Closed-loop control distribution method of multi-control surface unmanned aerial vehicle based on angular acceleration sensor

Abstract

The invention discloses a closed-loop control distribution method of a multi-control surface unmanned aerial vehicle based on an angular acceleration sensor, which can be applied in flight control of an unmanned aerial vehicle with redundancy multi-control surface. The method comprises: obtaining an expected angular acceleration command through an angular acceleration command of the unmanned aerial vehicle and measured angular acceleration information, obtaining the angular acceleration of the unmanned aerial vehicle through the angular acceleration sensor, obtaining the error between an expected moment increment and an actual moment increment, and performing control distribution calculation on the moment increment error in real time to obtain the reflection angles of the control surfaces. The method provided by the invention obtains angular acceleration feedback information through the angular acceleration sensor of the unmanned aerial vehicle to form a closed-loop control distribution structure so as to achieve a good control distribution effect in the case of normal work and failure of the control surfaces, and the method is simple in calculation and convenient in realization.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and specifically refers to a multi-control surface unmanned aerial vehicle closed-loop control distribution technology based on an angular acceleration sensor. Background technique [0002] Modern UAVs are developing in the direction of high mobility and high reliability. It has multiple control surfaces, which enhances its maneuverability and forms the aerodynamic redundancy of the multi-control surface layout, thereby improving the control capability of the UAV and increasing the control redundancy of the flight control system. For the control of each channel of the UAV, there are multiple control surfaces that can be utilized simultaneously. Therefore, through the simultaneous deflection of multiple control surfaces, the control effects of unconventional maneuvers such as direct lift or side force can be produced, and when one control surface fails, there are multiple oth...

AI Technical Summary

Problems solved by technology

These control distribution methods are all open-loop structures. When each control surface is in a normal working state, they can achieve a better control distribution effect, but when a certain control surface fails, they often cannot achieve the desired control effect.

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