Line-following flight control method for unmanned helicopter forward flight speed/vertical speed matching
A technology of unmanned helicopters and forward flight speed, applied in the field of unmanned aerial vehicles, can solve the problems that the target waypoint height cannot be reached, and the unmanned helicopter cannot complete the line patrol task, etc.
Active Publication Date: 2017-06-27
NO 60 RES INST OF GENERAL STAFF DEPT PLA
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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
Method used
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Embodiment 1
[0025] This embodiment provides an unmanned helicopter's forward flight speed / vertical speed matching method for line patrol flight control, the structure is as follows: figure 1 , figure 2 as well as image 3 shown, including the following specific steps:
[0026] (1) According to Table 1, set the distance between the current position of the unmanned helicopter and the target waypoint to set the current forward flight speed v x is 7.0m / s, where the horizontal position difference Δl between the current position and the target waypoint is 400m, and the vertical height difference Δh is 300m;
[0027] (2) According to the forward flight speed v of the unmanned helicopter x , to determine the current vertical velocity v z The maximum and minimum values of , according to can be calculated with the current forward speed v x Matched vertical velocity v z 5.25m / s;
[0028] (3) Calculation and current forward speed v x Matched vertical velocity v z , but cannot exceed the...
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The invention discloses a line patrol flight control method for unmanned helicopter forward flight speed / vertical speed matching, comprising the following specific steps: (1) setting the current forward flight speed according to the distance between the current position of the unmanned helicopter and the target waypoint; According to the forward flight speed v of the unmanned helicopter x , to determine the current vertical velocity v z The maximum and minimum values of ; (3) If v z overrun, that is, when or then take or recalculate v x ; (4) According to the obtained forward flight speed v x and the vertical velocity v z , respectively carry out speed closed-loop control; (5) highly abnormal adjustment; the control method of the present invention calculates in real time the forward flight speed and the vertical speed of the unmanned helicopter according to two waypoints and the current position and height information of the unmanned helicopter; the method mainly It is applied to unmanned helicopters to detect transmission lines, iron towers, abandoned utility poles, overhead antennas, woods, mountains and hills of high-voltage lines patrolled, and realize unmanned helicopters to patrol lines under complex conditions.
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...
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IPC IPC(8): G05D1/10
Inventor 王小青沈雯韩正伟张志清赵佳於拯威吴平冀明
Owner NO 60 RES INST OF GENERAL STAFF DEPT PLA