A Coordinated Control Method for the Approach Process of Compound Wing UAV

Abstract

The invention discloses a coordination control method of approaching processes of a composite wing unmanned aerial vehicle. The method comprises multiple approaching coordination control stages on time sequence including a natural deceleration stage, a dynamic deceleration stage, a distance deceleration stage and a position control stage. Except for a normal composite wing unmanned aerial vehiclemain controller and multiple approaching coordination control method from the structure, the method comprises following control sub-strategies of 1, an auxiliary deceleration strategy where an auxiliary wing serves as a spoiler; 2, a quadrotor accelerator gradual starting strategy; 3, a height control staging strategy; and 4, a dynamic deceleration segment dynamic deceleration strategy. Accordingto the invention, after a composite wing unmanned aerial vehicle enters an approaching stage, the four stages of coordination control methods are successively executed according to the above sequences. Under the corresponding condition, an added control sub-strategy is triggered until the composite wing unmanned aerial vehicle arrives at a vertical landing point. Through the multi-stage coordination control method, control precision, robustness and stability of the approaching processes of the composite wing unmanned aerial vehicle are improved, so the safety and reliability of fully automaticairline flight of the composite wing unmanned aerial vehicle are improved.

Description

technical field [0001] The invention relates to a coordinated control method for the approach process of a compound-wing unmanned aerial vehicle, which is a coordinated control method for making the compound-wing unmanned aerial vehicle approach steadily at the end of automatic route flight. Through the multi-stage approach coordination control method, the attitude angle control accuracy, robustness and stability of the approach process of the compound-wing unmanned aerial vehicle in the final stage of the automatic route can be improved, and it belongs to the technical field of compound-wing unmanned aerial vehicle control. Background technique [0002] Compound-wing UAV is a UAV with both the advantages of fixed-wing level flight and the vertical take-off and landing capability of four-rotor. Its body structure includes two power systems of quad-rotor and fixed wing; the fixed-wing system is mainly used for level flight And cruise, the quadrotor system is mainly used for v...

AI Technical Summary

Problems solved by technology

[0004] There are mainly the following problems and contradictions in the approach stage of compound wing drones: 1. Due to the load index, the design battery life of the quadrotor system is short, and the working time of the rotor should not be too long during the deceleration process; 2. Fixed wing There is a huge difference in the working airspeed range of the rotor power system. The cruising airspeed suitable for the fixed wing is far greater than that suitable for the quadrotor; 3. Due to the weight requirements of the aircraft, the wing structure strength of the compound wing UAV cannot Excessive redundancy. Therefore, when the airspeed is high, the quadrotor is started. If the rotor speed is too high, the lift of the wing and the lift of the quadrotor will each generate a large bending moment in the same direction, which will easily cause structural damage to the root of the wing; 4. In addition to the limitation of the structural strength of the aircraft, when the airspeed is high, the rotor is started. If the rotor speed is too high, the downwash flow generated by its rotation will have a great impact on the incoming flow of the main wing surface and the rudder surface of the fixed wing. Threat to flight stability; 5. Due to the low efficiency of the fixed-wing rudder surface at low speed, the fixed-wing has limited deceleration effect on the approach stage, while the four-rotor system should not be too high in speed and start-up time during altitude control and deceleration. (that is, if the deceleration is too slow, the battery life of the rotor cannot meet the requirements, and if the deceleration is too fast, it will easily cause the problems described in 3 and 4); 6. If the wing structure is protected when the airspeed is high, it is necessary to lower the rotor Throttle output value, which can easily cause quadrotor motor attitude control saturation

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