Multi-control surface unmanned aerial vehicle direct lift force control method

A technology of surface unmanned aerial vehicles and control methods, applied in attitude control, three-dimensional position/course control, etc., can solve problems such as the inability to achieve decoupling of attitude and trajectory, direct lift control, unpredictable force command distribution, etc.

Active Publication Date: 2015-12-09
SHANDONG UNIV OF SCI & TECH
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

These control allocation methods can only allocate the desired torque command, but cannot allocate the desired force command, so the

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  • Multi-control surface unmanned aerial vehicle direct lift force control method
  • Multi-control surface unmanned aerial vehicle direct lift force control method
  • Multi-control surface unmanned aerial vehicle direct lift force control method

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[0078] The basic idea of ​​the present invention is:

[0079] First obtain the lift incremental error according to the desired trajectory command and the UAV’s current trajectory and acceleration information. At the same time, obtain the pitch torque incremental error according to the desired attitude angle command and the UAV’s current attitude angle and attitude angular acceleration information. The control distribution method simultaneously distributes the incremental error of lift and the incremental error of pitching moment, so as to obtain the deflection angle of each control surface, and then realize the direct lift control of the multi-control surface UAV.

[0080] The present invention will be further described in detail below in conjunction with the drawings and specific implementations:

[0081] Combine figure 1 with figure 2 As shown, the direct lift control method of a multi-control surface UAV includes the following steps:

[0082] a. The current UAV trajectory is meas...

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Abstract

The present invention discloses a multi-control surface unmanned aerial vehicle direct lift force control method. The method is characterized in that an error of an expected lift force increment and an actual lift force increment, and an error of an expected pitching moment increment and an actual pitching moment increment are calculated according to an expected longitudinal trajectory command, a pitching angle command, and the measured flight state information, such as the height, the speed, the acceleration, the pitching angle, the pitching angle acceleration, etc., and a dynamic control distribution method is adopted to carry out the control distribution calculation on the lift force increment error and the pitching moment increment error real-timely, so that the deflection angle of each control surface is obtained. According to the present invention, by the closed loop force and the moment control distribution, the direct lift force control of a multi-control surface unmanned aerial vehicle is realized, and a better posture and trajectory decoupling control effect is obtained. The method of the present invention can be applied to the direct lift force flight control of the unmanned aerial vehicle possessing the redundant control surfaces, thereby realizing the decoupling control of the pitching angle posture and the height trajectory of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and in particular relates to a method for direct lift control of an unmanned aerial vehicle with multiple control surfaces. Background technique [0002] The wide application of drones, especially the emergence of unmanned fighter jets, puts forward higher requirements for the control performance of drones. It has multiple control surfaces, which can increase the aerodynamic margin of the UAV and enhance its maneuverability, which can greatly improve its control performance. The conventional flight control method is to generate a control moment by deflecting the control surface to overcome the moment of inertia and damping of the aircraft, and to produce a change in the attitude angle, which changes the angle of attack or sideslip angle to generate an aerodynamic force that changes the trajectory. It can be seen that it indirectly affects the force by changing the moment bal...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 盖文东李玉霞张婧张桂林黄梁松
Owner SHANDONG UNIV OF SCI & TECH
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