Aircraft control method and device

Abstract

The invention discloses an aircraft control method comprising the following steps: obtaining the vertical thrust of an aircraft in an aircraft body coordinate system through coordinate system transformation and negative feedback double closed loop control according to detected current vertical position and acceleration; obtaining the horizontal controlled quantity of the aircraft in the aircraft body coordinate system through coordinate system transformation and negative feedback double closed loop control according to detected current latitude and longitude values and horizontal acceleration; obtaining the controlled quantity in the heading direction through coordinate system transformation and negative feedback double closed loop control according to detected current vertical and horizontal magnetic induction data; and controlling the aircraft to fly to a target position according to the vertical thrust, the horizontal controlled quantity and the controlled quantity in the heading direction. Aircraft control in the vertical, horizontal and heading directions can be realized, so that an aircraft can be controlled accurately to fly at a set height, and stable flight of an aircraft under complex conditions is ensured.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to a control method and device for the aircraft. Background technique [0002] Quadrotor UAV is a multi-rotor front-type aircraft that can take off and land vertically. Compared with the conventional rotor type, the quadrotor drone has a more compact structure, can generate greater lift, and has the characteristics of convenient manipulation, flexible maneuverability, low noise, and good concealment. Whether it is in the military field or in the civil field, All have very broad application prospects. [0003] However, due to the small size and light weight of most quadrotor UAVs, there are three technical difficulties in controlling the flight of the aircraft: First, it is not only affected by various physical effects during flight, but also easily affected by airflow. It is difficult to obtain its accurate performance parameters due to the disturbance of the external environment...

AI Technical Summary

Problems solved by technology

[0003] However, due to the small size and light weight of most quadrotor UAVs, there are three technical difficulties in controlling the flight of the aircraft: First, it is not only affected by various physical effects during flight, but also easily affected by airflow. It is difficult to obtain its accurate performance parameters due to the interference of the external environment; secondly, the micro quadrotor is an underactuated system with six degrees of freedom and only four control inputs

It is multivariable, nonlinear, strongly coupled and sensitive to disturbances, making the design of flight control systems very difficult

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