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Flying wing unmanned aerial vehicle maneuvering flight control method based on multi-mode control

A technology of maneuvering flight and control method, applied in the field of control, can solve problems such as unproven robustness, and achieve the effect of ensuring safety

Active Publication Date: 2019-04-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

The adaptive method is mainly used to suppress the unmodeled dynamics and parameter perturbation of the aircraft itself. At present, the stability of the adaptive controller has only been confirmed theoretically, and its robustness has not yet been confirmed. Therefore, whether the aircraft can be used in practical applications Resistance to various disturbances remains to be verified

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  • Flying wing unmanned aerial vehicle maneuvering flight control method based on multi-mode control
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  • Flying wing unmanned aerial vehicle maneuvering flight control method based on multi-mode control

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Embodiment Construction

[0009] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments.

[0010] The dynamic analysis of five typical maneuvers is firstly carried out as follows.

[0011] 1. Steady hovering on a large slope

[0012] Steady circling with a steep slope refers to a maneuvering flight that performs a stable circling with a relatively large roll angle. When the UAV hovers stably, it is assumed that γ=0, θ≈0, α≈0, β≈0, then the dynamic equation can be simplified as:

[0013]

[0014] Through the above dynamic equations, the normal overload, radius, yaw rate and the time required for one round of circling can be obtained respectively as follows:

[0015]

[0016]

[0017]

[0018]

[0019] It can be seen that reducing the flight speed V and increasing the overload n z , can reduce the circle radius R and circle time t 2π , to improve the directional maneuverability of the UAV.

[0020] In order to maintain the...

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Abstract

The invention provides a flying wing unmanned aerial vehicle maneuvering flight control method based on multi-mode control. The method comprises step 1, dynamic analysis is carried out on a pluralityof typical maneuvering actions, and a plurality of maneuvering sub-modes are extracted from the dynamic analysis; step 2, autostability design is firstly conducted for a longitudinal channel, a transverse channel and a course channel of a flying wing unmanned aerial vehicle, and then a controller of each maneuvering sub-mode is designed; step 3, different maneuvering actions are realized through combination of different maneuvering sub-modes, namely switching of maneuvering sub-mode controllers; and step 4, aimed at the coupling problem of maneuvering, the feedforward decoupling compensation design is combined with the maneuvering sub-mode controller. Compared with an advanced control method which only stays at the theoretical research stage at present, the RSLQR and the PID control methodadopted by the method all have practical engineering application bases which are already verified in the actual unmanned aerial vehicle flying process, so that the safety of the flying wing unmannedaerial vehicle during maneuvering flight can be guaranteed.

Description

technical field [0001] The invention relates to a control law structure of a flying-wing unmanned aerial vehicle, in particular to a control scheme when the unmanned aerial vehicle performs maneuvering flight, and belongs to the field of control technology. Background technique [0002] At present, there are few domestic researches on maneuvering flight, and most of them stay in theoretical research. Different from conventional flight, the state of UAVs changes drastically during maneuvering flight, and it is easy to enter the non-linear region of high angle of attack. In the face of this situation, scholars usually use advanced control methods for research, such as dynamic inverse, adaptive and other methods. Advanced control methods have good results in numerical simulation, but have their disadvantages in practical application. The dynamic inverse method requires the control object to have a very accurate mathematical model, but the model of the numerical simulation is ...

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Application Information

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IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
Inventor 聂禾玮李春涛彭争李雪兵
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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