Unmanned machine rolling leveling control method

A control method and unmanned aerial vehicle technology, applied in the direction of control start-up method, automatic manipulation, etc., can solve problems such as impact, unfavorable aircraft safe landing, etc., achieve the effect of simple and reliable control process, and improve landing safety

Inactive Publication Date: 2008-09-17
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, from the balance relationship between force and moment when using the sideslip correction method for automatic landing above, it can be seen that the control amount of the front aileron after roll leveling makes the lateral control moment and lateral stabilizing moment M x β β balance, if the

Method used

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  • Unmanned machine rolling leveling control method
  • Unmanned machine rolling leveling control method
  • Unmanned machine rolling leveling control method

Examples

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Embodiment

[0042] In this example, the sideslip correction method is used for lateral control during the UAV’s descent phase, and a constant positive crosswind of 3m / s is added to the simulation process. When the roll leveling control is switched on, the control method in formula (7) mentioned in the background technology is directly used and the roll leveling control method provided by the present invention is used for comparison and description.

[0043] The control method in formula (7) is:

[0044] δ x = K γ γ + K ω x ω x

[0045] In this example, K γ = 1.5, K ω x = 0.2 . Such as Figure 3a , 3b As shown, in the simulation, the roll and leveling control is started at 1892....

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Abstract

The invention discloses an unmanned aircraft rolling flattening control method based on sideslip correction method, which is characterized in that a intrinsical sideslip correction method is improved by introducing an aileron controlled variable of unmanned aircraft rolling flattening control time Delta x0, according to the formula, the unmanned aircraft is processed with rolling flattening control using Delta x=Krr+Kw number-[x]Omegax+ Delta xo. The invention is particularly suitable for the unmanned aircraft control which has high requirement to landing rolling flattening while the side wind is strong. The aileron controlled variable in rolling flattening accessing time is only needed to record applying the control method of the invention, and the flattening control can be realized; the control process is simple and reliable; the airplane can be grounded in smaller roll angle; in the same side wind situation, the unmanned aircraft can be landed in near zero degree by applying the control method in the invention, which can greatly increase the landing safety of unmanned aircraft.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, in particular, it refers to a control method for rolling and leveling an unmanned aerial vehicle. Background technique [0002] Sudden changes in the weather, the invasion of micro-downdrafts, and flights and forced landings under complex weather conditions may cause the UAV to encounter crosswinds. Flying in a crosswind, if the drone's track is not corrected, the aircraft's track will deviate from the plane of symmetry of the aircraft, making the drone move in the direction of the crosswind. The greater the crosswind, the greater the lateral movement produced. When approaching and landing encounters a crosswind, if the influence of the crosswind is not promptly and effectively corrected, it will be difficult for the UAV to land on the right runway. [0003] In order to resist the influence of crosswind, there are generally two control strategies: one is the heading correct...

Claims

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Application Information

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IPC IPC(8): B64C13/18
Inventor 王勇张翠萍方晓星
Owner BEIHANG UNIV
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