Forward flight speed and vertical speed matched patrol flight control method for unmanned helicopter

Abstract

The invention discloses a forward flight speed and vertical speed matched patrol flight control method for an unmanned helicopter. The method comprises the following specific steps: (1), the current forward flight speed is set according to the current position of the unmanned helicopter and a target waypoint; (2), the maximum value and the minimum value current vertical speed vz are determined according to the forward flight speed vx of the unmanned helicopter; (3), if vz exceeds the limit, that is, when vz is smaller than VZmin or larger than VZmax, vz is equal to VZmin or VZmax, and vx is recalculated; (4), speed closed-loop control is performed respectively according to the acquired forward flight speed vx and vertical speed vz; and (5), height anomaly adjustment is performed. By means of the control method, the forward flight speed and the vertical speed of the unmanned helicopter are calculated in real time according to two waypoints as well as the current position and height information of the unmanned helicopter; the method is mainly applied to unmanned helicopter detection of a transmission line of a high-voltage line, an iron tower, a waste utility pole, an elevated antenna, a forest, a mountain and a hill under patrol, and line patrol work of the unmanned helicopter under complicated conditions is realized.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and relates to a line patrol flight control method for unmanned helicopter forward flight speed / vertical speed matching. Background technique [0002] While some developed countries in the world are actively investing in the development of unmanned helicopters, Chinese aviation industry workers are also working hard to develop their own unmanned helicopters. On September 29, 1993, China's first coaxial twin-rotor unmanned helicopter "Seagull" successfully made its maiden flight, marking that my country has overcome a series of corresponding technical difficulties. According to reports, the "Seagull" has a total weight of 300 kilograms and an engine power of 58.8 kilowatts. There is a flight control navigation system and a telemetry system on board, which can fly autonomously or remotely. This kind of helicopter can also be used in the military, and plays a special role in battl...

AI Technical Summary

Problems solved by technology

When the Δh / Δl between the two waypoints is small, the unmanned helicopter will first climb to the height of the target waypoint, and then level off; however, when the Δh / Δl between the two waypoints is large, the unmanned helicopter will first Reached the horizontal position of the target waypoint, but could not reach the altitude of the target waypoint

As a result, unmanned helicopters will not be able to complete line patrol tasks in some cases

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