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Strong-robustness full-envelope integrated control method for tilt-rotor unmanned aerial vehicle

A strong and robust tiltrotor technology, applied in vehicle position/route/altitude control, non-electric variable control, control/regulation system, etc., can solve problems such as discontinuity, aircraft state fluctuations, and threats to flight safety

Active Publication Date: 2020-08-11
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This switching will artificially introduce discontinuity in the flight control process, resulting in large fluctuations in the state of the aircraft, which will threaten flight safety in severe cases

Method used

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  • Strong-robustness full-envelope integrated control method for tilt-rotor unmanned aerial vehicle
  • Strong-robustness full-envelope integrated control method for tilt-rotor unmanned aerial vehicle
  • Strong-robustness full-envelope integrated control method for tilt-rotor unmanned aerial vehicle

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Experimental program
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Effect test

Embodiment 1

[0101] The first step is to map the commands of the remote controller or ground station into manipulation commands of the controlled state quantity.

[0102] The mapped manipulation instructions are:

[0103] the y p =[th f h c φ c θ c r c ] T (2)

[0104] Among them, th f Indicates the throttle command for forward flight. The physical meaning is the projection of the total throttle command of the tiltrotor on the x-axis direction of the body axis. When the controlled UAV is in multi-rotor mode, th f zero; H c Indicates height command; φ c Indicates the roll angle command; θ c Indicates pitch angle command; r c Indicates the yaw rate command.

[0105] The second step is to produce reference instructions that conform to the physical characteristics of the controlled UAV according to each manipulation instruction.

[0106] The reference models of the altitude command, the pitch angle command and the roll angle command are all second-order reference models, and...

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Abstract

The invention discloses a strong-robustness full-envelope integrated control method for a tilt-rotor unmanned aerial vehicle. The method can achieve unified control of a single controller for a full-flight envelope on the basis of INDI control in combination with envelope protection, hierarchical control distribution and height and attitude integrated control. The control method is characterized in that a problem of control quality reduction caused by the nonlinear time-varying characteristic of the tilt-rotor unmanned aerial vehicle can be effectively solved, and accurate control over the height and attitude of the tilt-rotor unmanned aerial vehicle is achieved. The control method is advantaged in that dependence of controller parameters on accuracy of the unmanned aerial vehicle model can be greatly reduced, and robustness of a controller to model mismatch and external disturbance is improved; different from a traditional sectional type tilting rotorcraft control mode, an integratedcontrol structure is adopted, discontinuity caused by manual introduction of control parameters or control signals can be avoided, and flight safety and the integration degree of the controller are improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a strong robust full-envelope integrated control method for a tilt-rotor unmanned aerial vehicle. Background technique [0002] Traditional UAVs can be basically divided into two types according to their configuration: fixed-wing UAVs and helicopter / multi-rotor UAVs. Fixed-wing UAVs have high flight speed and strong endurance, but runway facilities are required for take-off and landing, and the conditions of use are limited. Helicopter / multi-rotor drones have vertical takeoff and landing and air hovering capabilities, but their flight speed is low, and their range and endurance are short. In recent years, new short-range / vertical take-off and landing UAVs represented by tilting rotor aircraft have gradually emerged. This new type of UAV combines the respective advantages of fixed-wing aircraft and helicopters / multi-rotors, and has a wider flight en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 赵江王泽昕蔡志浩王英勋
Owner BEIHANG UNIV
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