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

Abstract

The invention relates to the technical field of flight control, and discloses a lateral automatic trim control method for a twin-engine propeller unmanned aerial vehicle. It specifically includes the following process: step 1, turn on the integral switch when the UAV leaves the ground, and the integrator performs integration according to the roll angle rate and the roll angle rate deviation until the deviation is eliminated to obtain the integral value; step 2, obtain the integral output according to the integral value; 3. Add the speed limit command to the integral output to obtain the aileron command, and the aileron command is transmitted to the UAV. The technical solution of the present invention suppresses the asymmetry of the aircraft due to the inconsistency of propeller and twin-engine thrust by increasing the roll angle rate integral item in the aircraft roll angle rate loop. On the one hand, the roll angle rate integral ensures the rapidity of lateral automatic trimming; On the one hand, in view of the technical characteristics that the propeller and twin-engine thrust are inconsistent and constantly changing, the integral value of the roll angle rate can be automatically adjusted to achieve a good automatic trimming effect.

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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