CN116039913B - Method and system for inhibiting shake of aerial photography fixed wing unmanned aerial vehicle body - Google Patents
Method and system for inhibiting shake of aerial photography fixed wing unmanned aerial vehicle body Download PDFInfo
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- CN116039913B CN116039913B CN202310180689.XA CN202310180689A CN116039913B CN 116039913 B CN116039913 B CN 116039913B CN 202310180689 A CN202310180689 A CN 202310180689A CN 116039913 B CN116039913 B CN 116039913B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000002401 inhibitory effect Effects 0.000 title claims description 6
- 238000005096 rolling process Methods 0.000 claims abstract description 48
- 238000007664 blowing Methods 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 230000001629 suppression Effects 0.000 claims abstract description 5
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The application relates to the technical field of unmanned aerial vehicles, and discloses a method and a system for suppressing the shake of an aerial photography fixed wing unmanned aerial vehicle body, which are used for evaluating the influence of oblique blowing moment on a rolling channel according to blowing data and flight states, and equalizing the influence into a rolling rudder to be compensated on the rolling control surface so as to suppress the shake of the body. The method comprises the following steps: according to wind tunnel data, calculating equivalent interference rolling rudders corresponding to each Mach number and attack angle at any combination of the Mach numbers and the attack angles respectively; calculating a real-time attack angle and a real-time sideslip angle according to the on-board measurement data; real-time Mach number on computer; calculating the current equivalent interference rolling rudder according to the equivalent interference rolling rudder corresponding to the Mach number, the attack angle, the sideslip angle and the sideslip angle of 1 degree on the aircraft in real time; and compensating the equivalent interference rolling rudder obtained by current calculation to the rolling control surface calculated by the rolling channel, so as to realize the suppression of the oblique blowing moment.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle control and regulation, in particular to a method and a system for inhibiting shaking of an aerial photography fixed wing unmanned aerial vehicle body.
Background
Unmanned aerial vehicle aerial survey technology has been developed continuously, and plays a great role in many fields, but aerial survey accuracy is greatly influenced by environment (particularly great change of wind field).
At present, when the unmanned aerial vehicle is designed in a rolling channel control system, a small disturbance linearization model is firstly established, then an engine body rolling channel data model is established according to an aerodynamic damping coefficient and a control moment coefficient of a rolling direction, and finally rolling channel control parameters are designed. In the design process, cross damping moment, oblique blowing moment and the like are ignored, and generally the moment is small in quantity and has small influence, and the moment is used as an interference condition to ensure the stability of the projectile body. However, in the flight process of the unmanned aerial vehicle, factors such as strong wind interference or lateral maneuver and the like can cause a larger sideslip angle, the larger sideslip angle generates a stronger oblique blowing moment, if the attack angle is larger, the oblique blowing moment can be larger, and the machine body shake can be caused, so that the stability of the machine body is seriously influenced.
Disclosure of Invention
The application aims to disclose a method and a system for inhibiting engine body shake of an aerial photography fixed wing unmanned aerial vehicle, which are used for evaluating the influence of oblique blowing moment on a rolling channel according to blowing data and flight states, and equalizing the influence into a rolling rudder to be compensated on the rolling control surface so as to inhibit engine body shake.
To achieve the above object, the method of the present application comprises:
and (3) calculating equivalent interference rolling rudders corresponding to the sideslip angles of 1 degree under any combination of each Mach number and attack angle according to wind tunnel data.
And calculating the real-time attack angle and sideslip angle according to the on-board measurement data.
Mach number on computer in real time.
And calculating the current equivalent interference rolling rudder according to the equivalent interference rolling rudder corresponding to the Mach number, the attack angle, the sideslip angle and the sideslip angle of 1 degree on the aircraft.
And compensating the equivalent interference rolling rudder obtained by current calculation to the rolling control surface calculated by the rolling channel, so as to realize the suppression of the oblique blowing moment.
In order to achieve the above purpose, the application also discloses a system for suppressing the shake of the aerial photography fixed wing unmanned aerial vehicle body, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method when executing the computer program.
Therefore, the influence of the oblique blowing moment on the rolling channel is estimated according to the blowing data and the flight state, and the influence is equivalent to the rolling rudder to be compensated on the rolling control surface. Therefore, the vibration of the machine body can be effectively inhibited, the machine is simple and easy to operate, has good engineering application value, and can ensure the flight stability of the machine body.
The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic flow chart of a method for suppressing shake of an aerial photography fixed wing unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic diagram of suppressing the shake effect of the aeroplane and test fixed wing unmanned aerial vehicle according to the embodiment of the application.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawings, but the application can be implemented in a number of different ways, which are defined and covered by the claims.
Example 1
The embodiment discloses a method for inhibiting shake of an aerial photography fixed wing unmanned aerial vehicle body, as shown in fig. 1, specifically comprising the following steps:
and S1, calculating equivalent interference steering corresponding to the sideslip angle of 1 degree under any combination of each Mach number and attack angle according to wind tunnel data.
The specific calculation formula of the step is as follows:
wherein ：the partial derivatives (which can be obtained by looking up a table) of the roll moment coefficients corresponding to the Mach number and attack angle combinations respectively; />Partial derivatives (which can be obtained through table lookup) of rolling moment coefficients corresponding to each Mach number and attack angle combination respectively to sideslip angles; delta x And (Ma, α) is the equivalent interference roll rudder corresponding to each unit sideslip angle under each mach number and attack angle combination, namely: the rudder is rolled corresponding to the disturbance moment generated by balancing the sideslip angle of 1 degree. It should be noted that, in this embodiment, the roll rudder is an equivalent virtual rudder formed by three or four actual monolithic rudder resultant forces in a fixed-wing unmanned aerial vehicle; therefore, the corresponding state of each actual single rudder can be calculated in the subsequent step of compensating the rolling rudder according to the calculated equivalent interference rolling rudder to the rolling rudder surface calculated by the rolling channel. This is common knowledge to the person skilled in the art and will not be described in detail.
And S2, calculating a real-time attack angle and sideslip angle according to the on-board measurement data.
wherein ：Vxb 、V yb 、V zb The three components of the speed at the front, the upper and the right of the machine body coordinate system are respectively, alpha is the calculated attack angle, and beta is the calculated sideslip angle.
And S3, real-time Mach numbers on the computer.
The specific calculation formula of the step is as follows:
Ma=V/(340-12. V/h) (equation 3)
Wherein, ma is Mach number,for unmanned aerial vehicle flight speed, h unmanned aerial vehicle flight altitude.
And S4, calculating the current equivalent interference rolling rudder according to the equivalent interference rolling rudder corresponding to the Mach number, the attack angle, the sideslip angle and the sideslip angle of 1 degree on the aircraft in real time.
The specific calculation formula of the step is as follows:
δ′ x (Ma,α)＝Δδ x (Ma, α). Beta.beta.equation 4
wherein ：δ′x (Ma, α) is the equivalent roll interference rudder corresponding to the current combination of mach number and angle of attack, namely: and balancing the rudder rolling corresponding to the interference moment generated by the real-time sideslip angle.
And S5, compensating the equivalent interference rolling rudder obtained by current calculation to the rolling control surface calculated by the rolling channel, and realizing the suppression of the oblique blowing moment.
Specific examples are as follows:
firstly, solving an equivalent interference rolling rudder delta corresponding to a unit sideslip angle through a formula (1) x (Ma, α) as shown in Table 1.
Table 1: equivalent interference rolling rudder corresponding to unit sideslip angle
Second, when the flying altitude of the unmanned aerial vehicle is 1500m, V xb 、V yb 、V zb The values are respectively 0.3m/s, 26.9m/s and 1.2m/s, the calculated attack angle alpha is-4.8 degrees, and the sideslip angle beta is 0.21 degrees.
Thirdly, the current unmanned aerial vehicle flying speed is 320.3m/s, and Mach number calculated through a formula (3) is 0.95.
Fourth, calculating the current equivalent disturbance rolling rudder delta through a formula (4) x ' (Ma,. Alpha.) is shown in Table 2.
Table 2: current equivalent interference roll rudder
In the step, the current equivalent interference roll rudder in the flight state is obtained by interpolation according to the formula (4) and is compensated to a roll rudder surface required by roll channel flight control, wherein the current equivalent interference roll rudder is-1.04 degrees. The effect produced by this example is shown in figure 2.
Example 2
The embodiment discloses a suppression system for the shake of an aerial photography fixed wing unmanned aerial vehicle body, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method corresponding to the embodiment when executing the computer program.
In conclusion, the principle of the embodiment is simple, the engineering applicability is strong, and firstly, the corresponding rolling rudder delta is counted when the engine body stably flies x Secondly, obtaining an equivalent interference rolling rudder delta corresponding to the sideslip angle of 1 degree according to the blowing data x Then, according to the flying state, calculating the real-time sideslip angle to obtain the real-time equivalent interference rolling rudder delta x ' finally, real-time equivalent interference is rolled and steered delta x ' Compensation to the roll rudder delta x And thereby suppresses body shake.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. The method for inhibiting the shake of the aerial photography fixed wing unmanned aerial vehicle body is characterized by comprising the following steps of:
according to wind tunnel data, calculating equivalent interference rolling rudders corresponding to each Mach number and attack angle at any combination of the Mach numbers and the attack angles respectively;
calculating a real-time attack angle and a real-time sideslip angle according to the on-board measurement data;
real-time Mach number on computer;
calculating the current equivalent interference rolling rudder according to the equivalent interference rolling rudder corresponding to the Mach number, the attack angle, the sideslip angle and the sideslip angle of 1 degree on the aircraft in real time; the equivalent interference roll rudder is a roll rudder corresponding to interference moment generated by balancing sideslip angles;
and compensating the equivalent interference rolling rudder obtained by current calculation to the rolling control surface calculated by the rolling channel, so as to realize the suppression of the oblique blowing moment.
2. The method for suppressing engine body shake of an aerial fixed wing unmanned aerial vehicle according to claim 1, wherein a calculation formula of an equivalent interference roll rudder corresponding to a sideslip angle of 1 degree is as follows:
wherein ,partial derivatives of roll moment coefficients corresponding to the Mach number and attack angle combinations respectively on the roll rudders; />Partial derivatives of roll moment coefficients to sideslip angles, which correspond to each Mach number and attack angle combination respectively; delta x And (Ma, alpha) is the equivalent interference roll rudder corresponding to each unit sideslip angle under each Mach number and attack angle combination.
3. The method for suppressing vibration of an aerial fixed wing unmanned aerial vehicle according to claim 1, wherein the calculation formulas of the attack angle and the sideslip angle in real time are as follows:
wherein ：Vxb 、V yb 、V zb The three components of the speed at the front, the upper and the right of the machine body coordinate system are respectively, alpha is the calculated attack angle, and beta is the calculated sideslip angle.
4. The method for suppressing vibration of an aerial fixed wing unmanned aerial vehicle according to claim 1, wherein the calculation formula of the real-time mach number on the aerial fixed wing unmanned aerial vehicle is:
Ma＝V/(340-12·V/h)
wherein, ma is Mach number,the flight speed of the unmanned aerial vehicle is h, and the flight altitude of the unmanned aerial vehicle is h; v (V) xb 、V yb 、V zb The three components of the speed are respectively the front component, the upper component and the right component under the machine body coordinate system.
5. The method for suppressing engine body shake of an aerial fixed wing unmanned aerial vehicle according to claim 1, wherein a specific calculation formula for calculating a current equivalent interference roll rudder according to an equivalent interference roll rudder corresponding to an on-board real-time Mach number, an attack angle, a sideslip angle and a sideslip angle of 1 degree is as follows:
δ x ′(Ma,α)＝Δδ x (Ma,α)·β
wherein ：δx ' where (Ma, α) is the equivalent disturbance roll rudder corresponding to the current combination of Mach number and angle of attack, Δδ x And (Ma, alpha) is the equivalent interference roll rudder corresponding to the Mach number and the attack angle of 1 degree sideslip angle under the current combination, and alpha and beta are respectively calculated to be the current on-board measurement data.
6. A system for suppressing the shake of an aerial fixed-wing unmanned aerial vehicle body, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any of the preceding claims 1 to 5 when executing the computer program.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103625637A (en) * | 2013-12-04 | 2014-03-12 | 中国航空工业第六一八研究所 | Large aircraft lateral gust moderating method |
| CN115390590A (en) * | 2022-10-27 | 2022-11-25 | 中南大学 | Large maneuvering control method and related equipment for axisymmetric aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7043345B2 (en) * | 2003-10-10 | 2006-05-09 | Raytheon Company | System and method with adaptive angle-of-attack autopilot |
| FR2927427B1 (en) * | 2008-02-11 | 2014-12-12 | Airbus France | METHOD AND APPARATUS FOR ATTENUATING AIRBORNE EFFECTS MADE BY TURBULENCE |
| US8571729B2 (en) * | 2012-02-08 | 2013-10-29 | The Boeing Company | Wind calculation system using a constant bank angle turn |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103625637A (en) * | 2013-12-04 | 2014-03-12 | 中国航空工业第六一八研究所 | Large aircraft lateral gust moderating method |
| CN115390590A (en) * | 2022-10-27 | 2022-11-25 | 中南大学 | Large maneuvering control method and related equipment for axisymmetric aircraft |
Non-Patent Citations (1)
| Title |
|---|
| 固定翼无人机轨迹跟踪的滑模变结构控制;唐余;林达;;四川理工学院学报(自然科学版)(第04期);第36-42页 * |
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