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Large-scale freight unmanned aerial vehicle landing trajectory control method

A trajectory control, UAV technology, applied in non-electric variable control, altitude or depth control, control/regulation systems, etc., can solve the problems of large weight difference, limited trajectory accuracy, high landing trajectory requirements, and achieve high consistency , improve safety, and facilitate the effect of accuracy

Pending Publication Date: 2021-12-07
航天时代飞鹏有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] During the landing stage of large-scale cargo UAVs, as the deceleration and ground altitude drop, its trajectory control is one of the important factors related to the safety of the aircraft. The existing landing trajectory control methods, due to their limited trajectory accuracy, for large cargo aircraft, In particular, the weight of large-scale cargo drones has a large difference before and after loading, and the requirements for landing trajectory are high. The existing trajectory control method often cannot meet its actual safety needs. Aiming at the above problems, the present invention provides a new landing trajectory control method. method to achieve higher trajectory accuracy, which can effectively improve the landing safety of large cargo drones

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] As shown in the figure, there are three stages in designing the landing trajectory of large cargo drones: deep glide segment 1, pull up segment 2 and shallow glide segment 3;

[0033] The main trajectory parameters include deep glide angle 4, shallow glide angle 5, longitudinal height of pull-up segment 6, end point coordinates of deep glide segment, geometric relationship of deep glide segment 1, pull-up segment 2 and shallow glide segment 3, deep glide segment segment, h s =tan gamma 1 (x-x 0 ), γ 1 is the deep glide angle, x 0 is the intersection point of the deep glide section and the ground channel, x is the position corresponding to the ground position, pull up section, x E is the position of the starting point of the pull-up segment, h D is the height difference of the pull-up section, σ is the attenuation rate of the pull-up section, and the shallow slide section, h q =tan gamma 2 (x-x D ), γ 2 is the shallow glide angle, x D is the coordinates of th...

Embodiment 2

[0036] The parameters are determined, the deep glide angle is determined, and the change rate of the inclination angle of the deep glide section of the large cargo UAV is 0, the reference lift coefficient can be obtained mg is the gravity, q is the dynamic pressure, S represents the reference area of ​​the aircraft wing, so as to determine the deep glide angle γ1, other parameters γ2 (shallow glide angle), the selection of the shallow glide angle, to avoid falling too fast and causing the load to exceed Restriction, the longitudinal height selection of the pull-up section needs to ensure that the pull-up section has a relatively suitable descent rate, and the coordinates of the touchdown point are adjusted and changed with the actual length of the runway;

[0037] Establish the aerodynamic model of large-scale cargo UAV, and the aerodynamic equations of lift coefficient and drag coefficient are:

[0038]

[0039] q is dynamic pressure, ρ is air density, x is air veloci...

Embodiment 3

[0042] Landing trajectory optimization, for the set landing trajectory, through the design of the longitudinal landing control equation, solve the bounded solution, use the feedback output to generate the state trajectory, and realize the optimization of the landing trajectory;

[0043] The longitudinal landing control equation is:

[0044] the y d (t)=Cx d (t), x d (t) is the state variable, u d (t) is the input variable, A and B are constants, y d (t) is the optimized output trajectory. When t→∞, x(t)→x d (t), y(t) → y d (t), realize the precise tracking of the output, and find the bounded solution inside the system;

[0045] For the aircraft landing trajectory, altitude h and ground speed Vg

[0046] Output equation:

[0047]

[0048] definition: the y i (t) represents the i-dimensional output, and the internal dynamic function is determined from the state variable as:

[0049] ε(t) = [q, θ] T , q is the pitch angle rate, θ is the pitch angle, and the tra...

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Abstract

The invention discloses a large-scale freight unmanned aerial vehicle landing trajectory control method. The method comprises the following steps: pre-designing a landing trajectory, establishing a trajectory parameter geometrical relationship, determining trajectory parameters, establishing a large-scale freight unmanned aerial vehicle aerodynamic model, combining large-scale freight unmanned aerial vehicle kinematics and kinetic equations to confirm the motion state of the large-scale freight unmanned aerial vehicle, setting a landing trajectory, optimizing the landing trajectory by designing a longitudinal landing control equation, solving a bounded solution, utilizing feedback output and generating a state trajectory, and finally further confirming and inspecting the landing trajectory through the landing trajectory detection and confirmation step. The landing trajectory designed by the method is basically free of deviation from the actual landing trajectory, and the method has important reference significance for landing safety of the large-scale freight aircraft.

Description

technical field [0001] The invention belongs to the technical field of landing trajectory control of large cargo aircraft, and in particular relates to a method for controlling the landing trajectory of a large cargo unmanned aerial vehicle. Background technique [0002] During the landing stage of large-scale cargo UAVs, as the deceleration and ground altitude drop, its trajectory control is one of the important factors related to the safety of the aircraft. The existing landing trajectory control methods, due to their limited trajectory accuracy, for large cargo aircraft, In particular, the weight of large-scale cargo drones has a large difference before and after loading, and the requirements for landing trajectory are high. The existing trajectory control method often cannot meet its actual safety needs. Aiming at the above problems, the present invention provides a new landing trajectory control method. The method achieves higher trajectory accuracy and can effectively ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0676
Inventor 汪善武魏雅川常天星王富贵孙歌苹
Owner 航天时代飞鹏有限公司