Unmanned aerial vehicle stunt flight control system and method

A technology of aerobatic flight and control method, which is applied in the direction of control/regulation system, attitude control, non-electric variable control, etc. It can solve the problems of control response delay and UAV control accuracy reduction, and achieve roll control sensitivity and improved Effect of flight control performance

Active Publication Date: 2020-08-25
NORTHWESTERN POLYTECHNICAL UNIV
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As a result, the control accuracy of the UAV is

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  • Unmanned aerial vehicle stunt flight control system and method
  • Unmanned aerial vehicle stunt flight control system and method
  • Unmanned aerial vehicle stunt flight control system and method

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Embodiment 1

[0095] An aerobatic control system for an unmanned aerial vehicle, comprising an agility unmanned aerial vehicle and a flight controller, the flight controller being carried on the unmanned aerial vehicle, and used for performing aerobatic flight control on the unmanned aerial vehicle according to the above control method;

[0096] The UAV includes power devices such as fuselage, steering gear, and motor, GPS navigation module, and data transmission module; the flight controller includes a main processor, a coprocessor, three sets of accelerometers, and gyroscope sensing modules. work to achieve agile control of UAVs.

[0097] The UAV generates the desired attitude of the UAV through position control, and generates the steering gear output and throttle output of the UAV through attitude control, and controls the steering gear and throttle through the mixed control system of the flight automatic controller to guide the drone The aircraft performs aerobatics to achieve agility c...

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Abstract

The invention discloses an unmanned aerial vehicle stunt flight control system and method. An attitude control angle is calculated through inertia moment, an outer loop uses nonlinear tracking guidance control to determine an acceleration instruction, and an inner loop tracks the acceleration instruction through PI control rate, and therefore the fixed-wing unmanned aerial vehicle can realize high-difficulty flight actions such as agile flight and stunt flight. The method comprises the following steps: firstly, inertia moment of the unmanned aerial vehicle is calculated; a new expected position based on a ground coordinate system is obtained in a navigation system, and then an expected attitude based on a machine body coordinate system is obtained by utilizing a PD control rate in a position control system; after inclination rolling decomposition is carried out, an obtained attitude angle error is combined with inertia moment of an unmanned aerial vehicle in an attitude control link tocalculate output of an actuator steering engine of the unmanned aerial vehicle. According to the method, the attitude control angle is calculated by using the inertia moment of the unmanned aerial vehicle on the basis of adopting scaling integration, the control response to the roll angle is fast, and the flight control performance can be better improved according to the aerodynamic configurationof the aircraft.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to an aerobatic flight control system and method for an unmanned aerial vehicle. Background technique [0002] A drone is an intelligent unmanned aerial vehicle. In recent years, with the development of UAV technology, UAVs have been widely used in various fields, especially in the military field. Such as air attack, special flight and other missions, in addition, it also has larger applications in civilian fields, such as power inspection, disaster prevention and rescue, pipeline patrol, environmental monitoring and other fields. Among them, fixed-wing drones are widely used in various fields of work due to their fast flight speed, long battery life, long range and other irreplaceable advantages. [0003] The control system of the UAV is the central system of the UAV. It plays a key role in controlling the attitude of the UAV and coordinating t...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101Y02T90/00
Inventor 刘贞报许浒江飞鸿严月浩张军红
Owner NORTHWESTERN POLYTECHNICAL UNIV
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