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

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...

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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