Unmanned aerial vehicle single shot failure control method, system and device and medium

Abstract

The invention relates to the technical field of flight control, in particular to an unmanned aerial vehicle single-shot failure control method, system and device and a medium, and the method comprises the steps: single-shot failure control in the take-off stage of an unmanned aerial vehicle, namely, taking-off is interrupted, an engine on the other side is closed, a brake is used, and a rudder and a front wheel are used for carrying out deviation correction control on the unmanned aerial vehicle; single-engine failure control in the air cruise stage of the unmanned aerial vehicle: compensating additional yaw moment brought by a single-side engine through a transverse heading automatic compensation controller and a flight control system together to enable the aircraft to reach a balanced state, and adjusting the heading of the unmanned aerial vehicle to a designed emergency course to complete recovery; the single-shot failure control in the landing stage of the unmanned aerial vehicle comprises the following steps of: keeping the balance of the unmanned aerial vehicle by utilizing a transverse heading automatic compensation controller before landing, immediately closing an engine on the other side after touching the ground, and adopting a rudder and a front wheel to rectify deviation to control and track a ground route. The flight safety of the unmanned aerial vehicle is guaranteed, and the single-shot failure emergency processing capacity of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of flight control technology, and in particular to a method, system, device and medium for controlling single engine failure of an unmanned aerial vehicle. Background Art

[0002] A twin-engine UAV is an unmanned aerial vehicle equipped with two engines. This type of UAV has a large load capacity and can deliver materials to the destination quickly and accurately in various complex terrains and harsh environments. It is suitable for various logistics and transportation tasks, and its long range can also perform long-distance tasks. It has the advantages of large load capacity, long range, and strong adaptability. However, a twin-engine UAV may fail on only one side of the engine due to engine failure, fuel system failure, electrical system failure, external factors (such as lightning strikes, bird strikes, bad weather), and human operation. The single-engine failure problem is a safety hazard for twin-engine UAVs. When a twin-engine UAV has a single-engine failure problem, the thrust generated by the two engines is no longer balanced, seriously affecting flight stability and safety.

[0003] Most of the existing UAV single-engine failure control technologies are only aimed at the situation where one engine fails in the air, and lack the full process analysis of the mission profile. In addition, the method of directly using rudder compensation in the air is open-loop control, which cannot completely offset the asymmetric thrust effect caused by single-engine failure in the air, thereby affecting the lateral stability of the aircraft and causing a certain degree of economic loss.

[0004] Therefore, it is necessary to provide a method, system, device and medium for controlling single engine failure of a UAV to solve the above problems. Summary of the invention

[0005] The present invention provides a single-engine failure control method, system, device and medium for unmanned aerial vehicle (UAV) to solve the problem that the existing method of directly using rudder compensation in the air as open-loop control cannot completely offset the asymmetric thrust effect caused by the single-engine failure in the air, thereby affecting flight safety, and ensures the lateral heading stability of the aircraft and successfully completes recovery.

[0006] A single-engine failure control method for a UAV of the present invention adopts the following technical solution, including: Single engine failure control during the take-off phase, single engine failure control during the air cruise phase, and single engine failure control during the landing phase; Among them, the single-engine failure control during the take-off phase of the drone includes: interrupting the take-off, shutting down the other engine, applying the brakes, and using the rudder and front wheels to correct the drone; The single-engine failure control of the UAV during the aerial cruising phase includes: compensating the additional yaw moment caused by the single-side engine through the lateral heading automatic compensation controller and the flight control system, so that the aircraft reaches a balanced state, and adjusting the heading of the UAV to the designed emergency route to complete the recovery; Single-engine failure control during the landing phase of the UAV includes: using the automatic lateral heading compensation controller to keep the aircraft balanced before landing, shutting down the other engine immediately after touching the ground, and using the rudder and front wheel correction control to track the ground route.

[0007] Preferably, when the rudder and front wheel deviation correction control are used to track the ground route during the rolling takeoff phase and the landing phase, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, the actual ground speed direction heading angle feedback amount is used as the controlled amount, and the first target heading angle calculated from the predetermined ground heading is used as the target amount to obtain the deviation correction control amount corresponding to the rudder and the front wheel.

[0008] Preferably, the expression of the rudder correction control amount is:

[0009] In the formula, is the deviation correction control amount of the rudder; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the proportional coefficient of the rudder ground speed direction heading angle control; is the differential coefficient of the rudder ground speed direction heading angle control; is the scale factor of the rudder ground track tracking control; is the integral coefficient of the rudder ground track tracking control; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; is the time constant of the inertial link of the rudder correction control; is a complex variable.

[0010] Preferably, the expression of the deviation correction control amount of the front wheel is:

[0011] in, is the deviation correction control value of the front wheel; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; It is the proportional coefficient of the heading angle control in the ground speed direction of the front wheel; is the differential coefficient of the heading angle control in the ground speed direction of the front wheel; is the proportional coefficient of the front wheel ground track tracking control; It is the time constant of the inertia link of the front wheel deviation correction control.

[0012] Preferably, in the single-engine failure control during the aerial cruising stage of the UAV, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the track tracking control as the outer loop, the actual yaw angle feedback as the controlled quantity, and the second target heading angle obtained by solving the predetermined aircraft heading as the target quantity, obtains the compensation control quantity of the rudder, and compensates for the yaw moment caused by the failure of the single-side engine according to the compensation control quantity.

[0013] Preferably, the expression of the compensation control amount of the rudder is:

[0014] In the formula, is the compensation control amount of the rudder; is the actual yaw angle feedback; is the second target heading angle calculated based on the predetermined aircraft heading; r is the actual yaw rate; is the proportional coefficient of the automatic compensation control law; is the integral coefficient of the automatic compensation control law; is the differential coefficient of the automatic compensation control law; T It is the time constant of the inertia link of automatic compensation control.

[0015] Preferably, the steps of calculating the second target heading angle based on the predetermined route are:

[0016] In the formula, is the second target heading angle calculated based on the predetermined aircraft heading; is the intended aircraft heading; is the lateral distance target value; y It is the current lateral distance feedback value; is the proportional coefficient of lateral distance control; is the integral coefficient of lateral distance control.

[0017] A single-engine failure control system for an unmanned aerial vehicle adopts the following technical scheme, including: a control module, the control module is used for single-engine failure control during the take-off phase, the single-engine failure control during the air cruising phase, and the single-engine failure control during the landing phase of the unmanned aerial vehicle; wherein, the single-engine failure control during the take-off phase of the unmanned aerial vehicle includes: interrupting the take-off, shutting down the engine on the other side, using the brakes, and using the rudder and the front wheel to correct the deviation of the unmanned aerial vehicle; the single-engine failure control during the air cruising phase of the unmanned aerial vehicle includes: compensating the additional yaw moment brought by the single-side engine through the lateral heading automatic compensation controller and the flight control system, so that the aircraft reaches a balanced state, and adjusting the heading of the unmanned aerial vehicle to the designed emergency route to complete the recovery; the single-engine failure control during the landing phase of the unmanned aerial vehicle includes: using the lateral heading automatic compensation controller to keep the aircraft balanced before landing, shutting down the engine on the other side immediately after touching the ground, and using the rudder and the front wheel to correct the deviation and control to track the ground route.

[0018] An electronic device adopts the following technical solution, including a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, the steps of the single-engine failure control method of a drone described in the present invention are implemented.

[0019] A storage medium adopts the following technical solution, on which a computer program is stored. When the computer program is run, it is used to execute the steps of the single-engine failure control method of a drone described in the present invention.

[0020] The beneficial effects of the present invention are: During the take-off phase, the take-off is interrupted, the other engine is turned off, the brakes are applied, and the rudder and front wheel are used to correct the deviation of the UAV to prevent the aircraft from rolling over or running off the runway from the side, thus avoiding damage to the UAV body and extending the service life of the UAV. During the air cruising phase, the lateral heading automatic compensation controller and the flight control system are used to compensate for the additional yaw moment caused by the single engine, so that the aircraft reaches a balanced state, and the UAV heading is adjusted to the designed emergency route to complete the recovery, thereby preventing the aircraft attitude from yaw and roll due to thrust asymmetry, improving the safety of the UAV in the air. In the air, the sideslip angle caused by thrust asymmetry is prevented from increasing continuously, and the lift-drag characteristics are deteriorated, resulting in the stall of the aircraft, thus avoiding more serious flight accidents. During the landing phase, the lateral heading automatic compensation controller is used to keep the aircraft balanced before landing, and the other engine is immediately turned off after touching the ground, and the rudder and front wheel correction control are used to track the ground route to prevent the landing failure caused by the destruction of the lateral heading balance, thus avoiding the loss of the aircraft to a certain extent. For drones that perform specific tasks, this helps to ensure that the drone can still complete the task when a single-engine failure occurs, thereby improving the drone's task completion rate. In summary, the present invention ensures the flight safety of the drone throughout the entire process of performing the task and improves the drone's emergency handling capability for single-engine failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a flow chart of a method for controlling single engine failure of a UAV according to the present invention; Figure 2 Schematic diagram of the structure of the rudder correction controller in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the front wheel deviation correction controller in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the automatic lateral heading compensation controller in an embodiment of the present invention; Figure 5 A schematic diagram of a lateral distance curve obtained by the single-engine failure control method of the present invention when a single-engine fails in the air; Figure 6 A schematic diagram of a yaw angle curve obtained by the single-engine failure control method of the present invention when a single-engine fails in the air; Figure 7 The figure is a schematic diagram of a roll angle curve obtained by the single engine failure control method of the present invention when a single engine fails in the air. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] An embodiment of a method for controlling a single engine failure of a UAV according to the present invention is as follows: Figure 1As shown, it includes: single-engine failure control during the take-off phase of the UAV, single-engine failure control during the air cruising phase, and single-engine failure control during the landing phase; among them, the single-engine failure control during the take-off phase of the UAV includes: interrupting the take-off, shutting down the engine on the other side, using the brakes, and using the rudder and front wheel to correct the deviation of the UAV; the single-engine failure control during the air cruising phase of the UAV includes: compensating the additional yaw moment brought by the single-side engine through the lateral heading automatic compensation controller and the flight control system to make the aircraft reach a balanced state, and adjusting the heading of the UAV to the designed emergency route to complete the recovery; the single-engine failure control during the landing phase of the UAV includes: using the lateral heading automatic compensation controller to keep the aircraft balanced before landing, shutting down the engine on the other side immediately after touching the ground, and using the rudder and front wheel correction control to track the ground route.

[0025] Exemplarily, the rudder correction controller structure is as follows: Figure 2 As shown, the structure of the front wheel correction controller is as follows Figure 3 As shown in the figure, when the rudder and nose wheel deviation correction control are used to track the ground route during the takeoff and landing phases, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, and the actual ground speed direction heading angle feedback is used as the As the controlled quantity, the first target heading angle calculated from the predetermined ground heading As the target quantity, the deviation correction control quantity corresponding to the rudder and the front wheel is obtained.

[0026] Among them, the expression of the rudder correction control quantity is:

[0027] In the formula, is the deviation correction control amount of the rudder; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the proportional coefficient of the rudder ground speed direction heading angle control; is the differential coefficient of the rudder ground speed direction heading angle control; is the scale factor of the rudder ground track tracking control; is the integral coefficient of the rudder ground track tracking control; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; is the time constant of the inertial link of the rudder correction control; is a complex variable.

[0028] Among them, the expression of the front wheel correction control amount is:

[0029] in, is the deviation correction control value of the front wheel; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; It is the proportional coefficient of the heading angle control in the ground speed direction of the front wheel; is the differential coefficient of the heading angle control in the ground speed direction of the front wheel; is the proportional coefficient of the front wheel ground track tracking control; It is the time constant of the inertia link of the front wheel deviation correction control.

[0030] Exemplarily, the structure of the lateral heading automatic compensation controller is as follows: Figure 4 As shown in the figure, in the single-engine failure control during the aerial cruising stage of the UAV, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the track tracking control as the outer loop, the actual yaw angle feedback as the controlled quantity, and the second target heading angle obtained by solving the predetermined aircraft heading as the target quantity, obtains the compensation control quantity of the rudder, and compensates for the yaw moment caused by the failure of the single-side engine according to the compensation control quantity.

[0031] Among them, the expression of the rudder compensation control amount is:

[0032] In the formula, is the compensation control amount of the rudder; is the actual yaw angle feedback; is the second target heading angle calculated based on the predetermined aircraft heading; r is the actual yaw rate; is the proportional coefficient of the automatic compensation control law; is the integral coefficient of the automatic compensation control law; is the differential coefficient of the automatic compensation control law; T It is the time constant of the inertia link of automatic compensation control.

[0033] The steps of calculating the second target heading angle based on the predetermined route are as follows:

[0034] In the formula, is the second target heading angle calculated based on the predetermined aircraft heading; is the intended aircraft heading; is the lateral distance target value; y It is the current lateral distance feedback value; is the proportional coefficient of lateral distance control; is the integral coefficient of lateral distance control.

[0035] A single-engine failure control system for an unmanned aerial vehicle comprises: a control module, wherein the control module is used for single-engine failure control during the take-off phase, the air cruising phase and the landing phase of the unmanned aerial vehicle; wherein the single-engine failure control during the take-off phase of the unmanned aerial vehicle comprises: interrupting the take-off, shutting down the other engine, applying the brakes, and using the rudder and the front wheel to correct the deviation of the unmanned aerial vehicle; the single-engine failure control during the air cruising phase of the unmanned aerial vehicle comprises: compensating the additional yaw moment brought by the single-side engine by a lateral heading automatic compensation controller and a flight control system together, so that the aircraft reaches a balanced state, and adjusting the heading of the unmanned aerial vehicle to a designed emergency route to complete recovery; the single-engine failure control during the landing phase of the unmanned aerial vehicle comprises: using the lateral heading automatic compensation controller to keep the aircraft balanced before landing, shutting down the other engine immediately after touching the ground, and using the rudder and the front wheel to correct the deviation and control to track the ground route.

[0036] An electronic device comprises a processor, a memory and a computer program stored in the memory. When the computer program is executed by the processor, the steps of a method for controlling single engine failure of a drone of the present invention are implemented.

[0037] A storage medium stores a computer program, which, when executed, is used to execute the steps of a method for controlling single engine failure of a drone according to the present invention.

[0038] In order to facilitate understanding of the technical solution of the present invention, the physical quantities and parameters involved in the present invention are explained according to Table 1, wherein each parameter can be obtained through simulation debugging.

[0039]

[0040] In order to verify the effectiveness of the automatic compensation controller in the present invention, the following simulation experiment was carried out. The simulation tool used Matlab software, and the relevant parameters of a certain type of twin-engine UAV dynamics model were used in the simulation analysis.

[0041] In the simulation experiment, it is assumed that a single engine fails when the UAV is cruising at an altitude of 5000m. At this time, the lateral heading automatic compensation controller is intervened, and the lateral distance instruction is 3000m, so that the UAV maintains a stable lateral heading and enters the emergency route to prepare for recovery. The simulation result curve is as follows: Figures 5 to 7 As shown. Among them, Figure 5This is the lateral distance curve when a single engine fails in the air obtained by the single engine failure control method described in the present invention. It can be seen from the figure that the lateral distance reaches a steady state at 150s, and the lateral distance deviation is 0m, indicating that under this control law, the UAV can smoothly enter the emergency route. Figure 6 This is the yaw angle curve obtained by the single-engine failure control method of the present invention when a single engine fails in the air. It can be seen from the figure that a steady state is reached at 150s, and the yaw angle is finally stabilized at 0.8°. Figure 7 This is the roll angle curve obtained by the single engine failure control method of the present invention when a single engine fails in the air. It can be seen from the figure that the steady state is reached at 150s, and the roll angle is finally stabilized at 0.7°. Figure 6 and Figure 7 It can be concluded that when a single engine fails in the air, connecting the automatic compensation controller can keep the aircraft's attitude stable in the lateral heading direction without rolling over, allowing the UAV to smoothly enter the emergency route.

[0042] It can be concluded from the simulation experiment that the single-engine failure control method of the UAV of the present invention can enable the UAV to maintain lateral heading stability when a single engine fails, ensure that the UAV does not roll over, and smoothly enter the emergency route to complete recovery.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling single engine failure of an unmanned aerial vehicle, characterized in that: include: Single engine failure control during the take-off phase of the UAV, the single engine failure control during the air cruise phase, and the single engine failure control during the landing phase; Among them, the single-engine failure control during the take-off phase of the drone includes: interrupting the take-off, shutting down the other engine, applying the brakes, and using the rudder and front wheels to correct the drone; The single-engine failure control of the UAV during the aerial cruising phase includes: compensating the additional yaw moment caused by the single-side engine through the lateral heading automatic compensation controller and the flight control system, so that the aircraft reaches a balanced state, and adjusting the heading of the UAV to the designed emergency route to complete the recovery; Single-engine failure control during the landing phase of the UAV includes: using the automatic lateral heading compensation controller to keep the aircraft balanced before landing, shutting down the other engine immediately after touching the ground, and using the rudder and front wheel correction control to track the ground route.

2. The single engine failure control method for a UAV according to claim 1 is characterized in that: When the rudder and front wheel deviation correction control are used to track the ground route during the rolling takeoff and landing stages, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, the actual ground speed direction heading angle feedback is used as the controlled quantity, and the first target heading angle calculated from the predetermined ground heading is used as the target quantity to obtain the deviation correction control quantities corresponding to the rudder and the front wheel.

3. A method for controlling single engine failure of a UAV according to claim 2, characterized in that: The expression of the rudder correction control quantity is: In the formula, is the deviation correction control amount of the rudder; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the proportional coefficient of the rudder ground speed direction heading angle control; is the differential coefficient of the rudder ground speed direction heading angle control; is the scale factor of the rudder ground track tracking control; is the integral coefficient of the rudder ground track tracking control; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; is the time constant of the inertial link of the rudder correction control; is a complex variable.

4. The single engine failure control method for a UAV according to claim 1 is characterized in that: The expression of the front wheel deviation control quantity is: in, is the deviation correction control value of the front wheel; It is the actual ground speed direction heading angle feedback; is the heading angular rate in the ground speed direction; is the first target heading angle; is the intended ground heading; is the ground lateral distance target value; It is the current ground lateral distance feedback value; It is the proportional coefficient of the heading angle control in the ground speed direction of the front wheel; is the differential coefficient of the heading angle control in the ground speed direction of the front wheel; is the proportional coefficient of the front wheel ground track tracking control; It is the time constant of the inertia link of the front wheel deviation correction control.

5. The single engine failure control method for unmanned aerial vehicle according to claim 1, characterized in that: In the single-engine failure control during the aerial cruising phase of the UAV, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the track tracking control as the outer loop, the actual yaw angle feedback as the controlled quantity, and the second target heading angle obtained by solving the predetermined aircraft heading as the target quantity. The compensation control quantity of the rudder is obtained, and the yaw moment caused by the failure of the single-side engine is compensated according to the compensation control quantity.

6. A method for controlling single engine failure of a UAV according to claim 5, characterized in that: The expression of the compensation control amount of the rudder is: In the formula, is the compensation control amount of the rudder; is the actual yaw angle feedback; is the second target heading angle calculated based on the predetermined aircraft heading; r is the actual yaw rate; is the proportional coefficient of the automatic compensation control law; is the integral coefficient of the automatic compensation control law; is the differential coefficient of the automatic compensation control law; T It is the time constant of the inertia link of automatic compensation control.

7. The method for controlling single engine failure of a UAV according to claim 5, characterized in that: The steps for calculating the second target heading angle based on the predetermined route are: In the formula, is the second target heading angle calculated based on the predetermined aircraft heading; is the intended aircraft heading; is the lateral distance target value; y It is the current lateral distance feedback value; is the proportional coefficient of lateral distance control; is the integral coefficient of lateral distance control.

8. A single engine failure control system for unmanned aerial vehicles, characterized in that: include: The control module is used for single-engine failure control during the take-off phase, the air cruising phase and the landing phase of the UAV; the single-engine failure control during the take-off phase of the UAV includes: interrupting the take-off, shutting down the engine on the other side, applying the brakes, and using the rudder and front wheel to correct the deviation of the UAV; the single-engine failure control during the air cruising phase of the UAV includes: compensating for the additional yaw moment brought by the single-side engine through the lateral heading automatic compensation controller and the flight control system, so that the aircraft reaches a balanced state, and adjusting the heading of the UAV to the designed emergency route to complete the recovery; the single-engine failure control during the landing phase of the UAV includes: using the lateral heading automatic compensation controller to keep the aircraft balanced before landing, shutting down the engine on the other side immediately after touching the ground, and using the rudder and front wheel correction control to track the ground route.

9. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory, and when the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, it is used to execute the steps of the method described in any one of claims 1 to 7.

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