A lateral automatic trim control method for twin-propeller unmanned aerial vehicle

Abstract

The invention relates to the technical field of flight control, and discloses a lateral automatic trimming control method of a twin-propeller unmanned aerial vehicle. The method comprises the following steps: step 1,when that unmanned aerial vehicle (UAV) leave the ground, turning on an integrating switch, and integrating the integrator according to the roll angular rate and the roll angular ratedeviation until the deviation is eliminate and the integrating value is obtained; step 2, obtaining an integral output according to that integral value; step 3, adding that speed limit command to theintegral output to obtain the aileron command, and transmitting the aileron command to the unmanned aerial vehicle. The technical proposal of the invention restrains the asymmetry of the aircraft dueto the inconsistency of the propeller and the double-engine thrust by adding a rolling angular rate integral term in the rolling angular rate loop of the aircraft. On the one hand, the rolling angularrate integral guarantees the rapidity of the lateral automatic trimming; On the other hand, in view of the technical characteristics of propeller and twin thrust which are inconsistent and time-varying, the integrating term of roll angular rate can automatically adjust the integrating value, which has a good effect of automatic trimming.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to a lateral automatic trim control method for a twin-engine propeller unmanned aerial vehicle. Background technique [0002] The propeller engine is a common power configuration for low-speed UAVs. Due to the additional rolling aerodynamic moment generated by the propeller rotation, the aircraft is biased to the side of the propeller rotation during flight, and the propeller speed varies with different flight stages (climbing, level flight or glide). ), the rotational speed changes moment by moment, which in turn leads to the momentary change of the rolling aerodynamic moment. Especially, for twin-engine propeller aircraft, when one of the engines stops in the air, the asymmetry of engine thrust may objectively aggravate this asymmetry. This asymmetry can easily cause the aircraft to deviate from the scheduled route, causing the aircraft to fail to align with the centerline...

AI Technical Summary

Problems solved by technology

This asymmetry is likely to cause the aircraft to deviate from the scheduled route, resulting in the aircraft being unable to align with the centerline of the runway, affecting the take-off and landing quality of the aircraft, and even affecting flight safety in severe cases.

[0003] The traditional control method uses a purely proportional control method for lateral control. The additional torque generated by the asymmetry of the propeller and engine thrust is solved by the pilot through manual trimming. Manual trimming not only increases the pilot's control burden, but also needs to be improved in accuracy, which is prone to trimming Problems with over or under trim

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