A method, system, medium and device for controlling the aerodynamic catapult launch of a drone

Abstract

This invention discloses a method, system, medium, and device for controlling the aerodynamic catapult takeoff of an unmanned aerial vehicle (UAV). The method controls the UAV during the catapult takeoff phase, including the following steps: acquiring the flight state parameters of the UAV during the catapult takeoff phase; calculating the elevator, aileron, rudder, and throttle command values ​​based on the control laws of the elevator, aileron, rudder, and throttle channels during the catapult takeoff phase, and then controlling the UAV accordingly. This invention, by constructing control laws for the elevator, aileron, rudder, and throttle channels and combining them with the flight state parameters of the UAV during the aerodynamic catapult takeoff phase, obtains the elevator, aileron, rudder, and throttle control commands for the UAV during takeoff, thereby achieving flight control of the UAV during the takeoff phase and ensuring a smooth aerodynamic catapult takeoff.

Description

Technical Field

[0001] This invention belongs to the field of UAV catapult technology, specifically relating to a UAV pneumatic catapult takeoff control method, system, medium, and equipment. Background Technology

[0002] Zero-length launch has significant advantages in UAV takeoff methods. Among them, rocket-assisted and aerodynamic catapult launch methods are widely used in UAV launch schemes that require zero-length launch.

[0003] Rocket-assisted drones generate noise and light delays during takeoff, which can reveal the drone's launch location and specifications, significantly weakening its combat capabilities. Therefore, aerodynamic catapults have certain advantages in drone launch applications.

[0004] Current research on pneumatic catapult technology for UAVs largely focuses on the pneumatic catapult system and its control methods. For example, patent application CN114524107A discloses a rodless cylinder vacuum differential pressure-based UAV pneumatic catapult system and method, describing the structure and control method used in the system. However, there is currently little research on the control of the UAV's pneumatic catapult takeoff phase, which plays a crucial role in the smooth takeoff of the UAV. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, medium, and device for controlling the pneumatic catapult takeoff of unmanned aerial vehicles (UAVs) to achieve control of the UAV during the pneumatic catapult takeoff phase and ensure that the UAV can take off smoothly during pneumatic catapult launch.

[0006] This invention is achieved through the following technical solution: A method for controlling the aerodynamic catapult launch of an unmanned aerial vehicle (UAV) includes the following steps: Acquire flight status parameters of the UAV during the catapult launch phase; Based on the control laws of the elevator, aileron, rudder, and throttle channels of the UAV during the catapult launch phase, the elevator, aileron, rudder, and throttle command values ​​of the UAV are calculated, and the UAV is controlled accordingly.

[0007] Furthermore, an elevator preset value is set, and a control law for the elevator channel is constructed based on the elevator preset value, pitch rate, pitch angle, and pitch angle command value. The elevator command value is obtained by solving the control law of the elevator channel.

[0008] Furthermore, a control law for the aileron channel is constructed based on the UAV roll rate, roll angle, and roll angle command value. The UAV roll angle command value is obtained from the control law of the roll angle command constructed based on the side offset change rate, the side offset command value change rate, the UAV track angle, and the track angle command value. The side offset command value change rate is obtained from the control law of the side offset command value change rate constructed based on the side offset and the side offset command value. The aileron rudder command value is obtained by solving the control law of the aileron channel.

[0009] Furthermore, a control law for the rudder channel is constructed based on the UAV's roll rate; The rudder command value is obtained by solving the control law of the rudder channel.

[0010] Furthermore, the control law of the throttle channel is set to the calculated engine throttle value as the maximum throttle of the UAV engine or to enable the UAV to achieve the set thrust-to-weight ratio.

[0011] Furthermore, when constructing the elevator control law, the pitch rate of the UAV is subjected to low-pass filtering.

[0012] Furthermore, when constructing the control law for the aileron channel, the roll rate of the UAV is subjected to low-pass filtering.

[0013] Furthermore, when constructing the control law for the rudder channel, the roll rate of the UAV is subjected to low-pass filtering.

[0014] Furthermore, when constructing the control law for the aileron channel, the roll angle command value of the UAV is limited so that when the UAV is within the first set altitude, the outer loop control law does not engage control. When the relative altitude of the UAV is greater than the first set altitude but within the second set altitude, the roll angle command value gradually increases from zero. When the relative altitude of the UAV is greater than the second set altitude, the limit value of the roll angle command value is the same as the limit value of the flight segment. The outer loop control law is the control law corresponding to the rate of change of the roll angle command value and the lateral offset command value.

[0015] The pneumatic catapult takeoff control system for unmanned aerial vehicles includes: The parameter acquisition unit is used to acquire the flight parameters of the UAV during catapult takeoff. The control law calculation unit is used to calculate the command values ​​of each module of the UAV during aerodynamic catapult takeoff according to the control laws of the elevator channel, aileron channel, rudder channel and throttle channel respectively. And / or, a low-pass filtering processing unit is used to perform low-pass filtering processing on the pitch rate and roll rate of the UAV when constructing the elevator control law, aileron channel control law, and rudder channel control law. And / or, a limiting processing unit, used to limit the roll angle command value of the UAV when constructing the aileron channel control law; The control unit controls the UAV based on the calculated elevator, aileron, rudder, and throttle command values.

[0016] A computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the aforementioned aerodynamic catapult takeoff control method for unmanned aerial vehicles.

[0017] An electronic device includes a processor and a memory, wherein, Memory is used to store computer programs; The processor is used to load and execute the computer program so that the electronic device performs the above-described UAV pneumatic catapult takeoff control method.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1) This invention constructs control laws for elevator channels, aileron channels, rudder channels, and throttle channels, and combines these with flight state parameters during the aero-catapult takeoff phase of the UAV to obtain elevator, aileron, rudder, and throttle control commands for the UAV during takeoff, thereby achieving flight control of the UAV during takeoff and ensuring a smooth takeoff of the UAV via aero-catapult.

[0019] 2) The control laws of the elevator channel, aileron channel and rudder channel are constructed based on the preset elevator, pitch damping and pitch proportional control in this invention. This can effectively improve the calculation accuracy of the control commands of each channel, so that the UAV can achieve safe and stable climb after leaving the catapult track based on active control of the UAV.

[0020] 3) In the control laws of the elevator channel, aileron channel and rudder channel, the present invention performs low-pass filtering on the corresponding control terms to reduce the high-frequency angular rate disturbance of the UAV caused by the catapult track during the aerodynamic catapult process, thereby improving the control accuracy of the UAV.

[0021] 4) For the control of the aileron channel, the present invention adopts a control method based on the side offset and uses the roll angle command to limit the amplitude, so as to make the UAV more stable in the lateral control, so as to avoid the large fluctuation of the control law when switching to side offset control and thus affecting the control accuracy. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. Figure 1 This is a control structure diagram of the elevator channel controller in Embodiment 1 of the present invention.

[0023] Figure 2 This is a control structure diagram of the aileron channel controller in Embodiment 1 of the present invention.

[0024] Figure 3 This is a control structure diagram of the rudder channel controller in Embodiment 1 of the present invention.

[0025] Figure 4 This is a control structure diagram of the elevator channel controller in Embodiment 2 of the present invention.

[0026] Figure 5 This is a control structure diagram of the aileron channel controller in Embodiment 2 of the present invention.

[0027] Figure 6 This is a control structure diagram of the rudder channel controller in Embodiment 2 of the present invention.

[0028] in: To stabilize the angular rate of the elevator channel control parameters. These are the integral control parameters for the elevator channel pitch rate. These are the damping control parameters for the aileron channel roll rate. The aileron passage roll angle proportional control parameter. This is the proportional control parameter for the rate of change of the aileron channel side offset. The integral control parameter for the rate of change of aileron channel side offset. The differential control parameter for the rate of change of the aileron channel side offset. These are the proportional control parameters for the aileron channel track angle. This refers to the proportional control parameter for the aileron channel side offset. Add stability control parameters to the rudder channel; , , These are the parameters of the low-pass filter; For the pitch rate of the UAV, For the drone's pitch angle, This is the preset value for the elevator. This is the elevator command value. This is the pitch angle command value; For the roll rate of the drone, For the drone's roll angle, The rate of change of lateral offset. Lateral offset, For the drone's flight path angle, For aileron control commands, This is the roll angle command value. This is the track angle command value. This is the commanded value for the rate of change of lateral offset. This is the lateral offset command value. For the roll rate of the drone, This is the rudder command value. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0030] The aerodynamic catapult takeoff control method for unmanned aerial vehicles (UAVs) provided in this invention is used to actively control the UAV during the catapult takeoff phase, so as to achieve stable flight of the UAV during the takeoff phase of aerodynamic catapult launch, and includes the following steps: Acquire flight status parameters of the UAV during the catapult launch phase; Based on the control laws of the elevator, aileron, rudder, and throttle channels of the UAV during the catapult takeoff phase, the elevator, aileron, rudder, and throttle command values ​​of the UAV are calculated, and the UAV is controlled accordingly.

[0031] This invention employs control laws based on elevator, aileron, rudder, and throttle channels, combined with flight state parameters during the aerodynamic catapult launch phase of the UAV, to calculate the control commands for the aerodynamic catapult launch of the UAV, thereby actively controlling the flight during the UAV's takeoff phase. The control method of the present invention will be described below with reference to specific embodiments.

[0032] Example 1 In this implementation, the aerodynamic catapult takeoff phase of the UAV refers to the stage where the aircraft receives the takeoff command, detaches from the catapult track, and ascends to a certain altitude.

[0033] Constructing the control law for the elevator channel; like Figure 1 As shown, an elevator preset value is set, and a control law for the elevator channel is constructed based on the elevator preset value, pitch rate, pitch angle, and pitch angle command values; the constructed control law for the elevator channel is: ...(1) in, To stabilize the angular rate of the elevator channel control parameters. The integral control parameters for the pitch rate of the elevator channel; For the pitch rate of the UAV, For the drone's pitch angle, This is the preset value for the elevator. This is the elevator command value. This is the pitch angle command value.

[0034] Based on the elevator channel control law, by tracking the pitch angle command value Real-time calculation of elevator command values The data is then sent to the elevator control mechanism, which controls the elevator to control the pitch moment of the UAV, thereby achieving longitudinal control of the UAV during catapult launch.

[0035] The control law for constructing the aileron passage; like Figure 2 As shown, the control law for the aileron channel is constructed based on the UAV roll rate, roll angle, and roll angle command value. The UAV roll angle command value is obtained by the control law for the roll angle command constructed based on the side offset change rate, the side offset command value change rate, the UAV track angle, and the track angle command value. The side offset command value change rate is obtained by the control law for the side offset command value change rate constructed based on the side offset and the side offset command value. The control laws for the aileron passage, as well as the corresponding roll angle command control law and side slip command rate of change control law, are as follows: ...(2) in, These are the damping control parameters for the aileron channel roll rate. The aileron passage roll angle proportional control parameter. This is the proportional control parameter for the rate of change of the aileron channel side offset. The integral control parameter for the rate of change of aileron channel side offset. The differential control parameter for the rate of change of the aileron channel side offset. These are the proportional control parameters for the aileron channel track angle. This refers to the proportional control parameter for the aileron channel side offset. For the roll rate of the drone, For the drone's roll angle, The rate of change of lateral offset. Lateral offset, For the drone's flight path angle, For aileron control commands, This is the roll angle command value. This is the track angle command value. This is the commanded value for the rate of change of lateral offset. This is the offset command value.

[0036] Based on the aileron channel control law, by tracking the side offset command value Real-time calculation of aileron command values The data is then sent to the aileron control mechanism, which controls the aileron control to achieve the rolling torque of the UAV, thereby enabling lateral control of the UAV during catapult launch.

[0037] Construct the rudder channel control law; like Figure 3 As shown, the control law for the rudder channel is constructed based on the UAV's roll rate; the control law for the rudder channel is: ... (3) in, To enhance the stability control parameters for the rudder channel, For the roll rate of the drone, This is the rudder command value.

[0038] Based on the elevator channel control law, the rudder command value is calculated in real time. The data is then sent to the rudder actuator, which controls the rudder to control the yaw moment of the UAV, thereby achieving heading control during the UAV's catapult launch process.

[0039] In this embodiment, the control law of the throttle channel is set to the calculated engine throttle value as the maximum throttle of the UAV engine or to enable the UAV to achieve a set thrust-to-weight ratio.

[0040] Generally, the throttle channel is controlled by setting the throttle value of the UAV engine to the maximum throttle value of the UAV engine, and sending the engine throttle command value to the power system in real time, thereby realizing the control of the engine throttle channel during the UAV catapult takeoff process.

[0041] Of course, the throttle value of the transmitter is not necessarily set to the maximum throttle of the engine. In actual control, the throttle value of the drone during the catapult takeoff phase can be set according to the performance of the drone engine, so that the drone can achieve a certain thrust-to-weight ratio during this phase to meet the performance requirements of the drone's accelerated takeoff.

[0042] Based on the control laws constructed above for the four channels, flight control commands for the UAV during the catapult takeoff phase are obtained respectively, thus realizing active control of the UAV during this phase.

[0043] Example 2 In this embodiment, based on embodiment 1, when constructing the control laws for the elevator channel, aileron channel, and rudder channel, low-pass filtering is applied to the corresponding control terms to reduce the high-frequency angular rate disturbances generated by the catapult trajectory on the UAV during aerodynamic catapult launch, thereby improving the control accuracy of the UAV.

[0044] like Figure 4 As shown, when constructing the elevator control law, the pitch rate of the UAV is low-pass filtered; specifically, the control law for the elevator channel corresponding to the low-pass filter added to the angular rate term in the control law is as follows: ... (4) in, To stabilize the control parameters of the elevator channel, These are the integral control parameters for the elevator channel pitch rate. These are the parameters of the low-pass filter. For the pitch rate of the UAV, For the drone's pitch angle, This is the preset value for the elevator. This is the elevator command value. is the pitch angle command value, and s is the Laplace operator.

[0045] like Figure 5 As shown, when constructing the control law for the aileron channel, the UAV roll rate is low-pass filtered, and the corresponding control law for the aileron channel is: ...(5) in, These are the damping control parameters for the aileron channel roll rate. The aileron passage roll angle proportional control parameter. This is the proportional control parameter for the rate of change of the aileron channel side offset. The integral control parameter for the rate of change of aileron channel side offset. The differential control parameter for the rate of change of the aileron channel side offset. These are the proportional control parameters for the aileron channel track angle. This refers to the proportional control parameter for the aileron channel side offset. These are the control parameters for the low-pass filter; For the roll rate of the drone, For the drone's roll angle, The rate of change of lateral offset. Lateral offset, For the drone's flight path angle, For aileron control commands, This is the roll angle command value. This is the track angle command value. This is the commanded value for the rate of change of lateral offset. This is the offset command value.

[0046] like Figure 6 As shown, when constructing the control law for the rudder channel, the UAV roll rate is low-pass filtered, and the corresponding control law for the rudder channel is: ... (6) in, To enhance the stability control parameters for the rudder channel, These are the parameters of the low-pass filter. For the roll rate of the drone, This is the rudder command value.

[0047] Example 3 In this embodiment, based on Embodiments 1 and 2, a side offset-based control method is adopted for the control of the aileron channel. By limiting the roll angle command, the UAV is made more stable in lateral control, so as to avoid large fluctuations in the control law when switching to side offset control, which would affect the control accuracy.

[0048] Specifically, when constructing the control law for the aileron channel, the roll angle command value of the UAV is limited so that when the UAV is within the first set altitude, the outer loop control law does not engage control. When the relative altitude of the UAV is greater than the first set altitude but within the second set altitude, the roll angle command value gradually increases from zero. When the relative altitude of the UAV is greater than the second set altitude, the limit value of the roll angle command value is the same as the limit value of the flight segment. The corresponding amplitude limit calculation method is as follows: ... (7) in, This is the roll angle command value. The relative altitude of the drone above the ground, parameter , , , Configure as needed; generally, parameters And parameters Same as the flight segment limit; Set a height value for the first one. Set a height value for the second setting.

[0049] The optimization strategy for the aileron channel control law in this embodiment is that the outer loop control law is not engaged at low altitudes. Here, the outer loop control law refers to the roll angle command control law corresponding to formula (5). and the rate of change of the side offset command value When the relative height is greater than the first set height At this time, the roll angle command value is gradually increased from zero. When the relative altitude is high, the roll angle command limit value is the same as the limit value of the navigation segment.

[0050] On the other hand, in one embodiment, a UAV pneumatic catapult takeoff control system based on the UAV pneumatic catapult takeoff control method in the above embodiments is provided, for controlling the UAV during the pneumatic catapult takeoff phase, including: The parameter acquisition unit is used to acquire the flight parameters of the UAV during catapult takeoff. The control law calculation unit is used to calculate the command values ​​of each module of the UAV during aerodynamic catapult takeoff according to the control laws of the elevator channel, aileron channel, rudder channel and throttle channel respectively. The low-pass filtering processing unit is used to perform low-pass filtering processing on the pitch rate and roll rate of the UAV when constructing the elevator control law, aileron channel control law and rudder channel control law. The amplitude limiting processing unit is used to limit the roll angle command value of the UAV when constructing the aileron channel control law; The control unit controls the UAV based on the calculated elevator, aileron, rudder, and throttle command values.

[0051] Based on the same inventive concept as in the above embodiments, in one embodiment a computer-readable storage medium is also provided, which stores a computer program. When the computer program is loaded and executed by a processor, it implements the above-described aerodynamic catapult takeoff control method for unmanned aerial vehicles.

[0052] Based on the same inventive concept as in the above embodiments, one embodiment also provides an electronic device, including a processor and a memory, wherein, Memory is used to store computer programs; The processor is used to load and execute the computer program so that the electronic device performs the above-described UAV pneumatic catapult takeoff control method.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for controlling the aerodynamic catapult launch of an unmanned aerial vehicle (UAV), characterized in that, Controlling the drone during the catapult launch phase includes the following steps: Acquire flight status parameters of the UAV during the catapult launch phase; Based on the control laws of the elevator, aileron, rudder, and throttle channels of the UAV during the catapult takeoff phase, the elevator, aileron, rudder, and throttle command values ​​of the UAV are calculated, and the UAV is controlled accordingly. Set elevator preset values ​​and construct elevator channel control laws based on elevator preset values, pitch rate, pitch angle and pitch angle command values; The elevator command value is obtained by solving the control law of the elevator channel; The control law of the throttle channel is set to the calculated engine throttle value as the maximum throttle of the UAV engine or to enable the UAV to achieve the set thrust-to-weight ratio. When constructing the elevator control law, the pitch rate of the UAV is subjected to low-pass filtering. When constructing the control law for the aileron channel, the roll rate of the UAV is subjected to low-pass filtering. When constructing the control law for the rudder channel, the roll rate of the UAV is subjected to low-pass filtering. When constructing the control law for the aileron channel, the roll angle command value of the UAV is limited so that when the UAV is within the first set altitude, the outer loop control law is not connected to the control. When the relative altitude of the UAV is greater than the first set altitude but within the second set altitude, the roll angle command value gradually increases from zero. When the relative altitude of the UAV is greater than the second set altitude, the limit value of the roll angle command value is the same as the limit value of the flight segment. The outer loop control law is a control law corresponding to the rate of change of the roll angle command value and the lateral offset command value.

2. The aerodynamic catapult takeoff control method for unmanned aerial vehicles according to claim 1, characterized in that, The control law for the aileron channel is constructed based on the UAV roll rate, roll angle, and roll angle command value. The UAV roll angle command value is obtained by the control law for the roll angle command constructed based on the side offset change rate, the side offset command value change rate, the UAV track angle, and the track angle command value. The side offset command value change rate is obtained by the control law for the side offset command value change rate constructed based on the side offset and the side offset command value. The aileron rudder command value is obtained by solving the control law of the aileron channel.

3. The aerodynamic catapult takeoff control method for unmanned aerial vehicles according to claim 1, characterized in that, Control law for rudder channel based on UAV roll rate; The rudder command value is obtained by solving the control law of the rudder channel.

4. A control system for implementing the UAV pneumatic catapult takeoff control method as described in any one of claims 1-3, characterized in that, include: The parameter acquisition unit is used to acquire the flight parameters of the UAV during catapult takeoff. The control law calculation unit is used to calculate the command values ​​of each module of the UAV during aerodynamic catapult takeoff according to the control laws of the elevator channel, aileron channel, rudder channel and throttle channel respectively. And / or, a low-pass filtering processing unit is used to perform low-pass filtering processing on the pitch rate and roll rate of the UAV when constructing the elevator control law, aileron channel control law, and rudder channel control law. And / or, a limiting processing unit, used to limit the roll angle command value of the UAV when constructing the aileron channel control law; The control unit controls the UAV based on the calculated elevator, aileron, rudder, and throttle command values.

5. A computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the aerodynamic catapult takeoff control method for unmanned aerial vehicles as described in any one of claims 1-3.

6. An electronic device, comprising a processor and a memory, wherein, Memory is used to store computer programs; The processor is used to load and execute the computer program to cause the electronic device to perform the UAV pneumatic catapult takeoff control method as described in any one of claims 1-3.

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