Macro instruction generator for unmanned aerial vehicle with variable flying mode and instruction generation method for macro instruction generator

Abstract

The invention provides a macro instruction generator for an unmanned aerial vehicle with a variable flying mode and an instruction generation method for the macro instruction generator. The instruction generator comprises a guide instruction generator, a controlled state instruction generator, a state reference value generator and a macro control surface reference instruction generator. Balancing of a mode conversion process is equivalent to the balancing of various combined states in a sequence consisting of tilt angles and desired pitching angles; and in a specific tilt angle and desired pitching angle combined state, iterative optimization balancing is instructed by a cost function, so that balanced values of a state vector and a control vector of the macro control surface are changed stably along with the tilt angle and an air speed instruction. All inner functions of the guide instruction generator, the controlled state instruction generator, the state reference value generator and the macro control surface reference instruction generator are established by adopting a segmental curve fitting method according to a balanced result sequence. The iterative optimization balancing and the curve fitting are realized efficiently and accurately by using matrix laboratory (matlab) math software.

Description

technical field [0001] The invention belongs to the technical field of flight control of unmanned aerial vehicles, and in particular relates to a generalized instruction generator and an instruction generation method for an unmanned aerial vehicle with variable flight modes. Background technique [0002] The variable flight UAV is a thrust / pull vector device added on the basis of a conventional fixed-wing aircraft. Dependence, and efficient execution of tasks, has broad application prospects. [0003] Tiltable rotors and vectoring nozzles are typical forms of thrust / pull vectoring. It can be seen that the thrust / pull vector may contain multiple control quantities. In addition to the throttle control, some control quantities mainly produce the effect of pitch operation, some control quantities mainly produce the effect of yaw operation, and some control quantities mainly produce the effect of roll operation . Therefore, the thrust / pull vector control surface and the aerody...

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Problems solved by technology

[0005] Many researchers often use the trial and error method to realize the trimming during the mode transition process of the variable flight mode UAV. The trimming process does not consider the comprehensive optimization of the attitude angle and the deflection angle of the control surface, the stability is poor, and the calculation is complicated. How to use the trim data to generate the command system to guide the automatic mode switching flight, and the trim information is not fully used as the output of the command system, which is applied to the control law, and the automatic mode switching of the variable flight mode UAV is limited

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