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Unmanned aerial vehicle stable flight control method considering icing influence

A flight control and drone technology, applied in non-electric variable control, control/regulation systems, three-dimensional position/channel control, etc., can solve problems such as flight instability and achieve high efficiency

Pending Publication Date: 2021-12-31
BEIHANG UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the aerodynamic characteristics of the UAV will change under the influence of icing, and the attitude will change accordingly, resulting in flight instability. Flight control method, which can significantly improve the safe flight performance of UAVs in icing conditions

Method used

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  • Unmanned aerial vehicle stable flight control method considering icing influence
  • Unmanned aerial vehicle stable flight control method considering icing influence
  • Unmanned aerial vehicle stable flight control method considering icing influence

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Embodiment 1

[0072] Based on the above-mentioned specific implementation manner of the present invention, as appended figure 1 As shown, taking a certain type of UAV flying in an icing environment as an example, the flying speed of the UAV is 50m / s, and the rainfall rate is 50mm / h. The stable flight control methods considering the influence of icing include:

[0073] In the first step, according to the icing model, the drag coefficient increment of the UAV after icing is:

[0074]

[0075] Among them, the k constant is taken as 1, the flying speed of V drone is 50m / s, the icing time of t is 300s, the collection rate of β water droplets is taken as 0.45, g is the acceleration of gravity, the freezing coefficient of f is taken as 0.4, and ρ ice The density of accumulated ice is 0.92kg / m 3 , c is the chord length, and R is the rainfall rate. After calculation, the drag coefficient increment after the UAV freezes is 0.697×10 -3 .

[0076] The aerodynamic derivative of the UAV after icing...

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Abstract

The invention discloses an unmanned aerial vehicle stable flight control method considering icing influence. The method comprises the following steps: obtaining aerodynamic characteristic parameters of an unmanned aerial vehicle in an icing environment; and substituting the obtained aerodynamic characteristic parameters into an unmanned aerial vehicle flight dynamics model, designing a control law of a corresponding state feedback controller, and regulating and controlling the flight attitude of the unmanned aerial vehicle according to the obtained control law to realize stable flight of the unmanned aerial vehicle. According to the invention, the safe flight performance of the unmanned aerial vehicle under the icing condition is obviously improved.

Description

technical field [0001] The invention relates to the technical field of flight control methods for unmanned aerial vehicles. Background technique [0002] UAV icing is the phenomenon of disease on the UAV body caused by the influence of environmental conditions. Among them, obvious moisture and suitable ambient temperature are the main factors causing icing. Ice accumulation will seriously deteriorate the flight performance of the UAV. For example, when icing occurs, the overall mass of the UAV will increase, and the aerodynamic shape of its body, especially the wing surface, will change, further causing changes in aerodynamic characteristics, etc. . Therefore, studying the stable flight of UAVs under the influence of icing has important and far-reaching significance for the development of UAVs. Contents of the invention [0003] The purpose of the present invention is to solve the problem that the aerodynamic characteristics of the UAV will change under the influence of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 李道春姚卓尔邵浩原阚梓申童赵仕伟向锦武
Owner BEIHANG UNIV
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