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Fixed-wing unmanned aerial vehicle longitudinal position and speed control system based on total energy control

A control system and total energy technology, applied in the direction of control/regulation system, non-electric variable control, attitude control, etc., can solve the needs that cannot meet the needs of fixed-wing UAVs, strong dependence on system models, difficult parameter adjustment, etc. problem, to achieve the effect of easy modification and debugging, strong real-time performance, and fast calculation process

Pending Publication Date: 2021-10-08
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Among the above two methods, the fixed-wing UAV longitudinal velocity controller based on total energy control has the characteristics of numerous parameters and strong dependence on the system model, so it is difficult to adjust the parameters to a better state
The existing parameter adjustment methods all have poor real-time performance and cannot meet the needs of fixed-wing UAVs.

Method used

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  • Fixed-wing unmanned aerial vehicle longitudinal position and speed control system based on total energy control
  • Fixed-wing unmanned aerial vehicle longitudinal position and speed control system based on total energy control
  • Fixed-wing unmanned aerial vehicle longitudinal position and speed control system based on total energy control

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Embodiment 1

[0089] The embodiment of the present invention provides a fixed-wing UAV longitudinal speed control system based on total energy control, which includes: TECS outer loop and TECS core inner loop;

[0090] The fixed-wing unmanned aerial vehicle obtains the expected altitude and expected speed at the next moment according to the predefined path;

[0091] The TECS outer loop obtains the total energy control loop information for outputting to the TECS core inner loop through the proportional controller of the closed-loop control according to the expected altitude, expected speed and the sensing data of the fixed-wing UAV at the current moment And total energy distribution rate control loop information;

[0092] The update desired thrust subsystem in the inner loop of the TECS core outputs the desired thrust corresponding to the desired speed based on the information of the total energy control loop and the information of the total energy distribution rate control loop;

[0093] T...

Embodiment 2

[0105] An embodiment of the present invention provides a simulation method for a fixed-wing UAV longitudinal velocity control system based on total energy control, which includes:

[0106] S01. Obtain the sensing data at the current moment and the expected altitude and expected speed at the next moment in the fixed-wing UAV;

[0107] S02, constructing the TECS outer loop and the TECS inner loop in a visual way in the Subsystem module based on Simulink; so that the TECS outer loop is based on the sensing data of the fixed-wing UAV according to the desired height, desired speed and current moment. The proportional controller of the closed-loop control obtains the total energy control loop information and the total energy distribution rate control loop information for output to the TECS inner loop; the updated desired thrust subsystem and updated desired pitch angle subsystem in the TECS inner loop are based on the total energy The control loop information and the total energy di...

Embodiment 3

[0136] In the embodiment of the present invention, the simulation method of the longitudinal speed control system of the fixed-wing unmanned aerial vehicle based on the total energy control is described in detail.

[0137] The embodiment of the present invention provides a rapid development framework for control system design, which can enable beginners to quickly learn the relevant theories of total energy control, view the height and speed response of the drone in a visualized form, and enable developers to further optimize based on this framework Longitudinal velocity control system for fixed-wing UAV. Finally, based on the UAVToolbox Support Package for PX4 Autopilots toolbox provided by Simulink, the designed Simulink model can be directly and automatically converted into C++ code, and the code can be compiled and deployed on Pixhawk based on the PX4 toolchain, so that it can be applied to fixed-wing unmanned vehicles. Machine, to achieve engineering applications.

[013...

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Abstract

The invention relates to a fixed-wing unmanned aerial vehicle longitudinal position and speed control system based on total energy control. The system comprises a TECS outer loop and a TECS core inner loop. An unmanned aerial vehicle obtains an expected height and an expected speed at the next moment according to a predefined path; the TECS outer loop obtains total energy control loop information and total energy distribution rate control loop information output to the TECS core inner loop through a closed-loop controlled proportional controller; an expected thrust updating subsystem in the TECS core inner loop outputs expected thrust corresponding to the expected speed based on the total energy control loop information and the total energy distribution rate control loop information; and accordingly, an updated expected pitch angle subsystem in the TECS core inner loop outputs a expected pitch angle corresponding to an expected height. According to the control system, the flight parameters can be adjusted to a good state before the unmanned aerial vehicle executes the flight task, and economic losses caused by improper flight parameters of the unmanned aerial vehicle in a flight experiment are greatly reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a fixed-wing unmanned aerial vehicle longitudinal velocity control system based on total energy control and a simulation method of the control system. Background technique [0002] Fixed-wing UAVs have emerged in the research and application of UAVs due to their excellent battery life. However, compared with the current hot quadrotor UAVs, fixed-wing UAVs have more complicated control of their longitudinal velocity due to kinematic coupling. . The longitudinal velocity control loop of the UAV controls the height and speed of the UAV. For oil-powered fixed-wing UAVs, it will be realized by controlling the opening of the elevator and throttle. However, since the height of the UAV is controlled by the elevator, the speed of the UAV will be changed, and the speed of the UAV will be changed by the throttle opening. -Input Single-Output, SISO) controller desig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/106
Inventor 李大伟张晨珑王明杨炯
Owner BEIHANG UNIV