Deck emergency scramble control method for fixed-wing UAV for emergency command control

Abstract

The invention discloses a deck emergency scramble control method for a fixed-wing UAV for emergency command control, and the method comprises the steps: controlling the take-off attitude of the fixed-wing UAV through a longitudinal robust H-infinite controller, i.e., taking an output signal of the designed longitudinal robust H-infinite controller and the external disturbance as the input of the take-off dynamical model of the fixed-wing UAV, forming a closed-loop control system, achieving the inhibition of the gust interference of the ocean exterior, and enabling the fixed-wing UAV to stablytake off from a deck. A speed controller employs a nonlinear dynamic inverse control method, and can quickly reach an ideal speed, and an output signal of the speed controller is a thrust force, wherein a control object is a take-off speed. Through the combination of two sides, the method achieves the interference resistance and rapid take-off of the fixed-wing UAV on the deck. The invention belongs to the technical field of emergency scramble control of fixed-wing UAVs. The method enables the fixed-wing UAV to be high in capability of resisting stronger gust at the stage of take-off from thedeck, can achieve the rapid emergency scramble, and guarantees the safe take-off of the fixed-wing UAV.

Description

technical field [0001] The invention relates to the technical field of aircraft take-off control, in particular to an emergency command and control method for emergency take-off of a fixed-wing unmanned aerial vehicle. Background technique [0002] Conventional fixed-wing unmanned aerial vehicle deck take-off attitude control and speed control all adopt PID control method. When the conventional control of the fixed-wing UAV fails, it needs to switch to the emergency control mode and enter the emergency take-off control mode. However, there are few studies on the emergency take-off control of the fixed-wing UAV. During the emergency take-off, the environment is more complex and changeable, facing the influence of gust interference, the speed changes drastically, and the trajectory sinks obviously, which may easily cause the emergency take-off to fail. [0003] At present, there are few studies on the take-off control of fixed-wing UAVs, especially the design of emergency tak...

AI Technical Summary

Problems solved by technology

[0004] 1. The attitude controller is mainly based on the PID control method, which is not robust. When subjected to relatively strong external interference, the control effect is not good, and it is easy to cause violent fluctuations or rapid sinking of the UAV, which affects the safety of take-off

[0005] 2. The speed controller is mainly based on the linear method, and some nonlinear characteristics are not considered in the controller design process, which may easily cause the speed control effect to be unstable

At the same time, the take-off speed needs to quickly reach the desired speed, while the traditional linear control method has a slow dynamic response and cannot quickly achieve the tracking speed target

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