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Unmanned aerial vehicle ground sliding deviation rectification control device and method

A control device and unmanned aerial vehicle technology, applied in the field of aircraft control, can solve problems such as deviation correction performance degradation, system divergence, and difficulty in adapting deviation correction control

Inactive Publication Date: 2014-07-23
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

But the problem is that the speed changes during the autonomous take-off and landing process of the UAV. It accelerates when it takes off and decelerates when it lands. Even the system diverges

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  • Unmanned aerial vehicle ground sliding deviation rectification control device and method

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Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0026] figure 1 It shows the structural diagram of the UAV sliding deviation correction control device in the present invention. like figure 1 As shown, the unmanned aerial vehicle sliding deviation correction control device includes a GPS module 31, a magnetic heading instrument 32, a deviation correction controller 33, an inertial measurement component 34, a steering gear servo controller 35, a front wheel steering gear 36, a digital transmission station 37, a remote control Receiver 38, ground control station 39. The UAV sliding deviation correction control device 3 is installed on the UAV 1, so that the UAV 1 always performs trajectory tracking along the runway centerline 2 during the autonomous take-off and landing...

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Abstract

The invention provides an unmanned aerial vehicle ground sliding deviation rectification control device and method. The device comprises a GPS module, a magnetic heading device, a deviation rectification controller, an inertial measurement unit, a steering engine servo controller and a front wheel steering engine. The longitude and latitude and ground velocity vector information of an unmanned aerial vehicle are acquired through the GPS module. The magnetic course information of the unmanned aerial vehicle is acquired through the magnetic heading device. The triaxial attitude angle, triaxial angular rate and body coordinate system velocity vector information of unmanned aerial vehicle motion are acquired through the inertial measurement unit. The deviation rectification controller carries out deviation rectification control calculation according to the parameters acquired by the GPS module, the magnetic heading device and the inertial measurement unit, and a steering engine control instruction is formed to be sent to the steering engine servo controller. The steering engine servo controller receives the steering engine control instruction sent by the deviation rectification controller, and power amplification signals are generated and used for driving the front wheel steering engine. Front wheel deflection is formed through the front wheel steering wheel according to the power amplification signals output by the steering engine servo controller, and therefore deviation rectification motion trajectory tracking on the unmanned aerial vehicle is caused.

Description

technical field [0001] The invention belongs to the technical field of aircraft control, and relates to a sliding deviation correction control in the autonomous take-off and landing process of an unmanned aerial vehicle, in particular to a device and method for a sliding deviation correction controller. Background technique [0002] The launch and recovery phase of UAV is a key stage in the whole flight process, and the effective and safe control of the launch and recovery phase is one of the key contents of UAV control. At present, the launch methods of UAVs mainly include orbital launch (elastic rope ejection, pneumatic launch, hydraulic / pneumatic launch and rotary launch), zero-length launch (rocket-assisted launch, hand throw launch, vehicle launch and flywheel launch) and wheel launch. The recovery methods mainly include wheel slide stop recovery, arresting net recovery, aerial salvage recovery and parachute recovery. [0003] Large UAVs such as long-endurance generall...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
Inventor 范国梁袁如意常红星易建强
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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