A take-off attitude control method for a horizontally air-dropped UAV

Abstract

The invention provides a take-off attitude control method of a horizontally airdropped UAV. The carrier aircraft drops the UAV in the air, and the gyroscope measures the angular rate and angle of the UAV's roll direction and pitch direction in real time, and transmits the measured value to The controller of the drone, the drone has a certain forward speed when it is launched, and the roll angle and pitch angle are both 0 degrees; the controller uses the PID double closed-loop control method to control the angle of the drone's roll direction and pitch direction. Speed ​​and angle are controlled; the controller adjusts the pitch angle to 0 degrees according to the angular rate of a fixed value. At the same time, when the pitch angle is less than minus 60 degrees, the controller controls the roll angle rate to remain unchanged until the pitch angle is equal to or greater than minus 60 degrees. , adjust the roll angle to 0 degrees; when both the roll angle and the pitch angle are adjusted to 0 degrees, the takeoff is completed. This method can adjust any roll angle of the UAV after airdrop to 0, and the control method is simple and reliable; it reduces the conditions required for the UAV airdrop to take off; one carrier aircraft can carry and drop multiple UAVs at the same time.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for controlling the take-off attitude of a horizontally airdropped unmanned aerial vehicle. Background technique [0002] UAVs have the advantages of light weight, low maintenance cost, no risk of casualties, and convenient use. At present, UAVs are widely used in resource exploration, environmental monitoring, emergency relief, public safety, fire monitoring and rescue, and express delivery. There are related technology and product development. [0003] When the folding-wing UAV is airdropped and taken off, it is required that the height of the carrier aircraft to release the UAV must be high enough, and the flying field must be large enough. After the drone is air-dropped by the carrier aircraft, it will be in free fall, and it will be affected by the wind speed of the outside world. The pitch angle and roll angle of the drone must be controlled by th...

AI Technical Summary

Problems solved by technology

[0004] The object of the present invention is to provide a take-off attitude control method of a horizontal airdrop UAV, to solve the high requirements of the folding wing UAV in the prior art for the height of the airdrop, the flight control method after the airdrop is complicated, and the control efficiency is low. Low, and technical problems such as uncontrollable course after airdrop

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