Course control method for sliding and flapping integrated aircraft

A heading control, aircraft technology, applied in the control/adjustment system, altitude or depth control, non-electric variable control and other directions, can solve the problems of difficult accurate heading control, no model, etc., to improve the control quality, slow turning speed, The effect of increased stability

Active Publication Date: 2021-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the propulsion method of the manta ray-like aircraft is different from that of the traditional aircraft, and there is no relatively accurate model so far, so it is very difficult to use the traditional method to achieve its precise heading control, and it is necessary to design a new heading control method
However, in the open literature, there is no example of using the roll mechanism and the flapping wing to realize the heading control of the manta ray aircraft.

Method used

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  • Course control method for sliding and flapping integrated aircraft
  • Course control method for sliding and flapping integrated aircraft
  • Course control method for sliding and flapping integrated aircraft

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Embodiment Construction

[0067] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0068] Obtain the current heading angle and the current longitudinal speed of the aircraft through the attitude sensor, and select different actuators to adjust the heading according to the size of the longitudinal speed. The specific steps are:

[0069] 1. Obtain the current heading angle of the underwater vehicle through the attitude sensor The target heading angle set by the task is Then the yaw angle e, then

[0070]

[0071] 2. Deriving the yaw angle to obtain the rate of change ec of the heading angle deviation, then:

[0072]

[0073] Where t is the update time of the attitude sensor information of the underwater vehicle.

[0074] Discretize the above formula as:

[0075]

[0076] Where e(t) is the heading angle deviation at the current moment, and e(t-1) is the heading angle deviation at the previous moment.

[0077] 3. After fuzzifying th...

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Abstract

The invention relates to a course control method for a sliding-flapping integrated aircraft, which comprises the following steps: acquiring current course information through an attitude sensor, and calculating a yaw value; according to the longitudinal plane speed of the current aircraft, utilizing fuzzy PD control, and when the gliding longitudinal plane speed of the aircraft is high, converting a parameter obtained through a fuzzy PD control algorithm into a rotating angle value of a rolling mechanism for course control, and when the gliding longitudinal plane speed of the aircraft is low,in a diving and floating conversion stage, taking the parameter obtained through the fuzzy PD control algorithm serves as a CPG amplitude variable, and enabling the CPG controller to output a flapping wing control signal, specifically, the flapping wing amplitude is asymmetrical to carry out sailing.

Description

technical field [0001] The invention belongs to a heading control method of an underwater vehicle, and relates to a heading control method of a sliding and flapping integrated vehicle. A method for heading control of a slipping aircraft. Background technique [0002] The underwater glider is a new type of observation platform that glides in the ocean and collects and observes the marine environment during the movement. It uses its own gravity and buoyancy to drive the movement to realize large-scale multi-scale monitoring of the ocean. It is suitable for marine environment observation and Detection in the military field. Based on the principle of the underwater glider, the manta ray-like underwater vehicle combines the gliding propulsion of the glider and the flexible propulsion of the imitation marine creature manta ray to realize the integration of sliding and swooping. It has the characteristics of long range and high maneuverability, and can realize wide-area rough dim...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor曹勇马淑敏谢钰郝艺伟张代利
OwnerNORTHWESTERN POLYTECHNICAL UNIV