A method for online real-time flight quality assessment and parameter adjustment of unmanned aerial vehicles
A flight quality, UAV technology, applied in control/adjustment systems, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problems of low data fitting accuracy, low work efficiency, and large amount of calculation. , to reduce costs, improve work efficiency, and reduce the amount of calculation.
Active Publication Date: 2018-08-10
杨百川
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Problems solved by technology
The current commonly used flight quality assessment ideas have the following problems: (1) The method of online data collection, offline processing and parameter optimization is mostly used, and the work efficiency is low; (2) The traditional method must know the complex high-level model of the drone, and requires a large The frequency domain data is equivalent to fitting a low-order model, which requires a large amount of calculation and low data fitting accuracy
At this stage, most of the PID parameter adjustments are to judge the suitability of the PID parameters based on the flight phenomena that appear in the actual flight experiments on the spot, which is not intuitive and sometimes has a certain degree of blindness.
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[0048] Such as figure 1 Shown, the concrete implementation method of the present invention is as follows:
[0049] When the UAV is in the stabilized and level flight state, the PID control parameters of the longitudinal channel are adjusted through the small-scale elevator angle interference input to obtain the pitch angle velocity data to obtain the quality factor, and the roll angle and direction angle belong to the mutual coupling of the lateral channel. For the relevant flight physical quantities, one of them can be selected, and the lateral channel selects the small-amplitude aileron rudder angle interference input to obtain the roll angle data to obtain the corresponding quality factor for adjustment. The entire quality real-time evaluation and control parameter optimization process is as follows:
[0050] (1) Flight state preparation: Make the UAV simulation model or the UAV physical flight in a stable and level flight state, and be disturbed by the elevator value inpu...
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The invention relates to an unmanned plane online real-time flight quality evaluation and parameter adjustment method, for an unmanned plane to cooperate with debugging of control parameters of test flights of a conventional PID flight control system. The method obtains data of the longitudinal pitching speed and lateral roll angle change with time of a steady-pitching unmanned plane under the disturbance of a small-step elevator or aileron value input so as to obtain the damping ratio in the quality factor of the flight quality of the relationship between lateral and longitudinal passages. According to a second-order unit-step system dynamic response time-domain index in automatic control theories, evaluation is made in real time and the flight quality is improved by changing control loop parameters, so that unmanned plane online real-time flight quality evaluation and parameter adjustment is realized. The method greatly improves the quality evaluation efficiency, and PID control parameter optimization based on flight quality evaluation criteria solves the problems of non-intuitionistic and blindness of PID parameter adjustment of most unmanned plane flight testing.
Description
technical field [0001] The invention relates to a method for realizing quantitative evaluation and real-time online quality evaluation of unmanned aerial vehicles and optimizing control loop parameters of unmanned aerial vehicles, which can be applied to any current unmanned aerial vehicle flight control system that includes a classic PID control algorithm. Background technique [0002] UAV flight quality evaluation is to evaluate the flight performance by scientific and quantitative means, which has a significant effect on improving the flight performance of UAVs and reducing the accident rate. The accuracy and credibility of UAV flight quality evaluation affect the overall optimization direction of UAV. The current commonly used flight quality assessment ideas have the following problems: (1) Most of the methods of online data collection, offline processing and parameter optimization are used, and the work efficiency is low; The frequency domain data is equivalent to fitt...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 杨百川盛蔚刘志彬
Owner 杨百川