CN117270578A - Yaw correction control method and device for double-vertical-tail unmanned aerial vehicle and storage medium - Google Patents
Yaw correction control method and device for double-vertical-tail unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The invention discloses a yaw correction control method and device of a double-vertical-tail unmanned aerial vehicle and a storage medium, and relates to the technical field of aircraft dynamics. The method comprises the steps of determining an expected yaw rate based on the speed, the roll angle and the pitch angle of the double-vertical-fin unmanned aerial vehicle; determining a desired triaxial angular velocity based on the desired yaw angular velocity, the desired roll angular velocity and the desired pitch angular velocity; taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as inputs of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating aileron rudder deflection and elevator rudder deflection; the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction are used as inputs of feedforward control, the actual angular velocity in the z-axis direction is used as a feedforward signal, and rudder deflection is calculated so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle. The method, the device and the storage medium disclosed by the invention can ensure the course stability of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of aircraft dynamics, and particularly relates to a yaw correction control method and device for a double-vertical-tail unmanned aerial vehicle and a storage medium.
Background
In order to maintain the stable flight state of the unmanned plane with a fixed horizontal altitude, the ailerons, elevators and rudders of the unmanned plane need to be controlled cooperatively to compensate. In the turning process of the fixed wing unmanned aerial vehicle, the aileron is required to be actuated to generate a roll gesture to perform horizontal turning, the yaw rate can be generated due to the action of gravity in the process, and meanwhile, the roll coupling effect can also influence the sideslip of the unmanned aerial vehicle.
At present, most unmanned aerial vehicle's yaw passage with vertical fin structure relies on the vertical fin to carry out self stabilization, and its yaw convergence rate is slower, influences unmanned aerial vehicle flight control precision, leads to unmanned aerial vehicle yaw control power relatively poor.
Therefore, how to provide an effective solution to improve the yaw control capability of the unmanned aerial vehicle has become a problem to be solved in the prior art.
Disclosure of Invention
The invention aims to provide a yaw correction control method and device for a double-vertical-tail unmanned aerial vehicle and a storage medium, which are used for solving the problems in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a yaw correction control method for a double vertical tail unmanned aerial vehicle, including:
determining an expected yaw rate of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle;
determining an expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle based on the expected yaw angular velocity of the double-vertical-fin unmanned aerial vehicle, the expected rolling angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle, wherein the expected rolling angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle are determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle comprises an expected angular velocity in an x-axis direction, an expected angular velocity in a y-axis direction and an expected angular velocity in a z-axis direction;
taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating the aileron rudder deflection and the elevator rudder deflection of the double-vertical-fin unmanned aerial vehicle;
and taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-tail unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle based on the aileron rudder deflection, the elevator rudder deflection and the rudder deflection.
Based on the above disclosure, the method determines the expected yaw rate of the double-vertical-fin unmanned aerial vehicle based on the speed, the roll angle and the pitch angle of the double-vertical-fin unmanned aerial vehicle; determining an expected triaxial angular speed of the double-vertical-fin unmanned aerial vehicle based on an expected yaw angular speed, an expected roll angular speed and an expected pitch angular speed of the double-vertical-fin unmanned aerial vehicle, wherein the expected roll angular speed and the expected pitch angular speed are determined by a navigation and guidance system, and the expected triaxial angular speed comprises an expected angular speed in an x-axis direction, an expected angular speed in a y-axis direction and an expected angular speed in a z-axis direction; taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating aileron rudder deflection and elevator rudder deflection through an unmanned aerial vehicle dynamic equation; taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection through an unmanned aerial vehicle power equation so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle based on aileron rudder deflection, elevator rudder deflection and rudder deflection. Therefore, in the turning process of the double-vertical-fin unmanned aerial vehicle, the yaw angle is enabled to be stable in overall change, the yaw angle speed is consistent with the roll angle trend, the influence of roll turning on a yaw channel is effectively overcome, the unmanned aerial vehicle is prevented from sideslip, and the course stability of the unmanned aerial vehicle is ensured.
Through the design, the yaw angle of the unmanned aerial vehicle can be changed stably integrally in the turning process of the double-vertical-fin unmanned aerial vehicle, the yaw angular velocity is consistent with the rolling angle trend, the influence of rolling turning on a yaw channel is effectively overcome, the unmanned aerial vehicle is prevented from sideslip, the course stability of the unmanned aerial vehicle is ensured, and the unmanned aerial vehicle is convenient to apply and popularize practically.
In one possible design, the desired yaw rate of the double vertical tail drone is:
wherein->Representing a desired yaw rate of the double vertical tail unmanned aerial vehicle,Vrepresenting the speed of the double vertical tail unmanned aerial vehicle,gindicating the acceleration of gravity>Represents the roll angle of the double vertical-fin unmanned aerial vehicle,θand representing the pitch angle of the double vertical-fin unmanned aerial vehicle.
In one possible design, the desired three-axis angular velocity of the double vertical tail unmanned aerial vehicle is:
wherein->Representing the desired triaxial angular velocity of the double vertical fin unmanned aerial vehicle>Indicating the desired angular velocity in the x-axis direction, +.>Indicating the desired angular velocity in the y-axis direction, +.>Indicating the desired angular velocity in the z-axis direction, +.>Indicating that the double vertical tails are absentDesired roll angle speed of man-machine, +.>Representing a desired yaw rate of the double vertical tail unmanned aerial vehicle,/->Representing the desired pitch angle rate of the double vertical tail unmanned aerial vehicle,/->Represents the roll angle of the double vertical-fin unmanned aerial vehicle,θand representing the pitch angle of the double vertical-fin unmanned aerial vehicle.
In one possible design, the method further comprises:
calculating the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction through an unmanned aerial vehicle dynamic equation based on the aileron rudder bias, the elevator rudder bias and the rudder bias, so as to perform feedforward control on the aileron rudder bias, the elevator rudder bias and the rudder bias of the double-vertical-fin unmanned aerial vehicle based on the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction;
the mechanical equation of the unmanned aerial vehicle isWherein, the method comprises the steps of, wherein,mrepresenting the quality of the double vertical-fin unmanned aerial vehicle,Vrepresenting the speed of the double vertical fin unmanned aerial vehicle, < >>Representing the projection of the speed vector of the double vertical-fin unmanned aerial vehicle in the machine body coordinate system,/->Representing the projection of the angular velocity vector of the double vertical-fin unmanned aerial vehicle in a machine body coordinate system,Trepresents the thrust of the double vertical fin unmanned aerial vehicle, < ->Represents the axial force of the double vertical fin unmanned aerial vehicle, < ->Represents the angle of attack of the double vertical fin unmanned aerial vehicle,/->Indicating sideslip angle of the double vertical-fin unmanned aerial vehicle,/->Representing the derivative of the lateral force of the double vertical unmanned aerial vehicle on the sideslip angle thereof, +.>Representing the derivative of the normal force of the double vertical unmanned aerial vehicle on the attack angle thereof, +.>Represents a coordinate transformation matrix from an inertial coordinate system to a machine body coordinate system 321 in turn,gindicating the acceleration of gravity>、And->Respectively representing the triaxial moment of inertia of the double vertical fin unmanned aerial vehicle>、/>And->Respectively representing triaxial damping moment derivative of the double vertical fin unmanned aerial vehicle,/->And->Sequentially representing longitudinal stabilizing moment derivative and transverse stabilizing moment derivative of the double vertical tail unmanned aerial vehicle, and performing +.>、/>And->Respectively representing three-axis control moment derivative and +.>、/>And->And the aileron rudder deflection, the elevator rudder deflection and the rudder deflection of the double vertical tail unmanned aerial vehicle are sequentially represented.
In one possible design, the inertial coordinate system is a north-east coordinate system.
In one possible design, the method further comprises:
and establishing a dynamic equation of the unmanned aerial vehicle based on a vector expression of the dynamic equation of the double vertical-fin unmanned aerial vehicle.
In one possible design, the vector expression of the kinetic equation isWherein, the method comprises the steps of, wherein,mrepresenting the mass of the double vertical fin unmanned aerial vehicle, < >>Representing the projection of the speed vector of the double vertical-fin unmanned aerial vehicle in the machine body coordinate system,/->Representing the desired triaxial angular velocity of the double vertical hinged unmanned aerial vehicle,Frepresenting an effect on the double sagExternal force on tail unmanned aerial vehicle, +.>Representing the inertial tensor on the double vertical unmanned aerial vehicle,/->And the external moment acting on the double vertical tail unmanned aerial vehicle is represented.
In a second aspect, the present invention provides a yaw correction control device for a double vertical tail unmanned aerial vehicle, including:
the first determining unit is used for determining the expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle;
a second determining unit, configured to determine an expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle based on an expected yaw angular velocity of the double-vertical-fin unmanned aerial vehicle, an expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle, and an expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle, where the expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle are determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle includes an expected angular velocity in an x-axis direction, an expected angular velocity in a y-axis direction, and an expected angular velocity in a z-axis direction;
the first calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating the aileron rudder deflection and the elevator rudder deflection of the double vertical-fin unmanned aerial vehicle;
and the second calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-fin unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-fin unmanned aerial vehicle based on the aileron rudder deflection, the elevator rudder deflection and the rudder deflection.
In a third aspect, the present invention provides another yaw correction control device of a double-vertical-fin unmanned aerial vehicle, which includes a memory, a processor and a transceiver that are sequentially in communication, where the memory is configured to store a computer program, the transceiver is configured to send and receive a message, and the processor is configured to read the computer program, and execute the yaw correction control method of the double-vertical-fin unmanned aerial vehicle according to the first aspect or any one of the first aspect and the second aspect.
In a fourth aspect, the present invention provides a computer readable storage medium having instructions stored thereon that, when executed on a computer, perform the yaw correction control method of the first aspect or any one of the first aspects that may be designed for a dual vertical tail unmanned aerial vehicle.
In a fifth aspect, the invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a yaw correction control method of a double vertical tail unmanned aerial vehicle as described in the first aspect or any one of the possible designs of the first aspect.
The beneficial effects are that:
the yaw correction control method, the yaw correction control device and the storage medium for the double-vertical-fin unmanned aerial vehicle can enable the yaw angle to change steadily as a whole in the turning process of the double-vertical-fin unmanned aerial vehicle, the yaw angular speed is consistent with the rolling angle trend, the influence of rolling turning on a yaw channel is effectively overcome, the unmanned aerial vehicle is prevented from sideslip, the course stability of the unmanned aerial vehicle is ensured, and the method and the device are convenient for practical application and popularization.
Drawings
Fig. 1 is a flowchart of a yaw correction control method of a double vertical tail unmanned aerial vehicle provided in an embodiment of the present application;
fig. 2 is a control logic diagram for feedforward control of aileron rudder deflection and elevator rudder deflection of a double vertical tail unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a control logic diagram for feedforward control of rudder deflection of a double vertical tail unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a yaw correction control device of a double vertical tail unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a yaw correction control device of another double vertical tail unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the description of the embodiments or the prior art, and it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that for the term "and/or" that may appear herein, it is merely one association relationship that describes an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a alone, B alone, and both a and B; for the term "/and" that may appear herein, which is descriptive of another associative object relationship, it means that there may be two relationships, e.g., a/and B, it may be expressed that: a alone, a alone and B alone; in addition, for the character "/" that may appear herein, it is generally indicated that the context associated object is an "or" relationship.
In order to improve unmanned aerial vehicle's yaw control ability, this application embodiment provides a two vertical fin unmanned aerial vehicle's yaw correction control method, device and storage medium, and this two vertical fin unmanned aerial vehicle's yaw correction control method, device and storage medium can effectively overcome the influence of roll turn to yaw passageway, avoid unmanned aerial vehicle to produce sideslip, ensure unmanned aerial vehicle course's stability.
The yaw correction control method of the double-vertical-fin unmanned aerial vehicle can be applied to flight control of the double-vertical-fin unmanned aerial vehicle. It is understood that the execution bodies do not constitute limitations on the embodiments of the present application.
The yaw correction control method of the double vertical-fin unmanned aerial vehicle provided by the embodiment of the application will be described in detail below.
As shown in fig. 1, a flowchart of a yaw correction control method of a dual vertical tail unmanned aerial vehicle according to the first aspect of the present application is provided, where the yaw correction control method of the dual vertical tail unmanned aerial vehicle may include, but is not limited to, the following steps S101 to S104.
S101, determining expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle.
Typically in unmanned aerial vehicle attitude control, yaw angle and yaw rate need to be consistent with unmanned aerial vehicle turns, thus compensating for yaw rate in the yaw path due to gravity. In the embodiment of the application, the expected yaw rate of the double vertical tail unmanned aerial vehicle can be expressed asWherein->Representing the desired yaw rate of the dual vertical tail unmanned aerial vehicle,Vthe speed of the double vertical tail unmanned aerial vehicle is represented,gindicating the acceleration of gravity>Represents the rolling angle of the double vertical tail unmanned aerial vehicle,θand representing the pitch angle of the double vertical tail unmanned aerial vehicle.
S102, determining the expected triaxial angular speed of the double-vertical-fin unmanned aerial vehicle based on the expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle, the expected rolling angular speed of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular speed of the double-vertical-fin unmanned aerial vehicle.
The expected rolling angle speed of the double-vertical-fin unmanned aerial vehicle and the expected pitch angle speed of the double-vertical-fin unmanned aerial vehicle can be determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular speed of the double-vertical-fin unmanned aerial vehicle comprises an expected angular speed in an x-axis direction, an expected angular speed in a y-axis direction and an expected angular speed in a z-axis direction.
In this application implementation, according to the conversion relation between the inertial coordinate system and the unmanned aerial vehicle body coordinate system, the expected triaxial angular velocity of the double vertical tail unmanned aerial vehicle can be expressed as:
wherein,representing the desired triaxial angular velocity of the double vertical fin unmanned aerial vehicle>Indicating the desired angular velocity in the x-axis direction, +.>Indicating the desired angular velocity in the y-axis direction, +.>Indicating the desired angular velocity in the z-axis direction, +.>Indicating the desired roll angle speed of a double vertical tail unmanned aerial vehicle,/->Representing a desired yaw rate of the double vertical tail unmanned aerial vehicle,/->Representing the desired pitch angle speed of a double vertical tail unmanned aerial vehicle,/->Represents the rolling angle of the double vertical tail unmanned aerial vehicle,θrepresents the pitch angle of a double vertical tail unmanned aerial vehicle, +.>A direction cosine array representing the rolling angle and the turn sequence (the inertial coordinate system is converted into the turn sequence of the machine body coordinate system, such as zyx turn sequence) of the double vertical-tail unmanned aerial vehicle,and the direction cosine array according to the pitch angle and the turn sequence of the double vertical tail unmanned aerial vehicle is shown.
S103, taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as inputs of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating aileron rudder deflection and elevator rudder deflection of the double-vertical-tail unmanned aerial vehicle.
For the pitching direction and the rolling direction, namely the y axis and the x axis, as yaw passing needs to be kept stable control, the influence on the coupling of two channels is small, classical PI+feedforward control can be adopted for angular velocity control, namely the expected angular velocity in the x axis direction and the expected angular velocity in the y axis direction are used as inputs of feedforward control, the actual angular velocity in the x axis direction and the actual angular velocity in the y axis direction are used as feedforward signals, and the aileron rudder deflection and the elevator rudder deflection of the double vertical-fin unmanned aerial vehicle are calculated.
S104, taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-tail unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle based on aileron rudder deflection, elevator rudder deflection and rudder deflection.
For yaw direction, namely the z axis, because the angle of sideslip needs control convergence, and angular velocity control is influenced by the roll passageway greatly, for not increasing more unmanned aerial vehicle observables, can introduce the proportional feedback of expected roll angle speed on the basis of PI+ feedforward control to independent two perpendicular to the angle of attack of tail unmanned aerial vehicle and two perpendicular to the actual angular velocity of tail unmanned aerial vehicle in the x axis direction, simultaneously because two perpendicular to the tail unmanned aerial vehicle rudder efficiency is stronger, based on the convergence nature of pitch passageway and roll passageway control decoupling, also can guarantee this proportional feedback at the stability of yaw passageway control.
It is understood that the order of step S103 and step S104 is not limited.
In the embodiment of the application, after the aileron bias, the elevator bias and the rudder bias of the double-vertical-fin unmanned aerial vehicle are calculated, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction can be calculated through an unmanned aerial vehicle dynamics equation based on the aileron bias, the elevator bias and the rudder bias, so that the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction are used as feedforward signals, and the aileron bias, the elevator bias and the rudder bias of the double-vertical-fin unmanned aerial vehicle are subjected to feedforward control.
As shown in fig. 2, the control logic diagram is a control logic diagram for feedforward control of aileron rudder deflection and elevator rudder deflection of the double vertical tail unmanned aerial vehicle. As shown in fig. 3, the control logic diagram is a control logic diagram for feedforward control of rudder deflection of the double vertical tail unmanned aerial vehicle.
In the embodiment of the application, the unmanned aerial vehicle dynamic equation can be established in advance based on the vector expression of the dynamic equation of the double vertical-fin unmanned aerial vehicle.
Specifically, since the unmanned aerial vehicle turns and maneuvers and adopts a Bank-to-Turn (BTT) mode, in order to facilitate description of a BTT maneuvering three-channel coupling gesture motion equation, a motion equation can be established based on a body coordinate system, and a vector expression of a dynamic equation of the double vertical-tail unmanned aerial vehicle can be deduced by a momentum theorem and a variable mass particle dynamics basic equation:wherein, the method comprises the steps of, wherein,mrepresenting the mass of a double vertical tail unmanned aerial vehicle, +.>Representing the projection of the speed vector of the double vertical tail unmanned aerial vehicle in the body coordinate system, +.>Representation double vertical tail unmanned aerial vehicleIs provided with a desired triaxial angular velocity,Frepresents external force acting on the double vertical tail unmanned aerial vehicle, < ->Representing inertial tensor on double vertical tail unmanned aerial vehicle,/->And the external moment acting on the double vertical tail unmanned aerial vehicle is represented.
The double-vertical-tail unmanned aerial vehicle is regarded as a rigid body, and the influence of a small quantity of products and rudder deflection on the mass center motion is ignored, so that an unmanned aerial vehicle power equation of the double-vertical-tail unmanned aerial vehicle can be obtainedWherein, the method comprises the steps of, wherein,mthe quality of the double vertical tail unmanned aerial vehicle is represented,Vspeed of double vertical tail unmanned aerial vehicle is represented, +.>Representing the projection of the speed vector of the double vertical tail unmanned aerial vehicle in the body coordinate system, +.>The projection of the angular velocity vector of the double vertical-fin unmanned aerial vehicle in the machine body coordinate system is represented,Trepresents the thrust of a double vertical tail unmanned aerial vehicle, +.>Represents the axial force of a double vertical tail unmanned aerial vehicle, < ->Represents the angle of attack of a double vertical tail unmanned aerial vehicle, < ->Represents sideslip angle of double vertical tail unmanned aerial vehicle, < ->Representing the derivative of the lateral force of a double vertical tail unmanned aerial vehicle on its sideslip angle +.>Representing doubleDerivative of normal force of vertical-tail unmanned aerial vehicle on attack angle thereof, +.>Represents the coordinate transformation matrix from the inertial coordinate system to the machine body coordinate system 321 in turn (zyx in turn),gindicating the acceleration of gravity>、/>And->Respectively representing triaxial moment of inertia of the double vertical fin unmanned aerial vehicle, < ->、/>And->Respectively representing triaxial damping moment derivative of double vertical-fin Unmanned Aerial Vehicle (UAV)>And->Sequentially representing longitudinal stabilizing moment derivative and transverse stabilizing moment derivative of double vertical tail Unmanned Aerial Vehicle (UAV)>、/>And->Triaxial control moment derivative of double vertical-tail unmanned aerial vehicle is represented respectively>、/>And->The aileron rudder deflection, the elevator rudder deflection and the rudder deflection of the double vertical tail unmanned aerial vehicle are sequentially represented.
Further consider the long period motion parameter as constant and approximate a small amount of trigonometric function, thus can be considered asThus there is->Wherein->Representation->Derivative of>Representation->Is a derivative of (a). It follows that the roll angle velocity is not negligible under roll-to-turn maneuvers, regardless of the angle of attack sideslip angle or the three-axis angular velocity control equation, and is coupled to the other two channels.
In the embodiments of the present application, the inertial coordinate system is a North-East-Down (NED) coordinate system, and it is understood that in other embodiments, other coordinate systems may be used, such as an northeast-East-Down (ENU) coordinate system.
According to the yaw correction control method of the double-vertical-fin unmanned aerial vehicle, the expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle is determined based on the speed, the roll angle and the pitch angle of the double-vertical-fin unmanned aerial vehicle; determining an expected triaxial angular speed of the double-vertical-fin unmanned aerial vehicle based on an expected yaw angular speed, an expected roll angular speed and an expected pitch angular speed of the double-vertical-fin unmanned aerial vehicle, wherein the expected roll angular speed and the expected pitch angular speed are determined by a navigation and guidance system, and the expected triaxial angular speed comprises an expected angular speed in an x-axis direction, an expected angular speed in a y-axis direction and an expected angular speed in a z-axis direction; taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating aileron rudder deflection and elevator rudder deflection through an unmanned aerial vehicle dynamic equation; taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection through an unmanned aerial vehicle power equation so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle based on aileron rudder deflection, elevator rudder deflection and rudder deflection. Therefore, in the turning process of the double-vertical-fin unmanned aerial vehicle, the yaw angle is enabled to be stable in overall change, the yaw angle speed is consistent with the roll angle trend, the influence of roll turning on a yaw channel is effectively overcome, the unmanned aerial vehicle is prevented from sideslip, and the course stability of the unmanned aerial vehicle is ensured. Meanwhile, the method is not dependent on more unmanned aerial vehicle information, and is reliable and easy to realize.
Referring to fig. 4, a second aspect of the embodiments of the present application provides a yaw correction control device of a dual vertical tail unmanned aerial vehicle, where the yaw correction control device of the dual vertical tail unmanned aerial vehicle includes:
the first determining unit is used for determining the expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle;
a second determining unit, configured to determine an expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle based on an expected yaw angular velocity of the double-vertical-fin unmanned aerial vehicle, an expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle, and an expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle, where the expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle are determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle includes an expected angular velocity in an x-axis direction, an expected angular velocity in a y-axis direction, and an expected angular velocity in a z-axis direction;
the first calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating the aileron rudder deflection and the elevator rudder deflection of the double vertical-fin unmanned aerial vehicle;
and the second calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-fin unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-fin unmanned aerial vehicle based on the aileron rudder deflection, the elevator rudder deflection and the rudder deflection.
The working process, working details and technical effects of the yaw correction control device of the double vertical-fin unmanned aerial vehicle provided in the second aspect of the present embodiment can be referred to in the first aspect of the present embodiment, and are not repeated herein.
As shown in fig. 5, a third aspect of the embodiment of the present application provides another yaw correction control device of a double-vertical-tail unmanned aerial vehicle, which includes a memory, a processor and a transceiver that are sequentially in communication, where the memory is used to store a computer program, the transceiver is used to send and receive a message, and the processor is used to read the computer program and execute the yaw correction control method of the double-vertical-tail unmanned aerial vehicle according to the first aspect of the embodiment.
By way of specific example, the Memory may include, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), flash Memory (Flash Memory), first-in-first-out Memory (FIFO), and/or first-in-last-out Memory (FILO), etc.; the processor may not be limited to a processor adopting architecture such as a microprocessor, ARM (Advanced RISC Machines), X86, etc. of the model STM32F105 series or a processor integrating NPU (neural-network processing units); the transceiver may be, but is not limited to, a WiFi (wireless fidelity) wireless transceiver, a bluetooth wireless transceiver, a general packet radio service technology (General Packet Radio Service, GPRS) wireless transceiver, a ZigBee protocol (low power local area network protocol based on the ieee802.15.4 standard), a 3G transceiver, a 4G transceiver, and/or a 5G transceiver, etc.
A fourth aspect of the present embodiment provides a computer readable storage medium storing instructions including the yaw correction control method of the double vertical-fin unmanned aerial vehicle according to the first aspect of the present embodiment, that is, the computer readable storage medium stores instructions thereon, and when the instructions run on a computer, the yaw correction control method of the double vertical-fin unmanned aerial vehicle according to the first aspect is executed. The computer readable storage medium refers to a carrier for storing data, and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash Memory, and/or a Memory Stick (Memory Stick), etc., where the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
A fifth aspect of the present embodiment provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the yaw correction control method of the double vertical tail drone of the first aspect of the embodiment, wherein the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus.
It should be understood that specific details are provided in the following description to provide a thorough understanding of the example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, a system may be shown in block diagrams in order to avoid obscuring the examples with unnecessary detail. In other instances, well-known processes, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the example embodiments.
Finally, it should be noted that: the foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The yaw correction control method of the double-vertical-tail unmanned aerial vehicle is characterized by comprising the following steps of:
determining an expected yaw rate of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle;
determining an expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle based on the expected yaw angular velocity of the double-vertical-fin unmanned aerial vehicle, the expected rolling angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle, wherein the expected rolling angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle are determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle comprises an expected angular velocity in an x-axis direction, an expected angular velocity in a y-axis direction and an expected angular velocity in a z-axis direction;
taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating the aileron rudder deflection and the elevator rudder deflection of the double-vertical-fin unmanned aerial vehicle;
and taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-tail unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-tail unmanned aerial vehicle based on the aileron rudder deflection, the elevator rudder deflection and the rudder deflection.
2. The yaw correction control method of a double vertical tail unmanned aerial vehicle according to claim 1, wherein the desired yaw rate of the double vertical tail unmanned aerial vehicle is:
wherein->Representing a desired yaw rate of the double vertical tail unmanned aerial vehicle,Vrepresenting the speed of the double vertical tail unmanned aerial vehicle,gindicating the acceleration of gravity>Represents the roll angle of the double vertical-fin unmanned aerial vehicle,θand representing the pitch angle of the double vertical-fin unmanned aerial vehicle.
3. The yaw correction control method of a double vertical tail unmanned aerial vehicle of claim 1, wherein the expected three-axis angular velocity of the double vertical tail unmanned aerial vehicle is:
wherein->Representing the desired triaxial angular velocity of the double vertical fin unmanned aerial vehicle>Indicating the desired angular velocity in the x-axis direction, +.>Indicating the desired angular velocity in the y-axis direction, +.>Indicating a desired angular velocity in the z-axis direction,representing the desired roll angle speed of the double vertical tail unmanned aerial vehicle,/->Representing a desired yaw rate of the double vertical tail unmanned aerial vehicle,/->Representing the double vertical finDesired pitch rate of unmanned aerial vehicle, +.>Represents the roll angle of the double vertical-fin unmanned aerial vehicle,θand representing the pitch angle of the double vertical-fin unmanned aerial vehicle.
4. A method of yaw correction control of a double vertical tail unmanned aerial vehicle according to claim 3, wherein the method further comprises:
calculating the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction through an unmanned aerial vehicle dynamic equation based on the aileron rudder bias, the elevator rudder bias and the rudder bias, so as to perform feedforward control on the aileron rudder bias, the elevator rudder bias and the rudder bias of the double-vertical-fin unmanned aerial vehicle based on the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the x-axis direction, the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the y-axis direction and the actual angular velocity of the double-vertical-fin unmanned aerial vehicle in the z-axis direction;
the mechanical equation of the unmanned aerial vehicle isWherein, the method comprises the steps of, wherein,mrepresenting the quality of the double vertical-fin unmanned aerial vehicle,Vrepresenting the speed of the double vertical fin unmanned aerial vehicle, < >>Representing the projection of the speed vector of the double vertical-fin unmanned aerial vehicle in the machine body coordinate system,/->Representing the projection of the angular velocity vector of the double vertical-fin unmanned aerial vehicle in a machine body coordinate system,Trepresents the thrust of the double vertical fin unmanned aerial vehicle, < ->Represents the axial force of the double vertical fin unmanned aerial vehicle, < ->Represents the angle of attack of the double vertical fin unmanned aerial vehicle,/->Indicating sideslip angle of the double vertical-fin unmanned aerial vehicle,/->Representing the derivative of the lateral force of the double vertical unmanned aerial vehicle on the sideslip angle thereof, +.>Representing the derivative of the normal force of the double vertical unmanned aerial vehicle on the attack angle thereof, +.>Represents a coordinate transformation matrix from an inertial coordinate system to a machine body coordinate system 321 in turn,gindicating the acceleration of gravity>、/>And->Respectively representing the triaxial moment of inertia of the double vertical fin unmanned aerial vehicle>、/>And->Respectively representing triaxial damping moment derivative of the double vertical fin unmanned aerial vehicle,/->And->Sequentially representing longitudinal stabilizing moment derivative and transverse stabilizing moment derivative of the double vertical tail unmanned aerial vehicle, and performing +.>、/>And->Respectively representing three-axis control moment derivative and +.>、/>And->And the aileron rudder deflection, the elevator rudder deflection and the rudder deflection of the double vertical tail unmanned aerial vehicle are sequentially represented.
5. The yaw correction control method of the double vertical tail unmanned aerial vehicle of claim 4, wherein the inertial coordinate system is a northeast coordinate system.
6. The yaw correction control method of a double vertical tail unmanned aerial vehicle of claim 1, wherein the method further comprises:
and establishing a dynamic equation of the unmanned aerial vehicle based on a vector expression of the dynamic equation of the double vertical-fin unmanned aerial vehicle.
7. The yaw correction control method of the double vertical tail unmanned aerial vehicle according to claim 6, wherein the vector expression of the dynamics equation isWherein, the method comprises the steps of, wherein,mrepresenting the mass of the double vertical fin unmanned aerial vehicle, < >>Representing the projection of the speed vector of the double vertical-fin unmanned aerial vehicle in the machine body coordinate system,/->Representing the desired triaxial angular velocity of the double vertical hinged unmanned aerial vehicle,Frepresents an external force acting on the double vertical tail unmanned aerial vehicle, < >>Representing the inertial tensor on the double vertical unmanned aerial vehicle,/->And the external moment acting on the double vertical tail unmanned aerial vehicle is represented.
8. Yaw correction control device of two vertical fin unmanned aerial vehicle, its characterized in that includes:
the first determining unit is used for determining the expected yaw angular speed of the double-vertical-fin unmanned aerial vehicle based on the speed of the double-vertical-fin unmanned aerial vehicle, the rolling angle of the double-vertical-fin unmanned aerial vehicle and the pitch angle of the double-vertical-fin unmanned aerial vehicle;
a second determining unit, configured to determine an expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle based on an expected yaw angular velocity of the double-vertical-fin unmanned aerial vehicle, an expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle, and an expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle, where the expected roll angular velocity of the double-vertical-fin unmanned aerial vehicle and the expected pitch angular velocity of the double-vertical-fin unmanned aerial vehicle are determined by a navigation and guidance system of the double-vertical-fin unmanned aerial vehicle, and the expected triaxial angular velocity of the double-vertical-fin unmanned aerial vehicle includes an expected angular velocity in an x-axis direction, an expected angular velocity in a y-axis direction, and an expected angular velocity in a z-axis direction;
the first calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the y-axis direction as the input of feedforward control, taking the actual angular velocity in the x-axis direction and the actual angular velocity in the y-axis direction as feedforward signals, and calculating the aileron rudder deflection and the elevator rudder deflection of the double vertical-fin unmanned aerial vehicle;
and the second calculation unit is used for taking the expected angular velocity in the x-axis direction and the expected angular velocity in the z-axis direction as inputs of feedforward control, taking the actual angular velocity in the z-axis direction as a feedforward signal, and calculating rudder deflection of the double-vertical-fin unmanned aerial vehicle so as to perform yaw correction control on the double-vertical-fin unmanned aerial vehicle based on the aileron rudder deflection, the elevator rudder deflection and the rudder deflection.
9. The yaw correction control device of the double-vertical-fin unmanned aerial vehicle is characterized by comprising a memory, a processor and a transceiver which are sequentially in communication connection, wherein the memory is used for storing a computer program, the transceiver is used for receiving and transmitting messages, and the processor is used for reading the computer program and executing the yaw correction control method of the double-vertical-fin unmanned aerial vehicle according to any one of claims 1 to 7.
10. A computer readable storage medium having instructions stored thereon which, when executed on a computer, perform the yaw correction control method of a double vertical tail unmanned aerial vehicle according to any one of claims 1 to 7.
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