CN113682465B - Unmanned autorotation gyroplane flight control method based on propeller disc attitude control - Google Patents
Unmanned autorotation gyroplane flight control method based on propeller disc attitude control Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/02—Gyroplanes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses an unmanned autorotation gyroplane flight control method based on propeller disc attitude control, which is divided into a longitudinal control channel and a horizontal flight path control channel. Each control channel is divided into an outer ring and an inner ring, the outer ring performs height/speed control and horizontal track control, and the inner ring performs paddle attitude control. Wherein the inner ring attitude control does not directly control the attitude of the fuselage, but controls the attitude of the main rotor disk plane. The paddle disc plane is used as a main lifting surface, and the lifting force and resistance change can be brought when the gesture changes, but because of the teeterboard type connecting structure between the main rotor wing and the main upright post, the delay similar to the pendulum effect exists between the main rotor wing and the fuselage, and fluctuation and errors exist when the fuselage gesture control is directly carried out. Therefore, the mode of controlling the posture of the propeller disc can enable the posture of the plane of the propeller disc to be kept stable through the quick response of the steering engine, and the fuselage hung below the main rotor wing can also tend to be stable in a long period, so that a better posture control effect is achieved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to an unmanned autorotation rotorcraft flight control method based on propeller disc attitude control.
Background
Unmanned autorotation rotorcraft (simply referred to as rotorcraft) is a rotorcraft that is a member of a large family of unmanned aerial vehicles, and is not only distinguished from helicopters and fixed-wing aircraft, but also has the characteristics of both. In terms of configuration, a rotor similar to a helicopter is arranged above a rotorcraft body, but the rotor is an unpowered rotary rotor, and autorotation is realized by means of relative inflow to provide lift force for the rotorcraft. In terms of power, the rotorcraft must also be equipped with an engine in the forward direction for driving the propellers in rotation so as to generate thrust or tension for powering the rotorcraft in forward direction, similar to a fixed-wing aircraft. The flight dynamics of the autorotor is between the fixed wing aircraft and the helicopter, the forward flight power and yaw control are the same as those of the fixed wing aircraft, and the pitching attitude and rolling attitude are the same as those of the helicopter. However, there is a strong coupling between steering channels of the autogyro and some hysteresis in attitude control by the rotor disk, which are all difficulties in the design of the autogyro controller. The rotor wing has the characteristic of unpowered rotation, so that the rotor wing is simple in structure, high in economy, safety and reliability and wide in application prospect.
The mode that the gyroplane spins is difficult to produce great rotor reaction torque, therefore does not need the tail rotor of balanced reaction torque, does not have engine to the reduction gear and the rotor displacement mechanism of rotor simultaneously. Compared with a helicopter rotor, the helicopter rotor has the advantages of simple structure, low production and maintenance cost, high equipment reliability and low failure rate. The flight safety of the gyroplane is good. When the rotorcraft encounters engine parking in the air, the rotary wing can keep rotating speed by utilizing ascending airflow when the engine body descends so as to provide lifting force for safe landing, and therefore, the rotorcraft belongs to an aircraft with extremely high safety. The gyroplane has better flight stability. In order to generate enough lift force to overcome the weight, the diameter of a rotor wing is generally much larger than that of a fuselage, the rotor wing rotating in the air has a certain damping effect and gyroscopic characteristics, the longitudinal and transverse damping coefficients of the rotorcraft are obviously improved, and the flying attitude is not easy to diverge.
The autorotation rotorcraft has the characteristics of a fixed wing and a helicopter due to the special configuration, and realizes periodic torque conversion by adjusting the included angle of the oar disc relative to the fuselage, thereby realizing pitching and rolling gesture adjustment; the heading of the machine head can be controlled through a rudder; the engine speed is controlled through an accelerator steering engine so as to provide different thrust. But the engine thrust changes simultaneously cause forward speed changes, airflow velocity through the main rotor changes synchronously, so that lift force and resistance generated by the main rotor speed changes are changed, and further, altitude and forward speed changes are caused. The coupling of longitudinal speed with high control can present challenges to control method design. In addition, the connection between the autogyro fuselage and the main rotor is similar to a "pendulum", and as a high-weight, high-moment-of-inertia system, there is a certain hysteresis when the fuselage attitude is adjusted by the rotor disk, which easily results in oscillations during the fuselage attitude control.
Disclosure of Invention
Aiming at the problems, the invention provides an unmanned autorotation rotorcraft flight control method based on propeller disc attitude control, which is a high-precision and high-reliability large-scale unmanned autorotation rotorcraft flight control method and realizes the position and speed control of a medium-large-scale unmanned autorotation rotorcraft.
The unmanned autorotation gyroplane flight control method based on the paddle-tray attitude control is divided into a longitudinal control channel and a horizontal flight path control channel.
The longitudinal control channels are distinguished according to the difference value between the target height and the current height, and specifically:
when the I target height-current height I is more than 30m, the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference value between the target speed and the current airspeed is subjected to proportional and integral control in PID control, the pitch angle of the target propeller disc obtained through PI control calculation is used as the target quantity of inner ring attitude control, and the corresponding climbing or descending position of the accelerator steering engine is maintained.
When the I target height-current height I is less than 30m, the longitudinal control method adopts a fixed height mode, the control precision of the height is preferentially ensured, the height difference value of the target height and the current height is subjected to proportional and integral control in PID control, the height change rate is introduced to perform differential control, the pitch angle of the target propeller disk obtained through PID control calculation is used as the target quantity of inner ring attitude control, the speed difference value is subjected to proportional and integral control in PID control, and the throttle steering engine instruction value obtained through PI control calculation is sent to the throttle steering engine to be executed.
The horizontal track control is realized through a paddle-wheel roll rudder, the outer ring adopts side offset control, the side offset is mainly used as input quantity of the rolling gesture inner ring control, the side offset is eliminated through the horizontal movement of the aircraft by adjusting the rolling angle of the unmanned aerial vehicle through the paddle-wheel roll rudder to generate lateral component force, the rudder and the paddle-wheel roll rudder jointly turn, and the air rudder mainly carries out stability enhancement control on the heading.
The invention has the advantages that:
(1) The unmanned autorotation gyroplane flight control method based on the paddle-disc attitude control realizes the position and speed control of the medium-sized and large-sized unmanned autorotation gyroplanes;
(2) According to the unmanned autorotation rotorcraft flight control method based on the propeller disc attitude control, different control strategies are adopted in different height difference ranges when the unmanned autorotation rotorcraft flies, airspeed is preferentially ensured when the large height difference climbs down, and the unmanned autorotation rotorcraft flight control method has larger climbing rate and sinking rate. And higher control precision is obtained by controlling the height through the paddle disc during the control of the small height difference. The height control can meet the requirements of rapidity and safety and has higher precision.
(3) According to the unmanned autorotation rotorcraft flight control method based on the attitude control of the propeller disc, the attitude angle of the propeller disc relative to the ground is controlled by the attitude inner ring, and the unmanned autorotation rotorcraft flight control method has higher response speed and control precision compared with the control of the attitude of a fuselage.
Drawings
FIG. 1 is a block diagram of an unmanned autorotation rotorcraft flight control method based on rotor disk attitude control in accordance with the present invention;
FIG. 2 is a block diagram of a fixed-height mode longitudinal control architecture of an unmanned autorotor in a method of flight control of the unmanned autorotor based on rotor disk attitude control in accordance with the present invention;
FIG. 3 is a block diagram of a longitudinal control architecture for an unmanned autorotation helicopter climb/descend mode in a method for flight control of an unmanned autorotation helicopter based on pitch-disk attitude control in accordance with the present invention;
fig. 4 is a diagram illustrating the lateral heading control of an unmanned autogyro in the method for controlling the flight of an unmanned autogyro based on rotor disk attitude control according to the present invention.
Fig. 5 is a graph comparing the altitude control effects of an unmanned autogyro in the unmanned autogyro flight control method based on rotor disk attitude control according to the present invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and examples.
The invention relates to an unmanned autorotation gyroplane flight control method based on paddle plate attitude control, which mainly comprises the following steps: a fuselage providing a mounting structure for other components, a main rotor providing lift to the aircraft while providing control capability, a landing gear providing support for the aircraft, an engine providing power to the aircraft, and a tail providing stability and yaw control for the aircraft. Wherein, main rotor is as lift source and main flight control mechanism, connects on the main stand through the rotor dish, and two control levers promote the rotor dish and realize pitch angle and roll angle change of the relative fuselage of rotor dish plane. Specifically, the two control rods push up synchronously to enable the paddle board to be pressed down, and the two control rods pull down synchronously to enable the paddle board to be lifted, so that pitching motion of the rotorcraft can be controlled. The two control rods are used for differentially pushing and changing the rolling included angle of the paddle disc relative to the machine body, so that the rolling movement of the rotorcraft can be controlled.
The flight control method of the unmanned autorotation rotorcraft with the structure is divided into a longitudinal control channel and a horizontal track control channel as shown in fig. 1, wherein each control channel is responsible for calculating a corresponding output value according to a corresponding control task (such as altitude control, speed control and attitude control) through an input value and a target value. Each control channel is divided into an outer ring and an inner ring, the outer ring performs height/speed control and horizontal track control, and the inner ring performs paddle attitude control. Wherein, the inner ring attitude control is not directly controlled the fuselage attitude, but is controlled the main rotor oar plane attitude. The paddle board plane is used as a main lifting surface, and the lifting force and resistance change can be brought when the posture of the paddle board changes, but because of a 'teeterboard' type connecting structure between the main rotor wing and the main upright post, delay similar to a 'pendulum' effect exists between the main rotor wing and the main body, so that the posture change has delay and hysteresis when the paddle board is controlled, and fluctuation and error exist when the posture control of the main body is directly carried out. Therefore, the invention adopts a mode of controlling the plane gesture of the main rotor, can keep the gesture of the plane gesture of the rotor stable through the quick response of the steering engine, and the fuselage hung below the main rotor can also tend to be stable in a long period, thereby having better gesture control effect.
The longitudinal control channels are distinguished according to the difference value between the target height and the current height, and specifically:
when the height difference is larger (I target height-current height is larger than 30 m), the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference between the target speed and the current airspeed is subjected to proportion (P) and integral (I) control (without differential D link) in PID control, the pitch angle of the target propeller disc obtained through PI control calculation is used as the target quantity of inner ring attitude control, the throttle steering engine keeps the corresponding climbing (maximum) or descending (idle) position, and larger climbing rate and sinking rate can be obtained, as shown in figure 2, the specific method is designed as follows:
s1, performing error calculation according to the target airspeed and the current airspeed, and calculating a target pitch angle theta of the propeller disc through an outer-loop PI controller a The specific calculation method comprises the following steps:
wherein θ a For the pitch angle of the target pitch plate,airspeed feedback gain, airspeed integral gain, V a 、V c The target airspeed and the current airspeed, respectively.
In order to achieve larger climbing rate and sinking rate, and simultaneously consider the performance of an airplane, the target airspeed designed during climbing and descending linearly changes along with different altitudes, and the target airspeed calculation method during climbing/descending with large altitude difference comprises the following steps:
V a ＝-0.001349*H+29.94
wherein H is altitude, and the unit is m.
S2, performing inner loop PID control law calculation on the difference between the target pitch angle calculated in the step S1 and the current pitch angle obtained by AHRS measurement. The differential (D) link introduces a pitch angle rate link during inner ring control, so that the system error change trend can be predicted to a certain extent, and the system dynamic performance can be improved. And then carrying out maximum amplitude limiting on the pitch steering engine command value of the oar disc obtained after the calculation of the inner ring PID, preventing the command value from exceeding the steering engine limit, and sending the command value to the pitch steering engine of the oar disc for execution. The specific calculation method comprises the following steps:
wherein delta e For the pitch rudder amount of the propeller disc,pitch angle feedback gain, pitch angle rate feedback gain and pitch angle integral gain during airspeed control respectively, q is pitch angle rate, theta a 、θ c Respectively a target pitch angle of a propeller disc and a current pitch angle of the propeller disc, KYR is a roll angle feedforward gain, phi c Is the current roll angle.
S3, in order to obtain the maximum climbing rate during climbing, the accelerator is positioned at the maximum position; in order to obtain the maximum sinking rate when descending, the throttle is in an idle position.
When climbing or descending to approach the target height, at this time, the height difference is smaller (|target height-current height| < 30 m), the longitudinal control method adopts a fixed height mode, the control precision of the height is preferentially ensured, the height difference between the target height and the current height is subjected to proportional (P) and integral (I) control in PID control, the height change rate (lifting speed) is introduced to perform differential (D) control, the pitch angle of the target propeller disc obtained through PID control calculation is used as the target quantity of inner ring attitude control, the speed difference is subjected to proportional (P) and integral (I) control (no differential D control) in PID control, and the throttle steering engine command value obtained through PI control calculation is sent to the throttle steering engine to be executed as shown in FIG. 3, and the specific method is designed as follows:
s1, a difference value between a target height and a current height passes through a longitudinal outer ring PI controller, meanwhile, lifting speed is introduced as a differential (D) link, and a target pitch angle is calculated through an outer ring PID control law and is as follows:
wherein θ a For the pitch angle of the target pitch plate,respectively, a height feedback gain, a lifting speed feedback gain and a height integral gain +.>For sinking speed, H a 、H c The target height and the current height are respectively.
S2, performing difference between the target pitch angle calculated in the step S1 and the current pitch angle of the pitch wheel obtained by the AHRS measurement in the feature 5, and calculating according to a proportion (P), an integral (I) and a derivative (D) controller in an inner ring PID controller to obtain a pitch rudder quantity command value of the pitch wheel. The differential (D) link can predict the change trend of the system error to a certain extent and improve the dynamic performance of the system. Besides, a roll angle feedforward link is introduced, and the height of the aircraft is reduced due to the fact that the lift force loss is caused by the roll attitude during turning, and the attitude can be pulled up in advance when the roll angle appears during turning through introducing the roll angle feedforward quantity, so that the height loss in the turning process is reduced. And carrying out maximum amplitude limiting on the calculated steering wheel pitching command value, and sending the maximum amplitude limiting command value to a steering wheel pitching machine for execution. The specific calculation method of the inner loop PID control law introducing the roll angle feedforward quantity comprises the following steps:
wherein delta e For the pitch rudder amount of the propeller disc,respectively, a pitch angle feedback gain, a pitch angle rate feedback gain and a pitch angle integral gain during height control, wherein q is a pitch angle rate and theta a 、θ c Respectively a target pitch angle of a propeller disc and a current pitch angle of the propeller disc, KYR is a roll angle feedforward gain, phi c Is the current roll angle.
S3, controlling the airspeed through the throttle, controlling the proportion P and the integral I according to the difference value between the target airspeed and the current airspeed, and performing maximum limiting on the calculated command value of the steering engine rudder of the throttle and transmitting the command value to the steering engine for execution, wherein the specific calculation method comprises the following steps:
wherein delta p Is the rudder amount of the accelerator steering engine,respectively a speed feedback proportional gain, a speed integral gain, V a 、V c The target airspeed and the current airspeed, respectively.
The horizontal track control is realized through a paddle-wheel roll rudder, the outer ring adopts side offset control, the side offset is mainly used as input quantity of roll attitude inner ring control, the side offset is eliminated through the horizontal movement of an airplane by adjusting the roll angle of an unmanned aerial vehicle to generate lateral component force through the paddle-wheel roll rudder, the rudder and the paddle-wheel roll rudder jointly turn, and the air rudder mainly carries out stability augmentation control on the course, as shown in fig. 4, the specific method is designed as follows:
s1, calculating a lateral offset distance y according to a target waypoint and a current position, and obtaining a target heading through outer loop PID control, wherein the target heading is as follows:
wherein, psi is a For the target course angle of the vehicle,respectively a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, delta y For lateral offset, add>Is the lateral velocity.
S2, introducing a differential link into the course inner ring, wherein the rudder only plays a role in course stability augmentation during air flight, and the rudder and the transverse channel jointly complete coordination turning during turning, and the course inner ring gesture control law is as follows:
wherein delta r As the amount of rudder,the course angle feedback gain and the course angle velocity feedback gain are respectively, and r is the course angle velocity.
S3, calculating a lateral offset distance y according to a target waypoint and a current position, performing outer ring PI control calculation on the lateral offset distance of a transverse outer ring, introducing heading deviation feedforward quantity, performing coordinated turning with a rudder, and limiting the calculated value (limiting the amplitude to prevent overlarge rolling gesture caused by overlarge calculated target rolling angle) to obtain a target pitch disk rolling angle, wherein the specific calculation method comprises the following steps:
wherein phi is a For the target pitch angle of the rotor disk,respectively a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, delta y For lateral offset, add>For lateral speed, KRZ is heading bias gain, Δψ is heading bias.
And S4, performing inner ring control law calculation on the target pitch angle calculated in the step S3 and the current pitch angle, performing maximum amplitude limiting on the calculated pitch angle steering engine command value, preventing the command value from exceeding the steering engine limit, and sending the command value to the pitch angle steering engine for execution. The specific control law is as follows:
wherein delta a For the steering amount of the rolling of the propeller disc,the roll angle feedback gain, the roll angle rate feedback gain and the roll angle integral gain are respectively, p is the roll angle rate, phi a 、Φ c The target pitch angle and the current pitch angle are respectively.
The following simulation compares the height control effects of controlling the height by the throttle alone, controlling the height by the pitch rudder of the pitch disk alone, and the staged height control method of the present invention, as shown in fig. 5. The larger climbing rate can be obtained during initial climbing by the throttle control height alone, but the throttle control height is correspondingly slower, has overshoot and is larger, needs to be adjusted to the target height for a period of time, and has slower terminal response and lower precision. The control of the altitude by the pitch rudder alone is faster in response and higher in control accuracy when initially and near the target altitude, but the rate of climb during climb is lower. The strategy for controlling the height in stages has larger climbing rate by adjusting the throttle in the climbing process, and the height control method is switched when the height approaches the target height, so that the height can accurately and quickly reach the target height through paddle disc control.
In summary, the method disclosed by the invention can be suitable for controlling the flying position, speed and attitude of the unmanned autorotation rotorcraft in the air, the unmanned autorotation rotorcraft flies to the target height at a large climbing rate or sinking rate when climbing and descending, and the target height is reached with higher control precision and response speed by adopting a height-fixing mode when approaching to the target height. When the attitude control is performed, the paddle lifting force surface is used as a control object, so that higher response speed can be achieved, and the attitude control is more stable.
Claims (3)
1. An unmanned autorotation gyroplane flight control method based on paddle posture control is characterized in that: the system is divided into a longitudinal control channel and a horizontal track control channel;
the longitudinal control channels are distinguished according to the difference value between the target height and the current height, and specifically:
when the I target height-current height I is more than 30m, the longitudinal control method adopts a climbing/descending mode, the airspeed is preferentially ensured, at the moment, the difference value between the target speed and the current airspeed is subjected to proportional and integral control in PID control, the pitch angle of the target propeller disc obtained through PI control calculation is used as the target quantity of inner ring attitude control, and the corresponding climbing or descending position of the accelerator steering engine is maintained; the method comprises the following steps:
s1, performing error calculation according to the target airspeed and the current airspeed, and calculating a target pitch angle theta of the propeller disc through an outer-loop PI controller a The specific calculation method comprises the following steps:
wherein θ a For the pitch angle of the target pitch plate,airspeed feedback gain, airspeed integral gain, V a 、V c The target airspeed and the current airspeed are respectively;
s2, performing inner loop PID control law calculation on the difference between the target pitch angle calculated in the step S1 and the current pitch angle obtained by AHRS measurement; the differential link introduces a pitch angle rate link during inner ring control, and then carries out maximum amplitude limiting on a pitch steering engine instruction value of the oar disc obtained after inner ring PID calculation, and sends the maximum amplitude limiting instruction value to the pitch steering engine of the oar disc for execution; the specific calculation method comprises the following steps:
wherein delta e For the pitch rudder amount of the propeller disc,pitch angle feedback gain, pitch angle rate feedback gain and pitch angle integral gain during airspeed control respectively, q is pitch angle rate, theta a 、θ c Respectively a target pitch angle of a propeller disc and a current pitch angle of the propeller disc, KYR is a roll angle feedforward gain, phi c Is the current roll angle;
s3, in order to obtain the maximum climbing rate during climbing, the accelerator is positioned at the maximum position; in order to obtain the maximum sinking rate when descending, the throttle is at an idle position;
when the I target height-current height I is less than 30m, the longitudinal control method adopts a fixed height mode, the control precision of the height is preferentially ensured, the height difference value of the target height and the current height is subjected to proportional and integral control in PID control, the height change rate is introduced to perform differential control, the pitch angle of the target propeller disk obtained through PID control calculation is used as the target quantity of inner ring attitude control, the speed difference value is subjected to proportional and integral control in PID control, and the throttle steering engine instruction value obtained through PI control calculation is sent to the throttle steering engine to be executed; the method comprises the following steps:
s1, a difference value between a target height and a current height passes through a longitudinal outer ring PI controller, meanwhile, lifting speed is introduced as a differential link, and a pitch angle of a target propeller disc is calculated through an outer ring PID control law and is as follows:
wherein θ a For the pitch angle of the target pitch plate,respectively, a height feedback gain, a lifting speed feedback gain and a height integral gain +.>For sinking speed, H a 、H c The target height and the current height are respectively;
s2, performing difference between the target pitch angle calculated in the step S1 and the current pitch angle of the pitch plate obtained by AHRS measurement, and calculating according to proportional, integral and differential controllers in an inner ring PID controller to obtain a pitch rudder quantity command value of the pitch plate; simultaneously introducing a roll angle feedforward link, and leading in a roll angle feedforward quantity to lead the gesture to be pulled up in advance when the roll angle appears in the turning; the calculated pitch rudder quantity command value of the oar disc carries out maximum amplitude limiting and is sent to a pitch steering engine of the oar disc for execution; the specific calculation method of the inner loop PID control law introducing the roll angle feedforward quantity comprises the following steps:
wherein delta e For the pitch rudder amount of the propeller disc,respectively, a pitch angle feedback gain, a pitch angle rate feedback gain and a pitch angle integral gain during height control, wherein q is a pitch angle rate and theta a 、θ c Respectively a target pitch angle of a propeller disc and a current pitch angle of the propeller disc, KYR is a roll angle feedforward gain, phi c Is the current roll angle;
s3, controlling the airspeed through the throttle, controlling the proportion P and the integral I according to the difference value between the target airspeed and the current airspeed, and performing maximum limiting on the calculated command value of the steering engine rudder of the throttle and transmitting the command value to the steering engine for execution, wherein the specific calculation method comprises the following steps:
wherein delta p Is the rudder amount of the accelerator steering engine,respectively a speed feedback proportional gain, a speed integral gain, V a 、V c The target airspeed and the current airspeed are respectively;
the horizontal track control channel is realized through a propeller disc roll rudder, the outer ring adopts side offset control, the side offset is mainly used as input quantity of roll attitude inner ring control, the side offset is eliminated through the horizontal motion of an aircraft by adjusting the roll angle of an unmanned aerial vehicle through the propeller disc roll rudder to generate lateral component force, the rudder and the propeller disc roll rudder jointly turn, and the air rudder mainly carries out stability enhancement control on the course.
2. The unmanned autogyro flight control method based on rotor attitude control of claim 1, wherein: when the absolute target height-current height is more than 30m, the target airspeed designed during climbing and descending in the longitudinal control method linearly changes along with different altitudes, and the target airspeed during climbing/descending is designed as follows:
V a ＝-0.001349*H+29.94
wherein H is altitude, and the unit is m.
3. The unmanned autogyro flight control method based on rotor attitude control of claim 1, wherein: the horizontal track control method is designed as follows:
s1, calculating a lateral offset distance y according to a target waypoint and a current position, and obtaining a target heading through outer loop PID control, wherein the target heading is as follows:
wherein, psi is a For the target course angle of the vehicle,respectively a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, delta y For lateral offset, add>Is the lateral velocity;
s2, introducing a differential link into the course inner ring, wherein the rudder only plays a role in course stability augmentation during air flight, and the rudder and the transverse channel jointly complete coordination turning during turning, and the course inner ring gesture control law is as follows:
wherein delta r As the amount of rudder,the course angle feedback gain and the course angle rate feedback gain are respectively, and r is the course angle rate;
s3, calculating a lateral offset distance y according to a target waypoint and a current position, performing outer ring PI control calculation on the lateral offset distance of a transverse outer ring, introducing heading deviation feedforward quantity, performing coordinated turning with a rudder, and limiting the calculated value (limiting the amplitude to prevent overlarge rolling gesture caused by overlarge calculated target rolling angle) to obtain a target pitch disk rolling angle, wherein the specific calculation method comprises the following steps:
wherein phi is a For the target pitch angle of the rotor disk,respectively a lateral offset feedback gain, a lateral velocity feedback gain, a lateral offset integral gain, delta y For lateral offset, add>For lateral velocity, KRZ is heading bias gain, Δψ is heading bias;
s4, performing inner ring control law calculation on the target paddle rolling angle calculated in the step 3 and the current paddle rolling angle, performing maximum amplitude limiting on the calculated paddle rolling steering engine command value, preventing the command value from exceeding the steering engine limit, and sending the command value to the paddle rolling steering engine for execution, wherein the specific control law is as follows:
wherein delta a For the steering amount of the rolling of the propeller disc,the roll angle feedback gain, the roll angle rate feedback gain and the roll angle integral gain are respectively, p is the roll angle rate, phi a 、Φ c The target pitch angle and the current pitch angle are respectively.
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