Emergency command and control fixed-wing UAV ship surface emergency take-off control method

A control method and emergency command technology, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve the problems of weak robustness, slow dynamic response, fluctuating drones, etc.

Active Publication Date: 2021-06-08
ARMY ENG UNIV OF PLA
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Emergency command and control fixed-wing UAV ship surface emergency take-off control method
  • Emergency command and control fixed-wing UAV ship surface emergency take-off control method
  • Emergency command and control fixed-wing UAV ship surface emergency take-off control method

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Embodiment Construction

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0039] like figure 1 and figure 2 As shown, an emergency command and control method for emergency take-off of fixed-wing unmanned aerial vehicles, including take-off longitudinal attitude control and take-off speed control; using robust H ∞ The controller controls the longitudinal take-off attitude of the fixed-wing UAV, and uses the adaptive dynamic inverse method to control the speed of the ship-borne fixed-wing UAV during the take-off stage.

[0040] 1. Take-off attitude control

[0041] Vertical H ∞ Robust controller controls the take-off attitude of fixed-wing UAV, such as image 3 shown. exist image 3 middle, T dz is the take-off dynamics model of the fixed-wing UAV of the closed-loop control system, and K is the designed longitudinal robustness H ∞ Controller parameter matrix. Will longitudinally robust H ...

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Abstract

The invention discloses an emergency take-off control method for emergency command and control of a fixed-wing unmanned aerial vehicle. ∞ The controller controls the take-off attitude of the fixed-wing UAV, and the longitudinal robust H ∞ The output signal of the controller and the external disturbance are used as the input of the take-off dynamics model of the fixed-wing UAV at the same time, forming a closed-loop control system, realizing the suppression of the disturbance of the external gust of the ocean, and making the fixed-wing UAV take off stably from the ship surface; The controller adopts nonlinear dynamic inverse control method, which can quickly reach the ideal speed. The output signal of the speed controller is the thrust, and the control object is the take-off speed. Through the combination of the two, the anti-jamming and rapid take-off of the UAV on the ship surface are realized. The invention belongs to the technical field of emergency take-off control of fixed-wing unmanned aerial vehicles. The take-off control method of the present invention enables the fixed-wing unmanned aerial vehicle to have a strong ability to resist gusts of wind in the stage of taking off from the ship, and can quickly realize emergency take-off, ensuring the safe take-off of the fixed-wing unmanned aerial vehicle.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 张杨何明刘锦涛宋立廷刘鹏牛彦杰迟铖祝朝政
Owner ARMY ENG UNIV OF PLA
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