime three phases.Different sliding races
Stage uses different correction control modes.In low speed segment, only with differential brake correction control mode.In middling speed section, access
Rudder correction control is rectified a deviation using use direction rudder correction control mode simultaneously and differential brake correction control mode
The composite correcting control mode of control.In high regime, speed increases to a certain extent, and rudder efficiency increases, can be only with
Rudder correction control mode side.
Differential brake correction control mode is the steering engine position by changing left and right brake steering engine, the brake of the control left and right sides
System exports different brake weights to realize correction.For example, unmanned plane right avertence, then increase the steering engine position of left side steering engine, thus
Increase left side brake weight.Rudder correction control mode is to control unmanned plane course by the deflection of steer direction rudder and come
Realize correction.For example, unmanned plane right avertence, steer direction rudder turns left, and makes the Nose Left of unmanned plane.Composite correcting control mode is
Correction is realized using differential brake correction control mode and rudder correction control mode simultaneously.
Optionally, at least one speed threshold includes First Speed thresholding and/or second speed thresholding；First Speed thresholding
Less than second speed thresholding.According to the current running speed of unmanned plane and at least one preset speed threshold, determine and nobody
The corresponding target of machine is rectified a deviation control mode, will be with if may include: that current running speed is less than or equal to First Speed thresholding
The corresponding target correction control mode of unmanned plane determines are as follows: differential brake correction control mode；If current running speed is greater than
First Speed thresholding, and be less than second speed thresholding, then target correction control mode corresponding with unmanned plane is determined are as follows: compound
Correction control mode；It, will target correction corresponding with unmanned plane if current running speed is more than or equal to second speed thresholding
Control mode determines are as follows: rudder correction control mode.
For example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/s.If current running speed is less than or equal to
8m/s, it is determined that unmanned plane is in low speed segment, target correction control mode corresponding with unmanned plane is determined are as follows: differential brake is entangled
Inclined control mode.If current running speed is greater than 8m/s, and is less than 16m/s, it is determined that unmanned plane is in middling speed section, will be with nothing
Man-machine corresponding target correction control mode determines are as follows: composite correcting control mode；If current running speed is more than or equal to
16m/s, it is determined that unmanned plane is in high regime, target correction control mode corresponding with unmanned plane is determined are as follows: rudder entangles
Inclined control mode.
Step 103, control mode of being rectified a deviation according to target control the left and right brake steering engine and/or rudder of unmanned plane, left and right
The steering engine that brakes is to have the left side steering engine and right side steering engine added after man-machine repacking, and rudder is to have original portion before man-machine repacking
Part.
In a specific implementation, determine that target correction control mode corresponding with unmanned plane is differential brake correction control
Mode.According to target correction control mode, the left and right brake steering engine and/or rudder of unmanned plane are controlled, may include: acquisition nothing
Man-machine current lateral deviation away from and current lateral deviation away from change rate；It obtains and the matched brake lateral deviation control coefrficient of current running speed
And brake lateral deviation change rate control coefrficient；According to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient with
And brake lateral deviation change rate control coefrficient, determine unmanned plane works as front brake steering engine position control amount；According to the current of unmanned plane
Brake steering engine position control amount, and the history steering engine position control amount with the left and right brake steering engine of unmanned plane, control unmanned plane
Left and right brake steering engine.
As a result, in the low speed segment of sliding race process, according to stopping when front brake steering engine position control amount changes left and right for unmanned plane
The steering engine position of vehicle steering engine, control left and right sides brake system export different brake weights to realize that unmanned plane is sliding and run correction control
System.
In another specific implementation, determine that target correction control mode corresponding with unmanned plane is composite correcting controlling party
Formula.According to target correction control mode, the left and right brake steering engine and/or rudder of unmanned plane are controlled, may include: to obtain nobody
The current lateral deviation of machine is away from, current lateral deviation away from change rate and current yawrate；It obtains and the matched brake of current running speed
Vehicle lateral deviation control coefrficient, brake lateral deviation change rate control coefrficient, rudder lateral deviation control coefrficient, the control of rudder lateral deviation change rate
Coefficient；According to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation change rate control system
Number, determine unmanned plane works as front brake steering engine position control amount；According to unmanned plane when front brake steering engine position control amount, and
The history steering engine position control amount of the left and right brake steering engine of unmanned plane controls the left and right brake steering engine of unmanned plane；According to working as front side
Offset distance, current lateral deviation are away from change rate, current yawrate, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control
Coefficient processed determines the direction rudder angles control amount of unmanned plane；According to the direction rudder angles control amount of unmanned plane, unmanned plane is controlled
Rudder.
As a result, in the middling speed section of sliding race process, left and right is being changed according to the front brake steering engine position control amount of working as of unmanned plane
The steering engine position of brake steering engine, control left and right sides brake system export different brake weights to realize that unmanned plane is sliding and run control of rectifying a deviation
While processed, according to the deflection of the direction rudder angles control amount steer direction rudder of unmanned plane, control unmanned plane course and come in fact
Existing unmanned plane is sliding to run correction control.
In another specific implementation, determine that target correction control mode corresponding with unmanned plane is rudder correction control
Mode.According to target correction control mode, the left and right brake steering engine and/or rudder of unmanned plane are controlled, may include: acquisition nothing
Man-machine current lateral deviation is away from, current lateral deviation away from change rate and current yawrate；It obtains matched with current running speed
Rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient；According to current lateral deviation away from, current lateral deviation away from variation
Rate, current yawrate, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient, determine unmanned plane
Direction rudder angles control amount；According to the direction rudder angles control amount of unmanned plane, the rudder of unmanned plane is controlled.
As a result, in the high regime of sliding race process, according to the left and right of the direction rudder angles control amount steer direction rudder of unmanned plane
Deflection controls unmanned plane course to realize that unmanned plane is sliding and run correction control.
A kind of unmanned plane provided in this embodiment is sliding to run correction control method, passes through the current running speed according to unmanned plane
With at least one preset speed threshold, determines target correction control mode corresponding with unmanned plane, then rectified a deviation according to target
Control mode, controls the left and right brake steering engine and/or rudder of unmanned plane, and left and right brake steering engine adds after having man-machine repacking
Left side steering engine and right side steering engine, rudder are to have original component before man-machine repacking, solve the prior art using simple difference
Dynamic brake correction control mode needs to increase new brake system, and repacking cost greatly increases, and whole process uses brake correction
It will lead to the elongated problem of takeoff distance, and using front-wheel steer correction control mode, cause to reequip cost and repacking
The problem of workload increases, and the reliability of front-wheel steer control mechanism is difficult to ensure, can use man-machine existing brake
Original component carries out correction control before vehicle system and repacking, without increasing additional system, reduces the work for having man-machine repacking
Amount, and repacking cost is reduced, it can be in conjunction with the velocity variations process during the sliding race of unmanned plane, using segmentation composite correcting
Control mode carries out correction control, improves the accelerating ability of aircraft, reduces takeoff distance.
Embodiment two
Fig. 2 is a kind of sliding flow chart for running correction control method of unmanned plane provided by Embodiment 2 of the present invention.The present embodiment
Can be in conjunction with each optinal plan in said one or multiple embodiments, in the present embodiment, at least one speed threshold
Including First Speed thresholding and/or second speed thresholding；First Speed thresholding is less than second speed thresholding；According to working as unmanned plane
Preceding running speed and at least one preset speed threshold determine target correction control mode corresponding with unmanned plane, can wrap
Include: if current running speed is less than or equal to First Speed thresholding, will target correction control mode corresponding with unmanned plane it is true
It is set to: differential brake correction control mode.
And target correction control mode corresponding with unmanned plane is rudder correction control mode；It is rectified a deviation according to target
Control mode controls the left and right brake steering engine and/or rudder of unmanned plane, may include: obtain the current lateral deviation of unmanned plane away from
And current lateral deviation is away from change rate；It obtains and the matched brake lateral deviation control coefrficient of current running speed and brake lateral deviation variation
Rate control coefrficient；According to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation change rate
Control coefrficient, determine unmanned plane works as front brake steering engine position control amount；Work as front brake steering engine position control according to unmanned plane
Amount, and the history steering engine position control amount with the left and right brake steering engine of unmanned plane, control the left and right brake steering engine of unmanned plane.
As shown in Fig. 2, this method specifically comprises the following steps:
Step 201, the current running speed for obtaining unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking.
If step 202, current running speed are less than or equal to First Speed thresholding, target corresponding with unmanned plane is entangled
Inclined control mode determines are as follows: differential brake correction control mode.
It wherein, will target correction corresponding with unmanned plane if current running speed is less than or equal to First Speed thresholding
Control mode determines are as follows: differential brake correction control mode.For example, First Speed thresholding is 8m/s.Second speed thresholding is
16m/s.If current running speed is less than or equal to 8m/s, it is determined that unmanned plane is in low speed segment, will mesh corresponding with unmanned plane
Mark correction control mode determines are as follows: differential brake correction control mode.
Step 203, obtain the current lateral deviation of unmanned plane away from and current lateral deviation away from change rate.
Wherein, current lateral deviation away from be unmanned plane current time lateral deviation away from.Lateral deviation away from be unmanned plane current location and run
The vertical range of road center line.Can by global positioning system on unmanned plane (Global Positioning System,
GPS) and known runway data, by calculate in real time obtain unmanned plane current time lateral deviation away from.Specifically, passing through
GPS can obtain unmanned plane location information, by runway centerline position known to known runway data, according to unmanned plane position
Information and runway centerline position can obtain lateral deviation away from.
According to the current lateral deviation at each moment of unmanned plane away from the current lateral deviation of unmanned plane can be determined away from change rate.
Step 204 obtains and the matched brake lateral deviation control coefrficient of current running speed and brake lateral deviation change rate control
Coefficient processed.
Wherein, brake lateral deviation control coefrficient and brake lateral deviation change rate control coefrficient are preset constants.Different cunnings
The race stage is using different brake lateral deviation control coefrficients and brake lateral deviation change rate control coefrficient.Current running speed and brake
Lateral deviation control coefrficient, brake lateral deviation change rate control coefrficient corresponding relationship be shown below:
Wherein, V is preceding running speed, VlowFor First Speed thresholding, VhighFor second speed thresholding.KZFor lateral deviation control of braking
Coefficient processed,For brake lateral deviation control coefrficient different numerical value,For brake lateral deviation change rate control coefrficient,For the different numerical value for the lateral deviation change rate control coefrficient that brakes.
In a specific example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/s.Current running speed
It is shown below with the corresponding relationship of the lateral deviation control coefrficient that brakes, the lateral deviation change rate control coefrficient that brakes:
It is -6 with the matched brake lateral deviation control coefrficient of current running speed if current running speed is less than or equal to 8,
It is 3 with the matched brake lateral deviation change rate control coefrficient of current running speed.
Step 205, according to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation
Change rate control coefrficient, determine unmanned plane works as front brake steering engine position control amount.
Wherein, according to the following formula, calculate unmanned plane works as front brake steering engine position control amount:
Wherein, Brake is unmanned plane when front brake steering engine position control amount, and dZ is current lateral deviation away from KZFor side of braking
Inclined control coefrficient,It is current lateral deviation away from change rate,For the lateral deviation change rate control coefrficient that brakes.
Step 206, according to unmanned plane when the left and right brake steering engine of front brake steering engine position control amount and unmanned plane
History steering engine position control amount controls the left and right brake steering engine of unmanned plane.
Wherein, current lateral deviation is positive and negative away from being divided into.Correspondingly, working as front brake steering engine away from what is be calculated according to current lateral deviation
Position control amount is also divided into positive and negative.
In a specific example, it is positive with right side, left side is negative.Unmanned plane current location is located at the right side of runway centerline
When side, current lateral deviation is away from being positive；When unmanned plane current location is located at the left side of runway centerline, current lateral deviation is away from being negative.
When the front brake steering engine position control amount of working as of unmanned plane is timing, determine right side steering engine works as front brake steering engine position
Control amount works as front brake steering engine position control amount equal to unmanned plane, and determine left side steering engine works as front brake steering engine position control amount
Equal to 0.For example, unmanned plane when front brake steering engine position control amount be 20 when, it is determined that right side steering engine work as front brake steering engine
Position control amount is equal to 20, determines that the front brake steering engine position control amount of working as of left side steering engine is equal to 0.That is current time needs to make
Corresponding brake weight is provided with right side steering engine control right hand side brake system.Specifically, obtaining the history steering engine position control of right side steering engine
Amount processed, i.e. the brake steering engine position control amount of the right side steering engine of previous moment.Compare when front brake steering engine position control amount and goes through
The size of history steering engine position control amount.If shown when front brake steering engine position control amount is greater than history steering engine position control amount
Steering engine position control amount increases, then directly according to the steering engine position for increasing right side steering engine when front brake steering engine position control amount.Such as
Fruit is less than history steering engine position control amount when front brake steering engine position control amount, shows that steering engine position control amount reduces, then first will
Steering engine position returns to zero-bit and keeps setting time, then increases right side steering engine according to when front brake steering engine position control amount again again
Steering engine position.
When unmanned plane is when front brake steering engine position control amount is negative, determine right side steering engine works as front brake steering engine position
Control amount is equal to 0, determines that the front brake steering engine position control amount of working as of left side steering engine works as front brake steering engine position equal to unmanned plane
The absolute value of control amount.For example, unmanned plane when front brake steering engine position control amount be -20 when, it is determined that right side steering engine is worked as
Front brake steering engine position control amount is equal to 0, and the determining front brake steering engine position control amount of working as with left side steering engine is equal to 20.It is i.e. current
Moment needs steering engine control right hand side brake system on the right side of use to provide corresponding brake weight.Specifically, obtaining the history of left side steering engine
Steering engine position control amount, i.e., the left side steering engine of previous moment work as front brake steering engine position control amount.Compare when front brake steering engine
The size of position control amount and history steering engine position control amount.If when front brake steering engine position control amount is greater than history steering engine position
Control amount is set, shows that steering engine position control amount increases, then directly increases left side steering engine according to when front brake steering engine position control amount
Steering engine position.If showing steering engine position control when front brake steering engine position control amount is less than history steering engine position control amount
Amount reduces, then steering engine position is first returned to zero-bit and keep setting time, then again again according to when front brake steering engine position control
Amount increases the steering engine position of left side steering engine.
As a result, during the brake steering engine of control left and right, when front brake steering engine position control amount and gone through according to steering engine
History steering engine position control amount, judges whether steering engine position control amount reduces.If it is determined that steering engine position control amount does not reduce, then
According to the steering engine position for increasing steering engine when front brake steering engine position control amount.If it is determined that steering engine position control amount reduces, then control
Steering engine position zero processed keeps setting time, then further according to the steering engine position for increasing steering engine when front brake steering engine position control amount
It sets, so that controlling brake system by steering engine exports brake weight.
A kind of unmanned plane provided in this embodiment is sliding to run correction control method, by being less than or equal to the in current running speed
When one speed threshold, target correction control mode corresponding with unmanned plane is determined as differential brake correction control mode, and root
It is determined away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation change rate control coefrficient according to current lateral deviation
Unmanned plane works as front brake steering engine position control amount, then works as front brake steering engine position control amount, Yi Jiyu according to unmanned plane
The history steering engine position control amount of the left and right brake steering engine of unmanned plane controls the left and right brake steering engine of unmanned plane, can run sliding
The low speed segment of process, according to unmanned plane when the steering engine position of front brake steering engine position control amount change left and right brake steering engine, control
Brake system exports different brake weights to realize that unmanned plane is sliding and run correction control at left and right sides of system, and can be directed to has man-machine brake
The characteristic of system, the brake control mode combined using continuous brake with crawl brake are reached to rectify a deviation by differential brake and be controlled
Mode processed carries out the effect of precisely correction control during unmanned plane sliding race.
Embodiment three
Fig. 3 is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention three provides.The present embodiment
It can be in conjunction with each optinal plan in said one or multiple embodiments, in the present embodiment, according to the current of unmanned plane
Running speed and at least one preset speed threshold determine target correction control mode corresponding with unmanned plane, may include:
If current running speed is greater than First Speed thresholding, and is less than second speed thresholding, then target corresponding with unmanned plane is entangled
Inclined control mode determines are as follows: composite correcting control mode.
And target correction control mode corresponding with unmanned plane is composite correcting control mode；It is rectified a deviation and is controlled according to target
Mode processed controls the left and right brake steering engine and/or rudder of unmanned plane, may include: obtain the current lateral deviation of unmanned plane away from, when
Front side offset distance change rate and current yawrate；It obtains and the matched brake lateral deviation control coefrficient of current running speed, brake
Vehicle lateral deviation change rate control coefrficient, rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient；According to current lateral deviation
Away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation change rate control coefrficient, working as unmanned plane is determined
Front brake steering engine position control amount；Work as front brake steering engine position control amount according to unmanned plane, and stops with the left and right of unmanned plane
The history steering engine position control amount of vehicle steering engine controls the left and right brake steering engine of unmanned plane；According to current lateral deviation away from, current lateral deviation away from
Change rate, current yawrate, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient, determine nobody
The direction rudder angles control amount of machine；According to the direction rudder angles control amount of unmanned plane, the rudder of unmanned plane is controlled.
As shown in figure 3, this method specifically comprises the following steps:
Step 301, the current running speed for obtaining unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking.
If step 302, current running speed are greater than First Speed thresholding, and are less than second speed thresholding, then will be with nothing
Man-machine corresponding target correction control mode determines are as follows: composite correcting control mode.
Wherein, if current running speed is greater than First Speed thresholding, and be less than second speed thresholding, then it will be with unmanned plane
Corresponding target correction control mode determines are as follows: composite correcting control mode.For example, First Speed thresholding is 8m/s.Second speed
Degree thresholding is 16m/s.If current running speed is greater than 8m/s, and is less than 16m/s, it is determined that unmanned plane is in middling speed section, will
Target correction control mode corresponding with unmanned plane determines are as follows: composite correcting control mode.
Step 303 obtains the current lateral deviation of unmanned plane away from, current lateral deviation away from change rate and current yawrate.
Wherein, yawrate can be obtained by the attitude transducer on unmanned plane.
Step 304 obtains and the matched brake lateral deviation control coefrficient of current running speed, brake lateral deviation change rate control system
Number, rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient.
Wherein, brake lateral deviation control coefrficient and brake lateral deviation change rate control coefrficient are preset constants.Different cunnings
The race stage is using different brake lateral deviation control coefrficients and brake lateral deviation change rate control coefrficient.
In a specific example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/s.Current running speed
It is shown below with the corresponding relationship of the lateral deviation control coefrficient that brakes, the lateral deviation change rate control coefrficient that brakes:
If current running speed is greater than 8m/s, and be less than 16m/s, then with the matched brake lateral deviation control of current running speed
Coefficient processed is -5, is 2 with the matched brake lateral deviation change rate control coefrficient of current running speed.
Wherein, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient are preset constants.It is different
The cunning race stage use different rudder lateral deviation control coefrficients and rudder lateral deviation change rate control coefrficient.When advancing slip race speed
It spends and is shown below with the corresponding relationship of rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient:
Wherein, V is preceding running speed, VlowFor First Speed thresholding, VhighFor second speed thresholding.KRud_ZFor rudder
Lateral deviation control coefrficient, KRud_Z1、KRud_Z2For the different numerical value of rudder lateral deviation control coefrficient,For the change of rudder lateral deviation
Rate control coefrficient,For the different numerical value of rudder lateral deviation change rate control coefrficient.
In a specific example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/s.Current running speed
It is shown below with the corresponding relationship of rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient:
If current running speed is greater than 8m/s, and be less than 16m/s, then with the matched rudder lateral deviation of current running speed
Control coefrficient is -2, is 1 with the matched rudder lateral deviation change rate control coefrficient of current running speed.
Step 305, according to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation
Change rate control coefrficient, determine unmanned plane works as front brake steering engine position control amount.
Step 306, according to unmanned plane when the left and right brake steering engine of front brake steering engine position control amount and unmanned plane
History steering engine position control amount controls the left and right brake steering engine of unmanned plane.
Step 307 is controlled away from, current lateral deviation away from change rate, current yawrate, rudder lateral deviation according to current lateral deviation
Coefficient and rudder lateral deviation change rate control coefrficient, determine the direction rudder angles control amount of unmanned plane.
Wherein, according to the following formula, the direction rudder angles control amount of unmanned plane is calculated:
Wherein, Rud is the direction rudder angles control amount of unmanned plane, and dZ is current lateral deviation away from KRud_ZFor rudder lateral deviation control
Coefficient processed,It is current lateral deviation away from change rate,For rudder lateral deviation change rate control coefrficient,It is preset
Yawrate control coefrficient, ωyFor current yawrate.
For preset constant.
Step 308, the direction rudder angles control amount according to unmanned plane, control the rudder of unmanned plane.
Wherein, current lateral deviation is positive and negative away from being divided into.Correspondingly, the direction according to current lateral deviation away from the unmanned plane being calculated
Rudder angles control amount is also divided into positive and negative.
In a specific example, it is positive with right side, left side is negative.Unmanned plane current location is located at the right side of runway centerline
When side, current lateral deviation is away from being positive；When unmanned plane current location is located at the left side of runway centerline, current lateral deviation is away from being negative.Work as nothing
Man-machine direction rudder angles control is timing, controls the rudder of unmanned plane to the right according to the direction rudder angles control amount of unmanned plane
Deflection；When the control of the direction rudder angles of unmanned plane is negative, unmanned plane is controlled according to the direction rudder angles control amount of unmanned plane
Rudder deflects to the left.
A kind of unmanned plane provided in this embodiment is sliding to run correction control method, by being greater than the first speed in current running speed
When spending thresholding, and being less than second speed thresholding, target correction control mode corresponding with unmanned plane is determined are as follows: composite correcting control
Then mode processed is worked as front brake steering engine position control amount according to unmanned plane, and is gone through with the left and right brake steering engine of unmanned plane
History steering engine position control amount, while controlling the left and right brake steering engine of unmanned plane, according to the direction rudder angles control amount of unmanned plane,
The rudder for controlling unmanned plane realizes that unmanned plane is sliding and runs correction control, can promote the accelerating ability of aircraft, reduce starting heats
Distance.
Example IV
Fig. 4 is the sliding flow chart for running correction control method of a kind of unmanned plane that the embodiment of the present invention four provides.The present embodiment
It can be in conjunction with each optinal plan in said one or multiple embodiments, in the present embodiment, according to the current of unmanned plane
Running speed and at least one preset speed threshold determine target correction control mode corresponding with unmanned plane, may include:
If current running speed is more than or equal to second speed thresholding, target correction control mode corresponding with unmanned plane is determined
Are as follows: rudder correction control mode.
And target correction control mode corresponding with unmanned plane is rudder correction control mode；It is rectified a deviation according to target
Control mode controls the left and right brake steering engine and/or rudder of unmanned plane, may include: obtain the current lateral deviation of unmanned plane away from,
Current lateral deviation is away from change rate and current yawrate；It obtains and the matched rudder lateral deviation control coefrficient of current running speed
And rudder lateral deviation change rate control coefrficient；According to current lateral deviation away from, current lateral deviation away from change rate, current yawrate,
Rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient, determine the direction rudder angles control amount of unmanned plane；
According to the direction rudder angles control amount of unmanned plane, the rudder of unmanned plane is controlled.
As shown in figure 4, this method specifically comprises the following steps:
Step 401, the current running speed for obtaining unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking.
If step 402, current running speed are more than or equal to second speed thresholding, target corresponding with unmanned plane is entangled
Inclined control mode determines are as follows: rudder correction control mode.
It wherein, will target correction corresponding with unmanned plane if current running speed is more than or equal to second speed thresholding
Control mode determines are as follows: rudder correction control mode.For example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/
s.If current running speed is more than or equal to 16m/s, it is determined that unmanned plane is in high regime, and target corresponding with unmanned plane is entangled
Inclined control mode determines are as follows: rudder correction control mode.
Step 403 obtains the current lateral deviation of unmanned plane away from, current lateral deviation away from change rate and current yawrate.
Step 404 obtains and the matched rudder lateral deviation control coefrficient of current running speed and the variation of rudder lateral deviation
Rate control coefrficient.
Wherein, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient are preset constants.It is different
The cunning race stage use different rudder lateral deviation control coefrficients and rudder lateral deviation change rate control coefrficient.
In a specific example, First Speed thresholding is 8m/s.Second speed thresholding is 16m/s.Current running speed
It is shown below with the corresponding relationship of rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient:
If current running speed is more than or equal to 16m/s, it is with the matched rudder lateral deviation control of current running speed
Number is -3, is 2 with the matched rudder lateral deviation change rate control coefrficient of current running speed.
Step 405 is controlled away from, current lateral deviation away from change rate, current yawrate, rudder lateral deviation according to current lateral deviation
Coefficient and rudder lateral deviation change rate control coefrficient, determine the direction rudder angles control amount of unmanned plane.
Step 406, the direction rudder angles control amount according to unmanned plane, control the rudder of unmanned plane.
A kind of unmanned plane provided in this embodiment is sliding to run correction control method, by being more than or equal to the in current running speed
When two speed thresholds, target correction control mode corresponding with unmanned plane is determined as rudder correction control mode, then root
According to the direction rudder angles control amount of unmanned plane, the rudder of unmanned plane is controlled, it can be in the high regime of sliding race process, according to nobody
The deflection of the direction rudder angles control amount steer direction rudder of machine controls unmanned plane course to realize that unmanned plane is sliding and run correction control
System can promote the accelerating ability of aircraft, reduce takeoff distance.
Embodiment five
Fig. 5 is the sliding structural schematic diagram for running correcting controller of a kind of unmanned plane that the embodiment of the present invention five provides.Such as Fig. 5
Shown, described device can be configured in unmanned plane, comprising: speed acquiring module 501, mode determining module 502 and control
Module 503.
Wherein, speed acquiring module 501, for obtaining the current running speed of unmanned plane, unmanned plane is to have man-machine repacking
Unmanned plane；Mode determining module 502, for determining according to current running speed and at least one preset speed threshold and
The corresponding target correction control mode of unmanned plane；Control module 503, for controlling unmanned plane according to target correction control mode
Left and right brake steering engine and/or rudder, left and right brake steering engine is to have the left side steering engine and right side steering engine added after man-machine repacking,
Rudder is to have original component before man-machine repacking.
A kind of unmanned plane provided in this embodiment is sliding to run correcting controller, passes through the current running speed according to unmanned plane
With at least one preset speed threshold, determines target correction control mode corresponding with unmanned plane, then rectified a deviation according to target
Control mode, controls the left and right brake steering engine and/or rudder of unmanned plane, and left and right brake steering engine adds after having man-machine repacking
Left side steering engine and right side steering engine, rudder are to have original component before man-machine repacking, solve the prior art using simple difference
Dynamic brake correction control mode needs to increase new brake system, and repacking cost greatly increases, and whole process uses brake correction
It will lead to the elongated problem of takeoff distance, and using front-wheel steer correction control mode, cause to reequip cost and repacking
The problem of workload increases, and the reliability of front-wheel steer control mechanism is difficult to ensure, can use man-machine existing brake
Original component carries out correction control before vehicle system and repacking, without increasing additional system, reduces the work for having man-machine repacking
Amount, and repacking cost is reduced, it can be in conjunction with the velocity variations process during the sliding race of unmanned plane, using segmentation composite correcting
Control mode carries out correction control, improves the accelerating ability of aircraft, reduces takeoff distance.
On the basis of the various embodiments described above, at least one speed threshold may include First Speed thresholding and/or second
Speed threshold；First Speed thresholding is less than second speed thresholding；Mode determining module 502 may include: that first method determines list
Member will target correction controlling party corresponding with unmanned plane if being less than or equal to First Speed thresholding for current running speed
Formula determines are as follows: differential brake correction control mode；Second method determination unit, if being greater than the first speed for current running speed
Thresholding is spent, and is less than second speed thresholding, then is determined target correction control mode corresponding with unmanned plane are as follows: composite correcting control
Mode processed；Third Way determination unit will be with unmanned plane if being more than or equal to second speed thresholding for current running speed
Corresponding target correction control mode determines are as follows: rudder correction control mode.
On the basis of the various embodiments described above, target correction control mode corresponding with unmanned plane is differential brake correction control
Mode processed；Control module 503 may include: first acquisition unit, for obtain the current lateral deviation of unmanned plane away from and work as front side
Offset distance change rate；Second acquisition unit, for obtaining and the matched brake lateral deviation control coefrficient of current running speed and brake
Lateral deviation change rate control coefrficient；First determination unit, for according to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation
Control coefrficient and brake lateral deviation change rate control coefrficient, determine unmanned plane works as front brake steering engine position control amount；First control
Unit processed for working as front brake steering engine position control amount according to unmanned plane, and is gone through with the left and right brake steering engine of unmanned plane
History steering engine position control amount controls the left and right brake steering engine of unmanned plane.
On the basis of the various embodiments described above, first control unit may include: the first computation subunit, for according to
Lower formula, calculate unmanned plane works as front brake steering engine position control amount:
Wherein, Brake is unmanned plane when front brake steering engine position control amount, and dZ is current lateral deviation away from KZFor side of braking
Inclined control coefrficient,It is current lateral deviation away from change rate,For the lateral deviation change rate control coefrficient that brakes.
On the basis of the various embodiments described above, first control unit may include: that control amount determines subelement, for working as nothing
Man-machine front brake steering engine position control amount of working as is timing, and determine the right side steering engine of unmanned plane works as front brake steering engine position control
Amount works as front brake steering engine position control amount equal to unmanned plane, determines that the front brake steering engine position of working as of the left side steering engine of unmanned plane is controlled
Amount processed is equal to 0；Control amount comparing subunit, for obtaining the history steering engine position control amount of right side steering engine, and relatively right side rudder
The size of the history steering engine position control amount for working as front brake steering engine position control amount and right side steering engine of machine；First increases son list
Member, if the history steering engine position control amount worked as front brake steering engine position control amount and be greater than right side steering engine for right side steering engine,
Then according to the steering engine position for increasing right side steering engine when front brake steering engine position control amount；Second increases subelement, if for the right side
The history steering engine position control amount of side rudder machine worked as front brake steering engine position control amount and be less than right side steering engine, then by right side steering engine
Steering engine position returns to zero-bit and keeps setting time, then according to the steering engine for increasing right side steering engine when front brake steering engine position control amount
Position.
On the basis of the various embodiments described above, target correction control mode corresponding with unmanned plane is composite correcting controlling party
Formula；Control module 503 may include: third acquiring unit, for obtaining the current lateral deviation of unmanned plane away from, current lateral deviation away from variation
Rate and current yawrate；4th acquiring unit, for obtaining and current running speed matched brake lateral deviation control system
Number, brake lateral deviation change rate control coefrficient, rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient；Second really
Order member, for according to current lateral deviation away from, current lateral deviation away from change rate, brake lateral deviation control coefrficient and brake lateral deviation change rate
Control coefrficient, determine unmanned plane works as front brake steering engine position control amount；Second control unit, for according to the current of unmanned plane
Brake steering engine position control amount, and the history steering engine position control amount with the left and right brake steering engine of unmanned plane, control unmanned plane
Left and right brake steering engine；Third determination unit, for according to current lateral deviation away from, current lateral deviation away from change rate, current yaw angle speed
Rate, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient determine the direction rudder angles control of unmanned plane
Amount；Third control unit controls the rudder of unmanned plane for the direction rudder angles control amount according to unmanned plane.
On the basis of the various embodiments described above, third determination unit may include: the second computation subunit, for according to
Lower formula calculates the direction rudder angles control amount of unmanned plane:
Wherein, Rud is the direction rudder angles control amount of unmanned plane, and dZ is current lateral deviation away from KRud_ZFor rudder lateral deviation control
Coefficient processed,It is current lateral deviation away from change rate,For rudder lateral deviation change rate control coefrficient,It is preset
Yawrate control coefrficient, ωyFor current yawrate.
On the basis of the various embodiments described above, target correction control mode corresponding with unmanned plane is rudder correction control
Mode；Control module 503 may include: the 5th acquiring unit, for obtaining the current lateral deviation of unmanned plane away from, current lateral deviation away from change
Rate and current yawrate；6th acquiring unit, for obtaining and the matched rudder lateral deviation control of current running speed
Coefficient and rudder lateral deviation change rate control coefrficient processed；4th determination unit, for according to current lateral deviation away from, current lateral deviation away from
Change rate, current yawrate, rudder lateral deviation control coefrficient and rudder lateral deviation change rate control coefrficient, determine nobody
The direction rudder angles control amount of machine；4th control unit controls unmanned plane for the direction rudder angles control amount according to unmanned plane
Rudder.
The sliding executable any embodiment of that present invention of correcting controller of running of unmanned plane provided by the embodiment of the present invention is mentioned
The unmanned plane of confession is sliding to run correction control method, has the corresponding functional module of execution method and beneficial effect.
Embodiment six
Fig. 6 is a kind of structural schematic diagram for unmanned plane that the embodiment of the present invention six provides, as shown in fig. 6, the unmanned plane packet
Include processor 601, memory 602, input unit 603, output device 604, left and right brake steering engine 605 and rudder 606；Nothing
The quantity of man-machine middle processor 601 can be one or more, in Fig. 6 by taking a processor 601 as an example；Processing in unmanned plane
Device 601, memory 602, input unit 603, output device 604, left and right brake steering engine 605 and rudder 606 can pass through
Bus or other modes connect, in Fig. 6 for being connected by bus.
Memory 602 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as the unmanned plane in the embodiment of the present invention is sliding run the corresponding program instruction/module of correction control method (for example,
Sliding speed acquiring module 501, mode determining module 502 and the control module 503 run in correcting controller of unmanned plane).Place
Software program, instruction and the module of device 601 in the memory 602 by operation storage are managed, thereby executing the various of unmanned plane
Functional application and data processing realize that above-mentioned unmanned plane is sliding and run correction control method.
Memory 602 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to unmanned plane.
It can also include nonvolatile memory in addition, memory 602 may include high-speed random access memory, for example, at least one
A disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 602 can be into
One step includes the memory remotely located relative to processor 601, these remote memories can be by being connected to the network to nobody
Machine.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 603 can be used for receiving the number or character information of input, and generate the user setting with unmanned plane
And the related key signals input of function control.Output device 604 may include instantaneous speech power.
Brake steering engine 605 in left and right has original left and right sides brake system before man-machine repacking for controlling, left and right brake rudder
Machine is to have the left side steering engine and right side steering engine added after man-machine repacking；Rudder 606, for controlling the course of unmanned plane.
Embodiment seven
The embodiment of the present invention seven additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
It realizes that unmanned plane provided in an embodiment of the present invention is sliding when computer program is executed by processor and runs correction control method, this method packet
It includes: obtaining the current running speed of unmanned plane, unmanned plane is the unmanned plane for having man-machine repacking；According to current running speed and preset
At least one speed threshold, determine corresponding with unmanned plane target correction control mode；According to target correction control mode, control
The left and right brake steering engine and/or rudder of unmanned plane processed, left and right brake steering engine be have the left side steering engine added after man-machine repacking and
Right side steering engine, rudder are to have original component before man-machine repacking.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of unmanned plane is sliding to run correction control method characterized by comprising
The current running speed of unmanned plane is obtained, the unmanned plane is the unmanned plane for having man-machine repacking；
According to the current running speed and at least one preset speed threshold, determine that target corresponding with the unmanned plane is entangled
Inclined control mode；
According to target correction control mode, the left and right brake steering engine and/or rudder of the unmanned plane, the left and right are controlled
Brake steering engine has the left side steering engine and right side steering engine added after man-machine repacking described in being, the rudder has man-machine repacking to be described
Preceding original component.
2. the method according to claim 1, wherein at least one described speed threshold includes First Speed thresholding
And/or second speed thresholding；The First Speed thresholding is less than the second speed thresholding；
According to the current running speed of the unmanned plane and at least one preset speed threshold, determination is corresponding with the unmanned plane
Target rectify a deviation control mode, comprising:
If the current running speed is less than or equal to the First Speed thresholding, target corresponding with the unmanned plane is entangled
Inclined control mode determines are as follows: differential brake correction control mode；
If the current running speed is greater than the First Speed thresholding, and is less than the second speed thresholding, then will be with institute
It states the corresponding target correction control mode of unmanned plane to determine are as follows: composite correcting control mode；
If the current running speed is more than or equal to the second speed thresholding, target corresponding with the unmanned plane is entangled
Inclined control mode determines are as follows: rudder correction control mode.
3. according to the method described in claim 2, it is characterized in that, target corresponding with unmanned plane correction control mode is
Differential brake correction control mode；
According to target correction control mode, the left and right brake steering engine and/or rudder of the unmanned plane are controlled, comprising:
Obtain the current lateral deviation of the unmanned plane away from and current lateral deviation away from change rate；
Acquisition and the matched brake lateral deviation control coefrficient of the current running speed and brake lateral deviation change rate control coefrficient；
According to the current lateral deviation away from, the current lateral deviation away from change rate, the brake lateral deviation control coefrficient and the brake
Lateral deviation change rate control coefrficient, determine the unmanned plane works as front brake steering engine position control amount；
Work as front brake steering engine position control amount according to the unmanned plane, and is gone through with the left and right brake steering engine of the unmanned plane
History steering engine position control amount controls the left and right brake steering engine of the unmanned plane.
4. according to the method described in claim 3, it is characterized in that, working as front brake steering engine position control according to the unmanned plane
Amount, and the history steering engine position control amount with the left and right brake steering engine of the unmanned plane, the left and right for controlling the unmanned plane is stopped
Vehicle steering engine, comprising:
Work as front brake steering engine position control amount when the unmanned plane for timing, determines the current of the right side steering engine of the unmanned plane
Steering engine position control amount of braking works as front brake steering engine position control amount equal to the unmanned plane, determines the left side of the unmanned plane
The front brake steering engine position control amount of working as of steering engine is equal to 0；
Obtain the history steering engine position control amount of the right side steering engine, and the right side steering engine works as front brake steering engine position
The size of control amount and the history steering engine position control amount of the right side steering engine；
If the history steering engine position for being greater than the right side steering engine when front brake steering engine position control amount of the right side steering engine is controlled
Amount processed, then according to the steering engine position for increasing the right side steering engine when front brake steering engine position control amount；
If the history steering engine position for being less than the right side steering engine when front brake steering engine position control amount of the right side steering engine is controlled
The steering engine position of the right side steering engine is then returned to zero-bit and keeps setting time by amount processed, then works as front brake steering engine according to described
Position control amount increases the steering engine position of the right side steering engine.
5. according to the method described in claim 3, it is characterized in that, according to the current lateral deviation away from, the current lateral deviation away from change
Rate, the brake lateral deviation control coefrficient and the brake lateral deviation change rate control coefrficient, determine the current of the unmanned plane
Brake steering engine position control amount, comprising:
According to the following formula, calculate the unmanned plane works as front brake steering engine position control amount:
Wherein, Brake is the unmanned plane when front brake steering engine position control amount, and dZ is the current lateral deviation away from KZIt is described
Brake lateral deviation control coefrficient,It is the current lateral deviation away from change rate,For the brake lateral deviation change rate control coefrficient.
6. according to the method described in claim 2, it is characterized in that, target corresponding with unmanned plane correction control mode is
Composite correcting control mode；
According to target correction control mode, the left and right brake steering engine and/or rudder of the unmanned plane are controlled, comprising:
The current lateral deviation of the unmanned plane is obtained away from, current lateral deviation away from change rate and current yawrate；
Acquisition and the matched brake lateral deviation control coefrficient of the current running speed, brake lateral deviation change rate control coefrficient, direction
Rudder lateral deviation control coefrficient, rudder lateral deviation change rate control coefrficient；
According to the current lateral deviation away from, the current lateral deviation away from change rate, the brake lateral deviation control coefrficient and the brake
Lateral deviation change rate control coefrficient, determine the unmanned plane works as front brake steering engine position control amount；
Work as front brake steering engine position control amount according to the unmanned plane, and is gone through with the left and right brake steering engine of the unmanned plane
History steering engine position control amount controls the left and right brake steering engine of the unmanned plane；
According to the current lateral deviation away from, the current lateral deviation away from change rate, the current yawrate, the rudder lateral deviation
Control coefrficient and the rudder lateral deviation change rate control coefrficient, determine the direction rudder angles control amount of the unmanned plane；
According to the direction rudder angles control amount of the unmanned plane, the rudder of the unmanned plane is controlled.
7. according to the method described in claim 2, it is characterized in that, target corresponding with unmanned plane correction control mode is
Rudder correction control mode；
According to target correction control mode, the left and right brake steering engine and/or rudder of the unmanned plane are controlled, comprising:
The current lateral deviation of the unmanned plane is obtained away from, current lateral deviation away from change rate and current yawrate；
Acquisition and the matched rudder lateral deviation control coefrficient of the current running speed and the control of rudder lateral deviation change rate are
Number；
According to the current lateral deviation away from, the current lateral deviation away from change rate, the current yawrate, the rudder lateral deviation
Control coefrficient and the rudder lateral deviation change rate control coefrficient, determine the direction rudder angles control amount of the unmanned plane；
According to the direction rudder angles control amount of the unmanned plane, the rudder of the unmanned plane is controlled.
8. a kind of unmanned plane is sliding to run correcting controller characterized by comprising
Speed acquiring module, for obtaining the current running speed of unmanned plane, the unmanned plane is the unmanned plane for having man-machine repacking；
Mode determining module, for according to the current running speed and at least one preset speed threshold, determine with it is described
The corresponding target correction control mode of unmanned plane；
Control module, for controlling left and right brake steering engine and/or the side of the unmanned plane according to target correction control mode
To rudder, the left and right brake steering engine has the left side steering engine and right side steering engine added after man-machine repacking to be described, and the rudder is
Original component before having man-machine repacking.
9. a kind of unmanned plane including memory, processor and stores the computer that can be run on a memory and on a processor
Program, which is characterized in that further include: left and right brake steering engine, for controlling original left and right sides brake before having man-machine repacking
Vehicle system, the left and right brake steering engine have the left side steering engine and right side steering engine added after man-machine repacking to be described；Rudder is used for
Control the course of the unmanned plane；The processor is realized when executing the computer program such as institute any in claim 1-7
The unmanned plane stated is sliding to run correction control method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
It realizes that the unmanned plane as described in any in claim 1-7 is sliding when processor executes and runs correction control method.
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