CN115344055A - Control guidance method and device for aircraft and computer readable storage medium - Google Patents
Control guidance method and device for aircraft and computer readable storage medium Download PDFInfo
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a control guidance method, equipment and a computer readable storage medium for an aircraft, wherein the method comprises the following steps: inputting the three-dimensional speed target, the three-dimensional speed feedforward instruction and the three-dimensional speed observation data into a speed controller of the aircraft, and calculating to obtain a horizontal acceleration target and a vertical acceleration target; inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotating speed difference, inputting the average rotating speed and the three-axis rotating speed difference into a power distribution module of the aircraft, and calculating to obtain rotating speed instructions of all motors of the aircraft. The invention realizes an automatic aircraft control guidance scheme, effectively realizes the stable flight of the aircraft and the execution of guidance instructions, and greatly improves the accuracy, stability and safety of the aircraft flight control.
Description
Technical Field
The invention relates to the technical field of unmanned aircrafts, in particular to a control guidance method and equipment for an aircraft and a computer readable storage medium.
Background
In the prior art, with the rapid development of public air transportation industry, people have become an extremely common transportation mode in daily life by taking an airplane to realize rapid and comfortable travel. Compared with the traditional manned aircraft, the unmanned aircraft can realize safer, more environment-friendly and more intelligent low-altitude short-distance manned traffic.
Currently, when navigating an unmanned aerial vehicle, real-time observation information, such as three-dimensional angle information, three-dimensional angular velocity information, three-dimensional position information, three-dimensional velocity information, three-dimensional acceleration information, and the like, needs to be provided.
How to effectively execute attitude and speed control of the aircraft according to the real-time observation information and realize stable flight and tracking guidance of the unmanned aircraft becomes a technical problem to be solved at present.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a control guidance method for an aircraft, which comprises the following steps:
inputting a three-dimensional speed target, a three-dimensional speed feedforward instruction and three-dimensional speed observation data into a speed controller of an aircraft, and calculating to obtain a horizontal acceleration target and a vertical acceleration target, wherein the three-dimensional speed target is calculated by a position controller of the aircraft according to a received three-dimensional position instruction and three-dimensional position observation data;
inputting the horizontal acceleration target and the horizontal acceleration observation data into a horizontal acceleration controller of the aircraft to obtain a horizontal attitude target through calculation, and inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data into a vertical acceleration controller of the aircraft to obtain an average rotating speed through calculation;
inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotation speed difference, inputting the average rotation speed and the three-axis rotation speed difference into a power distribution module of the aircraft, and calculating to obtain a rotation speed instruction of each motor of the aircraft.
Optionally, the inputting the three-dimensional velocity target, the three-dimensional velocity feed-forward command, and the three-dimensional velocity observation data into a velocity controller of the aircraft, and calculating to obtain a horizontal acceleration target and a vertical acceleration target, include:
decoupling positional movement of the aircraft into a horizontal channel and a vertical channel;
decoupling rotational motion of the aircraft into a roll channel, a pitch channel, and a yaw channel.
Optionally, the decoupling the positional motion of the aircraft into a horizontal path and a vertical path comprises:
taking the altitude, the vertical speed and the angle of the aircraft as observation feedback of the vertical channel, and outputting the average rotating speed of each propeller of the aircraft;
and controlling the motion of the aircraft in the vertical direction by controlling the component force of the overall pulling force corresponding to the average rotating speed in the vertical direction.
Optionally, the decoupling the positional motion of the aircraft into a horizontal path and a vertical path includes:
taking the position and the horizontal speed of the aircraft as observation feedback of the horizontal channel, outputting a target attitude angle of the aircraft, and executing attitude control of the aircraft by adjusting the rotation speed difference of each propeller of the aircraft through the attitude controller;
and when the overall lift force is dynamically equal to the gravity borne by the aircraft in the vertical direction, controlling the horizontal acceleration of the aircraft as the control of the horizontal channel.
Optionally, the decoupling the rotational motion of the aircraft into a roll channel, a pitch channel, and a yaw channel comprises:
forming a preset rotation speed difference by controlling the rotation speeds of two propellers on a rotary motion shaft of the aircraft;
and generating a rotation torque through the rotation speed difference, and taking the control of the rotation torque as the control of the roll channel and the pitch channel.
Optionally, the decoupling the rotational motion of the aircraft into a roll channel, a pitch channel, and a yaw channel comprises:
forming preset torque reaction by controlling the steering and rotating speed of a plurality of propellers of the aircraft;
generating a torque difference of a yaw axis of the aircraft by the counter torque, and controlling the torque difference as a control of the yaw channel.
Optionally, the method further comprises:
when linear type route guidance is executed, calculating to obtain a unit time velocity vector according to the current position of the aircraft, the position of a target point and the three-dimensional velocity target;
the three-dimensional position instruction is initialized to the current three-dimensional position of the aircraft, and the position target instruction is updated in a discrete integral mode according to the current three-dimensional position and the unit time velocity vector until the instruction position of the position target instruction is the target point position.
Optionally, the method further comprises:
when curve type route guidance is executed, according to three-dimensional position information of more than two orderly arranged flight task target points and the three-dimensional speed target, performing three-time interpolation of two points in sequence to form a curve;
and updating and tracking the three-dimensional position target instruction according to the curve, and executing curve type flight.
Optionally, the method further comprises:
receiving an external speed adjusting instruction when executing speed type micro-control guidance;
and planning the three-dimensional speed feedforward instruction and the three-dimensional position instruction according to the speed adjusting instruction, the limit constraints of the vertical motion process parameters and the horizontal motion process parameters.
The invention also proposes a control guidance device for an aircraft, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when being executed by the processor, implementing the steps of the control guidance method for an aircraft according to any one of the preceding claims.
The invention also proposes a computer-readable storage medium on which a control and guidance program for an aircraft is stored, which, when executed by a processor, implements the steps of a control and guidance method for an aircraft according to any one of the preceding claims.
According to the control guidance method, the control guidance equipment and the computer readable storage medium of the aircraft, a three-dimensional speed target, a three-dimensional speed feed-forward instruction and three-dimensional speed observation data are input to a speed controller of the aircraft, and a horizontal acceleration target and a vertical acceleration target are obtained through calculation, wherein the three-dimensional speed target is obtained through calculation by a position controller of the aircraft according to a received three-dimensional position instruction and three-dimensional position observation data; inputting the horizontal acceleration target and the horizontal acceleration observation data to a horizontal acceleration controller of the aircraft, calculating to obtain a horizontal attitude target, inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data to a vertical acceleration controller of the aircraft, and calculating to obtain an average rotating speed; inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotating speed difference, inputting the average rotating speed and the three-axis rotating speed difference into a power distribution module of the aircraft, and calculating to obtain rotating speed instructions of all motors of the aircraft. The invention realizes an automatic aircraft control guidance scheme, effectively realizes the stable flight of the aircraft and the execution of guidance instructions, and greatly improves the accuracy, stability and safety of the aircraft flight control.
Drawings
The invention will be further described with reference to the following drawings and examples, in which:
FIG. 1 is a flow chart of a first embodiment of a method for controlling guidance of an aircraft according to the invention;
FIG. 2 is a first flow chart of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 3 is a second flow chart of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 4 is a third flow chart of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 5 is a fourth flowchart of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 6 is a fifth flow chart of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 7 is a first flowchart of a third embodiment of the control guidance method for an aircraft according to the invention;
FIG. 8 is a second flowchart of a third embodiment of the control guidance method for an aircraft according to the invention;
FIG. 9 is a third flow chart of a third embodiment of a method for controlling guidance of an aircraft according to the invention;
FIG. 10 is a schematic view of the control logic of a first embodiment of the control guidance method for an aircraft according to the invention;
FIG. 11 is a schematic view of the line motion control of a second embodiment of the control guidance method for an aircraft according to the invention;
FIG. 12 is a schematic view of the roll-pitch control of a second embodiment of the control guidance method for an aircraft of the present invention;
fig. 13 is a schematic view of the yaw control of the second embodiment of the control guidance method for an aircraft according to the invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Example one
Fig. 1 is a flow chart of a first embodiment of the method for controlling guidance of an aircraft according to the invention. A method of control guidance of an aircraft, the method comprising:
s1, inputting a three-dimensional speed target, a three-dimensional speed feedforward instruction and three-dimensional speed observation data into a speed controller of an aircraft, and calculating to obtain a horizontal acceleration target and a vertical acceleration target, wherein the three-dimensional speed target is calculated by a position controller of the aircraft according to a received three-dimensional position instruction and three-dimensional position observation data;
s2, inputting the horizontal acceleration target and the horizontal acceleration observation data to a horizontal acceleration controller of the aircraft, calculating to obtain a horizontal attitude target, inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data to a vertical acceleration controller of the aircraft, and calculating to obtain an average rotating speed;
and S3, inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotation speed difference, inputting the average rotation speed and the three-axis rotation speed difference into a power distribution module of the aircraft, and calculating to obtain a rotation speed instruction of each motor of the aircraft.
In this embodiment, the unmanned aerial vehicle includes a position controller, a velocity controller, a horizontal acceleration controller, a vertical acceleration controller, an attitude controller, and a power distribution module. Specifically, please refer to the schematic control logic diagram shown in fig. 10, wherein the position controller is configured to receive a three-dimensional position command and three-dimensional position observation data, and calculate a three-dimensional velocity target according to the received three-dimensional position command and three-dimensional position observation data; the speed controller is used for inputting the three-dimensional speed target, and calculating to obtain a horizontal acceleration target and a vertical acceleration target by combining an externally received three-dimensional speed feedforward instruction and three-dimensional speed observation data; the horizontal acceleration controller is used for inputting the horizontal acceleration target and calculating to obtain a horizontal attitude target by combining with externally received horizontal acceleration observation data; the vertical acceleration controller is used for inputting the vertical acceleration target and calculating to obtain an average rotating speed by combining externally received vertical acceleration observation data and angle observation data; the attitude controller is used for inputting the horizontal attitude target and the set yaw angle target, and calculating to obtain a three-axis rotation speed difference by combining externally received angle observation data and angular speed observation data; and the power distribution module is used for inputting the average rotating speed and the three-axis rotating speed difference and calculating to obtain a rotating speed instruction of each motor of the aircraft.
The method has the advantages that the horizontal acceleration target and the vertical acceleration target are obtained through calculation by inputting the three-dimensional speed target, the three-dimensional speed feed-forward instruction and the three-dimensional speed observation data into the speed controller of the aircraft, wherein the three-dimensional speed target is obtained through calculation by the position controller of the aircraft according to the received three-dimensional position instruction and the three-dimensional position observation data; inputting the horizontal acceleration target and the horizontal acceleration observation data to a horizontal acceleration controller of the aircraft, calculating to obtain a horizontal attitude target, inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data to a vertical acceleration controller of the aircraft, and calculating to obtain an average rotating speed; inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotating speed difference, inputting the average rotating speed and the three-axis rotating speed difference into a power distribution module of the aircraft, and calculating to obtain rotating speed instructions of all motors of the aircraft. The embodiment realizes an automatic aircraft control guidance scheme, effectively realizes stable flight of the aircraft and guidance instruction execution, and greatly improves the accuracy, stability and safety of aircraft flight control.
Example two
Fig. 2 is a first flowchart of a second embodiment of the aircraft control guidance method according to the present invention, based on which a three-dimensional velocity target, a three-dimensional velocity feed-forward command, and three-dimensional velocity observation data are input to a velocity controller of an aircraft, and a horizontal acceleration target and a vertical acceleration target are calculated, and the method includes the following steps:
s01, decoupling the position motion of the aircraft into a horizontal channel and a vertical channel;
s02, decoupling the rotation motion of the aircraft into a roll channel, a pitch channel and a yaw channel.
In this embodiment, in a horizontal channel, the horizontal acceleration target and the horizontal acceleration observation data are input to a horizontal acceleration controller of the aircraft, and a horizontal attitude target is obtained through calculation; and in a vertical channel, inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data into a vertical acceleration controller of the aircraft, and calculating to obtain an average rotating speed.
In this embodiment, in a roll channel, a pitch channel, and a yaw channel, the horizontal attitude target, the angle observation data, the yaw angle target, and the angular velocity observation data are input to an attitude controller of the aircraft, a three-axis rotational speed difference is calculated, and the average rotational speed and the three-axis rotational speed difference are input to a power distribution module of the aircraft, so as to calculate a rotational speed command of each motor of the aircraft.
Fig. 3 is a second flowchart of a second embodiment of the method for controlling guidance of an aircraft according to the invention, in which the positional movement of the aircraft is decoupled into a horizontal path and a vertical path, comprising the following steps:
s011, taking the height, the vertical speed and the angle of the aircraft as observation feedback of the vertical channel, and outputting the average rotating speed of each propeller of the aircraft;
and S012, executing the motion control of the aircraft in the vertical direction by controlling the component force of the overall pulling force corresponding to the average rotating speed in the vertical direction.
In the present embodiment, referring to the schematic diagram of the linear motion control shown in fig. 11, in the vertical channel, the altitude, the vertical speed and the aircraft angle are taken as observation feedback, and the output is the average rotating speed of the propeller of the aircraft, which corresponds to the overall pulling and lifting force of the aircraft.
In the embodiment, the motion control of the aircraft in the vertical direction is realized by controlling the component force of the overall pulling force in the vertical direction (namely, vertical separation).
Fig. 4 is a third flowchart of a second embodiment of the method for controlling guidance of an aircraft according to the invention, in which the positional movement of the aircraft is decoupled into a horizontal path and a vertical path, comprising the following steps:
s013, taking the position and the horizontal speed of the aircraft as observation feedback of the horizontal channel, outputting a target attitude angle of the aircraft, and performing attitude control on the aircraft by adjusting the rotation speed difference of each propeller of the aircraft through the attitude controller;
and S014, when the overall lift force is dynamically equal to the gravity borne by the aircraft in the vertical direction, controlling the horizontal acceleration of the aircraft to be used as the control of the horizontal channel.
In this embodiment, referring to the schematic diagram of linear motion control shown in fig. 11, in the horizontal channel, the position and the horizontal speed are used as observation feedback, the output is used as a target attitude angle, and the attitude controller controls the attitude of the aircraft through the difference in the rotating speed of each propeller.
In the present embodiment, the control of the horizontal channel is accomplished by controlling the acceleration of the aircraft in the horizontal direction based on the fact that the overall lift (i.e., the pulling lift) is dynamically equal to the gravity experienced by the aircraft in the vertical direction.
Fig. 5 is a fourth flowchart of a second embodiment of the method for controlling guidance of an aircraft according to the invention, in which the rotational movement of the aircraft is decoupled into a roll channel, a pitch channel and a yaw channel, comprising the following steps:
s021, forming a preset rotation speed difference by controlling the rotation speeds of two propellers on a rotation motion shaft of the aircraft;
and S022, generating a rotation torque through the rotation speed difference, and controlling the rotation torque to be used as the control of the roll channel and the pitch channel.
In this embodiment, please refer to the schematic diagram of roll-pitch control shown in fig. 12, in the roll channel and the pitch channel, the same roll motion and pitch motion control modes are adopted, that is, first, the rotation speeds of the two propellers on the rotation motion axis of the aircraft are controlled to form a preset rotation speed difference, then, a rotation torque is generated through the rotation speed difference, and the control on the rotation torque is taken as the control on the roll channel and the pitch channel.
Fig. 6 is a fifth flowchart of a second embodiment of the method for controlling guidance of an aircraft according to the invention, in which the decoupling of the rotary motion of the aircraft into the roll, pitch and yaw channels comprises the following steps:
s023, forming preset torque reaction by controlling the steering and rotating speed of a plurality of propellers of the aircraft;
s024, generating a torque difference of a yaw axis of the aircraft through the antitorque, and taking control of the torque difference as control of the yaw channel.
In this embodiment, referring to the schematic yaw control diagram shown in fig. 13, in the yaw path, first, a preset anti-torque is formed by controlling the steering and the rotating speed of the propellers of the aircraft, for example, the rotating speed of the propellers is controlled to increase clockwise, and the rotating speed of the propellers is controlled to decrease counterclockwise, so that the overall counterclockwise torque of the aircraft is increased, that is, the anti-torque is obtained; then, a torque difference of a yaw axis of the aircraft is generated by the reactive torque, and control of the torque difference is taken as control of the yaw channel.
EXAMPLE III
Fig. 7 is a first flowchart of a third embodiment of the aircraft control guidance method according to the invention, based on which in this embodiment the following steps are included:
s41, when linear type route guidance is executed, calculating according to the current position of the aircraft, the position of a target point and the three-dimensional speed target to obtain a speed vector in unit time;
and S42, initializing the three-dimensional position instruction into the current three-dimensional position of the aircraft, and updating a position target instruction in a discrete integral mode according to the current three-dimensional position and the unit time velocity vector until the instruction position of the position target instruction is the target point position.
In the embodiment, when the linear type air route guidance is executed, a linear type air route from the current three-dimensional position of the aircraft to the three-dimensional position of the target point is established according to the three-dimensional position information of the flight task target point. Specifically, firstly, a unit time velocity vector is obtained according to the current position O (X, Y, Z), the target point position D (X, Y, Z) and the set three-dimensional flight velocity constraint
Then, the propulsion process of the aircraft is determined, including the position target command
Initializing the current three-dimensional position of the aircraft, and updating a position target instruction in a discrete integral form according to a unit time velocity vector
Up to
And finally, determining the tracking process of the aircraft, including controlling the aircraft to track the real-time position target instruction, so as to realize linear flight.
Fig. 8 is a second flowchart of a third embodiment of the method for controlling guidance of an aircraft according to the invention, comprising, in this embodiment, the following steps:
s43, when curve type route guidance is executed, performing three-time interpolation of two points in sequence to form a curve according to three-dimensional position information of more than two orderly-arranged flight task target points and the three-dimensional speed target;
and S44, updating and tracking the three-dimensional position target instruction according to the curve, and executing curve type flight.
In the embodiment, when executing the curve type route guidance, firstly, the three-dimensional position information of the known flight task target points which are arranged in sequence is obtained, and the constraint is set according to the flight three-dimensional speed
Obtaining the current coordinate p 0 And the position coordinates p of each point 1 ...p N And a current desired velocity vector v 0 And the desired velocity vector v at each point 1 ...v N (ii) a Then, two-point three-time Hermite interpolation is carried out in sequence to form a curve, specifically, p 0 To p 1 For example, the following steps are carried out:
after the curve is formed, determining a propulsion process of curve type route guidance, specifically comprising updating a position target command according to the following mode:
in the present embodiment, the position target command continues to be updated in the above-described manner until t (0) =0 to t (n) =1, and likewise, the updating of the position target command in accordance with p continues in the above-described manner 1 To p 2 A curve advance position target command of (1); finally, the tracking process of the aircraft is determined, namely the position target command is tracked, so that the curve type flight is realized.
Fig. 9 is a third flowchart of a third embodiment of the method for controlling guidance of an aircraft according to the invention, comprising, in this embodiment, the following steps:
s45, receiving an external speed adjusting instruction when executing speed type micro-control guidance;
and S46, planning the three-dimensional speed feedforward instruction and the three-dimensional position instruction according to the speed adjusting instruction, the limit constraints of the vertical motion process parameters and the horizontal motion process parameters.
In the embodiment, when speed type micro-control guidance is executed, a three-dimensional speed feedforward instruction and a three-dimensional position instruction are planned by receiving an external speed adjusting instruction and according to the limit constraint of motion process parameters.
In this embodiment, the transition process for planning the three-dimensional velocity feed-forward command and the three-dimensional position command specifically includes a vertical part and a horizontal part. Wherein, for the vertical part, firstly, the vertical speed command is limited and recorded as the upper and lower bounds V zmax+ 、V zma (ii) a Then, a vertical velocity feedforward command is generated, and the height position command is generated by integration:
in the present embodiment, for the horizontal portion, firstly, considering that the motion response of the horizontal portion is not as fast as that of the vertical portion, a smoother low bandwidth process needs to be configured; then, for the inputted horizontal velocity command V xyinput (n) limiting a by maximum horizontal acceleration XYmax And a maximum horizontal velocity limit v XYmax And configuring an inertia link to obtain a horizontal speed feedforward instruction, and integrating to generate a horizontal position instruction:
it can be seen that, in the present embodiment, based on the real-time observation information provided by the navigation, including three-dimensional angle information, three-dimensional angular velocity information, three-dimensional position information, three-dimensional velocity information, three-dimensional acceleration information, and the like, the attitude, velocity, and the like of the aircraft are changed by controlling the actuator of the aircraft, so as to implement stable flight and execution of the tracking guidance command. Meanwhile, in the guidance process, the tracking of the position of the arrival target or the generation of a speed instruction are realized according to the information of the position, the speed and the like of the target and the position, the speed and the constraint of the target.
Example four
Based on the above embodiment, the present invention also proposes a control guidance device for an aircraft, the device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing the steps of the control guidance method for an aircraft according to any one of the above.
It should be noted that the device embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not described herein again.
EXAMPLE five
Based on the above embodiment, the present invention also provides a computer-readable storage medium, on which a control and guidance program for an aircraft is stored, which, when executed by a processor, implements the steps of the control and guidance method for an aircraft according to any one of the above.
It should be noted that the media embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the media embodiment, which is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. A method for control guidance of an aircraft, the method comprising:
inputting a three-dimensional speed target, a three-dimensional speed feedforward instruction and three-dimensional speed observation data into a speed controller of an aircraft, and calculating to obtain a horizontal acceleration target and a vertical acceleration target, wherein the three-dimensional speed target is calculated by a position controller of the aircraft according to a received three-dimensional position instruction and three-dimensional position observation data;
inputting the horizontal acceleration target and the horizontal acceleration observation data to a horizontal acceleration controller of the aircraft, calculating to obtain a horizontal attitude target, inputting the vertical acceleration target, the vertical acceleration observation data and the angle observation data to a vertical acceleration controller of the aircraft, and calculating to obtain an average rotating speed;
inputting the horizontal attitude target, the angle observation data, the yaw angle target and the angular speed observation data into an attitude controller of the aircraft, calculating to obtain a three-axis rotating speed difference, inputting the average rotating speed and the three-axis rotating speed difference into a power distribution module of the aircraft, and calculating to obtain rotating speed instructions of all motors of the aircraft.
2. The aircraft control guidance method according to claim 1, wherein the calculating of the three-dimensional velocity target, the three-dimensional velocity feed-forward command, and the three-dimensional velocity observation data by inputting the three-dimensional velocity target, the three-dimensional velocity feed-forward command, and the three-dimensional velocity observation data to the velocity controller of the aircraft, previously comprises:
decoupling positional movement of the aircraft into a horizontal path and a vertical path;
decoupling rotational motion of the aircraft into a roll channel, a pitch channel, and a yaw channel.
3. The control guidance method for an aircraft according to claim 2, wherein the decoupling the positional movement of the aircraft into a horizontal path and a vertical path comprises:
taking the altitude, the vertical speed and the angle of the aircraft as observation feedback of the vertical channel, and outputting the average rotating speed of each propeller of the aircraft;
and controlling the motion of the aircraft in the vertical direction by controlling the component force of the overall pulling force corresponding to the average rotating speed in the vertical direction.
4. The control guidance method for an aircraft according to claim 2, wherein the decoupling the positional movement of the aircraft into a horizontal path and a vertical path comprises:
taking the position and the horizontal speed of the aircraft as observation feedback of the horizontal channel, outputting a target attitude angle of the aircraft, and executing attitude control of the aircraft by adjusting the rotation speed difference of each propeller of the aircraft through the attitude controller;
and when the overall lift force is dynamically equal to the gravity borne by the aircraft in the vertical direction, controlling the horizontal acceleration of the aircraft as the control of the horizontal channel.
5. The control guidance method for an aircraft according to claim 2, wherein the decoupling the rotational movement of the aircraft into a roll channel, a pitch channel, and a yaw channel comprises:
forming a preset rotation speed difference by controlling the rotation speeds of two propellers on a rotary motion shaft of the aircraft;
and generating a rotation torque through the rotation speed difference, and taking the control of the rotation torque as the control of the roll channel and the pitch channel.
6. The control guidance method for an aircraft according to claim 2, wherein the decoupling the rotational movement of the aircraft into a roll channel, a pitch channel, and a yaw channel comprises:
forming preset torque reaction by controlling the steering and rotating speed of a plurality of propellers of the aircraft;
generating a torque difference of a yaw axis of the aircraft by the counter torque, and controlling the torque difference as a control of the yaw channel.
7. The aircraft control guidance method of claim 1, further comprising:
when linear type route guidance is executed, calculating to obtain a unit time velocity vector according to the current position of the aircraft, the position of a target point and the three-dimensional velocity target;
and initializing the three-dimensional position instruction to the current three-dimensional position of the aircraft, and updating a position target instruction in a discrete integral mode according to the current three-dimensional position and the unit time velocity vector until the instruction position of the position target instruction is the target point position.
8. The aircraft control guidance method of claim 1, further comprising:
when curve type route guidance is executed, according to three-dimensional position information of more than two orderly arranged flight task target points and the three-dimensional speed target, performing three-time interpolation of two points in sequence to form a curve;
and updating and tracking the three-dimensional position target instruction according to the curve, and executing curve type flight.
9. The aircraft control guidance method of claim 1, further comprising:
receiving an external speed adjusting instruction when executing speed type micro-control guidance;
and planning the three-dimensional speed feedforward instruction and the three-dimensional position instruction according to the speed adjusting instruction, the limit constraints of the vertical motion process parameters and the horizontal motion process parameters.
10. A control guidance device for an aircraft, characterized in that the device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the control guidance method for an aircraft according to any one of claims 1 to 9.
11. A computer-readable storage medium, characterized in that a control guidance program of an aircraft is stored thereon, which when executed by a processor implements the steps of the control guidance method of an aircraft according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211052466.7A CN115344055A (en) | 2022-08-31 | 2022-08-31 | Control guidance method and device for aircraft and computer readable storage medium |
| PCT/CN2023/111856 WO2024046060A1 (en) | 2022-08-31 | 2023-08-09 | Control guidance method and device for aerial vehicle, and computer readable storage medium |
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| CN202211052466.7A CN115344055A (en) | 2022-08-31 | 2022-08-31 | Control guidance method and device for aircraft and computer readable storage medium |
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| CN115344055A true CN115344055A (en) | 2022-11-15 |
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| CN202211052466.7A Pending CN115344055A (en) | 2022-08-31 | 2022-08-31 | Control guidance method and device for aircraft and computer readable storage medium |
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| CN (1) | CN115344055A (en) |
| WO (1) | WO2024046060A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116650979A (en) * | 2023-07-28 | 2023-08-29 | 深圳市好盈科技股份有限公司 | Aircraft control method and device |
| WO2024046060A1 (en) * | 2022-08-31 | 2024-03-07 | 亿航智能设备（广州）有限公司 | Control guidance method and device for aerial vehicle, and computer readable storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076206A1 (en) * | 2016-10-26 | 2018-05-03 | 深圳市道通智能航空技术有限公司 | Aerial vehicle and flight control method and device thereof |
| CN106950981B (en) * | 2017-04-25 | 2020-02-11 | 深圳大学 | Unmanned aerial vehicle height control method and system |
| CN109936080B (en) * | 2019-03-28 | 2020-05-22 | 郑州大学 | Method for inspecting power transmission line by unmanned aerial vehicle |
| CN110304244A (en) * | 2019-06-26 | 2019-10-08 | 深圳市道通智能航空技术有限公司 | Flight control method, device, vert rotor aircraft and medium |
| WO2021223169A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Method and device for detecting power output of unmanned aerial vehicle |
| CN111572762A (en) * | 2020-05-19 | 2020-08-25 | 亿航智能设备（广州）有限公司 | Rotor aircraft and conversion method of propeller moment thereof |
| CN114610075A (en) * | 2022-05-10 | 2022-06-10 | 之江实验室 | Many rotor crafts of verting flight control system and many rotor unmanned aerial vehicle |
| CN115344055A (en) * | 2022-08-31 | 2022-11-15 | 亿航智能设备（广州）有限公司 | Control guidance method and device for aircraft and computer readable storage medium |
-
2022
- 2022-08-31 CN CN202211052466.7A patent/CN115344055A/en active Pending
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2023
- 2023-08-09 WO PCT/CN2023/111856 patent/WO2024046060A1/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024046060A1 (en) * | 2022-08-31 | 2024-03-07 | 亿航智能设备（广州）有限公司 | Control guidance method and device for aerial vehicle, and computer readable storage medium |
| CN116650979A (en) * | 2023-07-28 | 2023-08-29 | 深圳市好盈科技股份有限公司 | Aircraft control method and device |
| CN116650979B (en) * | 2023-07-28 | 2023-10-24 | 深圳市好盈科技股份有限公司 | Aircraft control method and device |
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| WO2024046060A1 (en) | 2024-03-07 |
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