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A heading control method for a sliding-throwing integrated vehicle

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 improved accuracy

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • 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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  • A heading control method for a sliding-throwing integrated vehicle
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  • A heading control method for a sliding-throwing integrated vehicle

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Embodiment Construction

[0067] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[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 mission is Then the yaw angle e, then

[0070]

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

[0072]

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

[0074] Discretize the above equation 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 heading control method for an integrated gliding and flapping aircraft. The current heading information is obtained through an attitude sensor, and the yaw value is calculated; according to the current speed of the aircraft in the longitudinal plane, fuzzy PD control is used to control the speed of the aircraft in the longitudinal plane of gliding. When the speed is relatively fast, the parameters obtained by the fuzzy PD control algorithm are converted into the angle value of the roll mechanism for heading control. When the speed is relatively slow, such as in the transition stage of diving and ascending, the parameters obtained by the fuzzy PD control algorithm are used as the CPG amplitude variable, and then used as the CPG amplitude variable. The CPG controller outputs the flapping control signal, which is embodied in the asymmetrical flapping amplitude for navigating.

Description

technical field [0001] The invention belongs to a heading control method of an underwater vehicle, relates to a heading control method of a sliding-flap integrated vehicle, and in particular relates to a method for utilizing the synergistic effect of the asymmetric amplitude exhibited by a roll mechanism and a flapping wing. A method for heading control of a slip-and-fly vehicle. Background technique [0002] 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 difference to drive the movement to realize large-area and multi-scale monitoring of the ocean. It is suitable for marine environment observation and detection in the military field. On the basis of the principle of underwater glider, the artificial manta ray underwater vehicle combines the gliding propulsion of the glider and the flexible propulsion of the artificial manta ray to rea...

Claims

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Application Information

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