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Control method of unmanned aircraft

A control method and UAV technology, applied in attitude control and other directions, can solve the problems of anti-interference ability and fault tolerance not being practical, and achieve the effect of good anti-interference and good versatility

Inactive Publication Date: 2013-02-27
COMP APPL TECH INST OF CHINA NORTH IND GRP
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Problems solved by technology

The UAV control method is the core of the flight control system. High control precision, strong anti-interference ability, and good fault tolerance are the basic requirements for the UAV control method. less than practical requirements

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  • Control method of unmanned aircraft

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Embodiment Construction

[0025] The control method of the unmanned aerial vehicle of the present invention includes three modes: remote control mode, autonomous control mode and failure return mode.

[0026] In the remote control mode, the remote controller sends control instructions to the drone, so that the drone flies according to the received control instructions.

[0027] The autonomous control mode includes inner loop control and outer loop control, the inner loop control is used to control the attitude of the UAV, and the outer loop control is used to control the position and speed information of the UAV.

[0028] The inner loop control in the autonomous control mode adopts adaptive robust control; the outer loop control in the autonomous control mode adopts fuzzy PID control.

[0029] The failure return mode is that during the flight, when the communication between the ground station and the UAV fails, the UAV returns to the starting point according to the original path.

[0030] When the dro...

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Abstract

The invention discloses a control method of an unmanned aircraft, which comprises the following steps that a system of the unmanned aircraft is electrified to start a remote control mode, so that the unmanned aircraft flies in accordance with a received control instruction; after flight stabilization, the control mode of the unmanned aircraft is switched into an independent control mode, and adaptive robust control and fuzzy PID (Proportion-Integral-Derivative) control are respectively adopted to control an inner loop and an outer loop of the unmanned aircraft; in the independent control mode, a communication system of the unmanned aircraft is continuously detected, and if problems of the communication system occur, the unmanned aircraft is controlled to return in accordance with an original route; and in the independent control mode, own position information of the unmanned aircraft is continuously detected, and if the unmanned aircraft flies to a destination, the unmanned aircraft is controlled to return in accordance with the original route. The control method of the unmanned aircraft can be applied to fixed-wing unmanned aircraft and unmanned helicopters, and the control method has good versatility. In addition, the control method has good noninterference, fault tolerance and control precision.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to a method for controlling an unmanned aerial vehicle. Background technique [0002] UAVs are widely used in disaster prevention and rescue, scientific investigation and other fields, and the flight control system is an important part of UAVs, which plays an important role in the intelligentization and practicalization of UAVs. The UAV control method is the core of the flight control system. High control precision, strong anti-interference ability, and good fault tolerance are the basic requirements for the UAV control method. less than practical requirements. Contents of the invention [0003] Aiming at the shortcomings of traditional UAV flight control methods, a UAV control method with high control accuracy and strong anti-interference ability is provided. The UAV control method can be used for fixed-wing UAVs and unmanned helicopters. flight controls. [0004] The technica...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 胡雄文刘莹赵小川钱毅陈贤相左明周宏志徐英新张月崔倩楠李陈查长流张敏田铮瞿蓉施建昌赵欣欣刘珊刘新广郝丽丽于晶
Owner COMP APPL TECH INST OF CHINA NORTH IND GRP
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