Unmanned aerial vehicle flight control strategy design method using gust environment

A technology of flight control and design method, applied in control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve problems such as unsatisfactory effect and difficult debugging, improve training accuracy and efficiency, and avoid debugging The process is complicated and the effect of optimized design

Active Publication Date: 2022-06-03
BEIHANG UNIV +1
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AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of difficult debugging and unsatisfactory results of conventional UAV flight control methods using gust environment, a design method of flight control strategy for UAV u

Method used

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  • Unmanned aerial vehicle flight control strategy design method using gust environment
  • Unmanned aerial vehicle flight control strategy design method using gust environment
  • Unmanned aerial vehicle flight control strategy design method using gust environment

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Embodiment 1

Based on the above-mentioned specific embodiments of the present invention, a flight control method design for a certain type of unmanned aerial vehicle using a gust environment, specifically including:

In a gust environment with an updraft area, a UAV flight dynamics model considering the gust environment is established. The UAV starts to fly straight and level from a height of 300m, and the aircraft heading is random. The starting point of the aircraft is at (0,0) in the top-down plane, and the center of the updraft is at (1000,1000). used in training e -greedy strategy to e takes the optimal action with probability 1- e The probability of adopting a random strategy is close to the updraft. 3600s per training. After the training converges, a greedy strategy is used to select the optimal action.

[0041] The control strategy after convergence is as follows figure 2 shown. Under the condition of no rolling torque and vertical wind speed gradient, the UAV will tend to m...

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Abstract

The invention discloses an unmanned aerial vehicle flight control strategy design method using a gust environment. The method comprises the following steps: establishing a flight dynamics model of an unmanned aerial vehicle in the gust environment; the roll angle of the unmanned aerial vehicle, the roll angle speed caused by the wind field gradient and the vertical wind speed change rate are selected as state quantities, iterative training is conducted on the state quantities through a reinforcement learning Q-learning algorithm, and an optimal control strategy is obtained; a flight control decision is made for the unmanned aerial vehicle in the gust environment according to the obtained optimal control strategy, and the real-time roll angle of the unmanned aerial vehicle is controlled through a PID controller to change the course of the unmanned aerial vehicle, so that the unmanned aerial vehicle finds up airflow and climbs by using the unmanned aerial vehicle; the method effectively overcomes the problems that a conventional common unmanned aerial vehicle flight control method using the gust environment needs a complicated debugging process and is not ideal in effect, can automatically adapt to different gust environments, and remarkably improves the all-weather safe flight capability of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of UAV flight control methods, in particular to a UAV flight control strategy design method utilizing a gust environment. Background technique [0002] UAVs are playing an increasingly important role in various fields with their unique advantages. The tasks currently performed by UAVs usually require them to have better endurance performance. When UAVs fly in the air, especially when crossing mountains, seas and complex urban environments, they often encounter various severe atmospheric turbulence. When the turbulence has an upward velocity component, theoretically, UAVs can take advantage of This increases lift; and when encountering downward airflow, the UAV can reduce the lift. During this process, the average lift of the UAV is enough to offset the gravity and maintain its normal flight, which can effectively improve the UAV's lift. Endurance time and range. [0003] However, the current conventional ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101Y02T90/00
Inventor 阚梓李道春郑勇峰姚卓尔田茂江申童邵浩原赵仕伟
Owner BEIHANG UNIV
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