Control structure and method for rapidly adjusting and keeping position of ship-borne unmanned helicopter

Abstract

The invention belongs to the technical field of flight control of ship-borne unmanned helicopters, and particularly relates to a control structure and method for rapidly adjusting and keeping the position of a ship-borne unmanned helicopter. The method comprises the following steps: 1, designing a position rapid control gain KN and a dynamic adjustment amount Kk of a rapid adjustment control loop branch; 2, when helicopter position control is started, the dynamic adjustment amount Kk is adjusted in real time according to helicopter position deviation; and step 3, resolving and quickly adjusting the control quantity C in real time according to the helicopter position deviation.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight control of shipborne unmanned helicopters, and in particular relates to a control structure and method for quickly adjusting and maintaining the position of a shipborne unmanned helicopter. Background Art

[0002] The process of autonomous take-off and landing of unmanned helicopter on the ship deck can be described as: the flight control system controls the unmanned helicopter to maintain relative positions in the longitudinal and lateral directions, and completes automatic take-off vertically. After completing the mission, the return approach, approach descent, hovering and following up to the top of the deck, wait for the unmanned helicopter to receive the autonomous landing command, the flight control system controls the unmanned helicopter to maintain relative positions in the longitudinal and lateral directions, and automatically lands vertically, waiting for a rest period of 5m above the deck. When the ideal landing opportunity appears, the unmanned helicopter is controlled to quickly land on the deck and complete the landing.

[0003] The purpose of rapid position adjustment and maintenance is to quickly adjust the position during take-off and landing to avoid danger caused by untimely position correction or failure to land accurately on the grid. Currently known control methods are mostly UAV position maintenance control methods, the core of which is the PID control algorithm; the other is based on nonlinear PID or variable structure nonlinear control methods, which mainly adjust the control strategy and parameters according to the position deviation.

[0004] In the currently known control methods, when the position deviation is gradually reduced to 0, the control amount decreases instantaneously or even disappears as the deviation decreases, resulting in a poor position keeping effect. Summary of the invention

[0005] The technical problem solved by the present invention is as follows: In view of the problem of autonomous take-off and landing position control of a shipborne unmanned helicopter, a control structure and method for quickly adjusting and maintaining the position of a shipborne unmanned helicopter are provided.

[0006] The technical solution of the present invention:

[0007] In a first aspect, the present invention provides a control structure for rapidly adjusting and maintaining the position of a shipborne unmanned helicopter, the control structure comprising: an inner loop branch, an outer loop branch and a rapid adjustment control loop branch; the rapid adjustment control loop branch takes the helicopter position control deviation as input, and after solving, outputs a control pitch change to a corresponding rudder surface to rapidly adjust the helicopter position;

[0008] The inner loop branch is used for attitude and angular rate feedback control of the helicopter;

[0009] The outer loop branch is used for speed and position feedback control of the helicopter;

[0010] The fast adjustment control loop branch is used for fast adjustment of the helicopter position and maintaining control.

[0011] In a second aspect, the present invention also provides a method for controlling the position of a shipborne unmanned helicopter to be quickly adjusted and maintained, step 1): designing a position fast control gain K of a fast adjustment control loop branch N And dynamic adjustment amount R k ;

[0012] Step 2): When the helicopter position control is turned on, the dynamic adjustment value K is adjusted in real time according to the helicopter position deviation k

[0013] Step 3): Rapidly adjust the control amount C based on the helicopter position deviation solution in real time.

[0014] Furthermore, the dynamic adjustment amount K k The specific adjustment method is:

[0015]

[0016] Where |ΔL| is the absolute value of position deviation.

[0017] Furthermore, the control amount C is adjusted as follows: C = C keep +C N

[0018] Where: C keep When the absolute value of the position deviation is less than 0.2m, the C output of the previous beat is retained N ; C N =K*K N ×ΔL, where C N Do the limiting process, the value after limiting is the same as the C of the previous beat N Compare and retain the output with the larger absolute value to control the variable pitch.

[0019] Furthermore, the method further comprises:

[0020] Step 4): When the absolute value of the helicopter position deviation is less than 0.2m, C N The value is cleared, C keep Values ​​are retained;

[0021] Step 5): When the helicopter position control is released, C N and C keep Both values ​​are reset to zero at the same time, that is, the rapid adjustment control amount C is reset to zero.

[0022] Furthermore, the longitudinal position fast control law solution expression is as follows:

[0023] Δδ X =K θ (θ-θ g )+K q Q+K X (XXg )+K VX (V X -V Xg )+C X

[0024] C X =C Xkeep +C XN

[0025] C XN =K KX *K XN *(XX g )

[0026] Among them, Δδ X is the result of solving the longitudinal channel control law; K θ is the pitch angle control parameter, θ is the pitch angle, θ g is the pitch angle command, K q is the pitch angle rate control quantity, Q is the pitch angle rate, K X is the longitudinal position control parameter, X is the longitudinal position, X g is the longitudinal position instruction, K VX is the longitudinal speed control parameter, V X is the longitudinal velocity, V Xg is the longitudinal speed command, C X is the rapid control value of the longitudinal position, C Xkeep C is the output of the previous row retained when the absolute value of the longitudinal position deviation is less than 0.2m XN , K KX Quickly adjust the control parameter gain for the longitudinal position, K XN Control gain for fast control of longitudinal position.

[0027] Furthermore, the lateral position fast control law solution expression is as follows:

[0028] Δδ Y =K φ (φ-φ g )+K p P+K Y (YY g )+K VY (V Y -V Yg )+C Y

[0029] C Y =C Ykeep +C YN

[0030] C YN =K KY *KYN *(YY g )

[0031] Among them, Δδ Y is the solution result of the lateral channel control law; K φ is the roll angle control parameter, φ is the roll angle, φ g is the roll angle command, K p is the roll angle rate control quantity, P is the roll angle rate, K Y is the lateral position control parameter, Y is the lateral position, Y g is the lateral position instruction, K VY is the lateral speed control parameter, V Y is the lateral velocity, V Yg is the lateral speed command, C Y is the lateral position rapid control value, C Ykeep C is the output of the previous row that is retained when the absolute value of the lateral position deviation is less than 0.2m YN , K KY Rapidly adjust the control parameter gain for lateral position, K YN Control gain for fast control of lateral position.

[0032] In a third aspect, the present invention further provides a shipborne unmanned helicopter, which uses the method to quickly adjust and maintain the position of the helicopter.

[0033] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0034] 1) The present invention designs a control method for quickly adjusting and maintaining the position of a shipborne unmanned helicopter;

[0035] 2) In the automatic landing test of a certain type of unmanned helicopter, this method was used to successfully control the position deviation of the unmanned helicopter within the allowable range of the grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the position control law structure;

[0037] Figure 2 This is a schematic diagram of the automatic landing process;

[0038] Figure 3 Schematic diagram of the longitudinal position deviation during the automatic landing test flight. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings.

[0040] The control structure scheme of the present invention for rapidly adjusting and maintaining the position of a shipborne unmanned helicopter is generally described as follows: the position control loop is based on the PD control, and a rapid adjustment control loop is added (see attached Figure 1 ), it automatically adjusts the control parameters according to the position deviation, and when the position deviation gradually decreases to 0, it maintains the control amount without decreasing instantly as the deviation decreases, thereby achieving rapid position adjustment and maintenance.

[0041] Scheme control logic block diagram (see attached Figure 1 ),include:

[0042] Inner loop: attitude and angular rate feedback control;

[0043] Outer loop: speed and position feedback control;

[0044] Quick-Adjust Control Ring: Position quickly and maintain control.

[0045] Among them, the rapid adjustment control loop takes the position control deviation as input, and after solving, outputs the control pitch to the corresponding rudder surface for rapid position adjustment. The control law solution expression is shown in the following formula:

[0046] Δδ=inner loop control amount + outer loop control amount + fast control amount

[0047] Specific steps to implement the fast control loop:

[0048] Step 1): Design a fast adjustment control loop control parameter K N And parameter gain K k ;

[0049] Where K N K is the position fast control gain; k It is a dynamic adjustment amount.

[0050] Step 2): When position control is turned on, adjust the parameter gain K in real time according to the position deviation k , the specific adjustment method is as follows:

[0051]

[0052] Where |ΔL| is the absolute value of position deviation;

[0053] Step 3): Rapidly adjust the control quantity C according to the position deviation solution in real time, see formula (2).

[0054] C=C keep +C N (2)

[0055] Where: C keep When the absolute value of the position deviation is less than 0.2m, the C output of the previous beat is retained N ; CN See equation (3) for solution

[0056] C N =K*K N *ΔL (3)

[0057] In the formula, C N Do the limiting process, the value after limiting is the same as the C of the previous beat N Compare and retain the one with the larger absolute value to output to control the variable pitch;

[0058] Step 4): When the absolute value of the position deviation is less than 0.2m, C N The value is cleared, but C keep reserve;

[0059] Step 5): When the position control is released, C N and C keep Both values ​​are reset to zero at the same time, that is, the rapid adjustment control amount C is reset to zero.

[0060] Specific position control solution:

[0061] The solution expression of the longitudinal position fast control law is shown in formula (4):

[0062] Δδ X =K θ (θ-θ g )+K q Q+K X (XX g )+K VX (V X -V Xg )+C X

[0063] C X =C Xkeep +C XN

[0064] C XN =K KX *K XN *(XX g ) (4)

[0065] Among them, Δδ X is the result of solving the longitudinal channel control law; K θ is the pitch angle control parameter, θ is the pitch angle, θ g is the pitch angle command, K q is the pitch angle rate control quantity, Q is the pitch angle rate, K X is the longitudinal position control parameter, X is the longitudinal position, X g is the longitudinal position instruction, K VX is the longitudinal speed control parameter, VX is the longitudinal velocity, V Xg is the longitudinal speed command, C X is the rapid control value of the longitudinal position, C Xkeep C is the output of the previous row retained when the absolute value of the longitudinal position deviation is less than 0.2m XN , K KX Quickly adjust the control parameter gain for the longitudinal position, K XN Control gain for fast control of longitudinal position.

[0066] The solution expression of the lateral position fast control law is shown in formula (5):

[0067] Δδ Y =K φ (φ-φ g )+K p P+K Y (YY g )+K VY (V Y -V Yg )+C Y

[0068] C Y =C Ykeep +C YN

[0069] C YN =K KY *K YN *(YY g ) (5)

[0070] Among them, Δδ Y is the solution result of the lateral channel control law; K φ is the roll angle control parameter, φ is the roll angle, φ g is the roll angle command, K p is the roll angle rate control quantity, P is the roll angle rate, K Y is the lateral position control parameter, Y is the lateral position, Y g is the lateral position instruction, K VY is the lateral speed control parameter, V Y is the lateral velocity, V Yg is the lateral speed command, C Y is the lateral position rapid control value, C Ykeep C is the output of the previous row that is retained when the absolute value of the lateral position deviation is less than 0.2m YN , K KY Rapidly adjust the control parameter gain for lateral position, K YN Control gain for fast control of lateral position.

[0071] like Figure 2 The figure shows the process of automatic landing of a shipborne unmanned helicopter. Figure 3 Schematic diagram of the longitudinal position deviation during the automatic landing test flight.

[0072] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0073] 1) The present invention designs a control method for quickly adjusting and maintaining the position of a shipborne unmanned helicopter;

[0074] 2) In the automatic landing test of a certain type of unmanned helicopter, this method was used to successfully control the position deviation of the unmanned helicopter within the allowable range of the grid.

Claims

1. A control structure for quickly adjusting and maintaining the position of a shipborne unmanned helicopter, characterized in that: The control structure includes: an inner loop branch, an outer loop branch and a fast adjustment control loop branch; the fast adjustment control loop branch takes the helicopter position control deviation as input, and after solving, outputs the control pitch to the corresponding control surface to quickly adjust the helicopter position; The inner loop branch is used for attitude and angular rate feedback control of the helicopter; The outer loop branch is used for speed and position feedback control of the helicopter; The fast adjustment control loop branch is used for fast adjustment of the helicopter position and maintaining control.

2. A control method for quickly adjusting and maintaining the position of a shipborne unmanned helicopter, characterized in that: Step 1): Design a fast adjustment control loop branch position and fast control gain K N And dynamic adjustment amount K k ; Step 2): When the helicopter position control is turned on, the dynamic adjustment value K is adjusted in real time according to the helicopter position deviation k ; Step 3): Rapidly adjust the control amount C based on the helicopter position deviation solution in real time.

3. A method for controlling the position of a shipborne unmanned helicopter to be quickly adjusted and maintained according to claim 2, characterized in that: Dynamic adjustment amount K k The specific adjustment method is: Where |ΔL| is the absolute value of position deviation.

4. A method for controlling the position of a shipborne unmanned helicopter to be quickly adjusted and maintained according to claim 3, characterized in that: The specific adjustment control quantity C is: C = C keep +C N Where: C keep When the absolute value of the position deviation is less than 0.2m, the C output of the previous beat is retained N ; C N =K*K N *ΔL, where C N Do the limiting process, the value after limiting is the same as the C of the previous beat N Compare and retain the output with the larger absolute value to control the variable pitch.

5. A method for controlling the rapid adjustment and maintenance of the position of a shipborne unmanned helicopter according to claim 4, characterized in that: The method further comprises: Step 4): When the absolute value of the helicopter position deviation is less than 0.2m, c N The value is cleared, C keep Values ​​are retained; Step 5): When the helicopter position control is released, c N and C keep Both values ​​are reset to zero at the same time, that is, the rapid adjustment control amount C is reset to zero.

6. A method for controlling the rapid adjustment and maintenance of the position of a shipborne unmanned helicopter according to claim 5, characterized in that: The longitudinal position fast control law solution expression is as follows: Δδ X =K θ (θ-θ g )+K q Q+K X (XX g )+K VX (V X -V Xg )+C X C X =C Xkeep +c XN C XN =K KX *K XN *(X-X g ) Among them, Δδ X is the result of solving the longitudinal channel control law; K θ is the pitch angle control parameter, θ is the pitch angle, θ g is the pitch angle command, K q is the pitch angle rate control quantity, Q is the pitch angle rate, K X is the longitudinal position control parameter, X is the longitudinal position, X g is the longitudinal position instruction, K VX is the longitudinal speed control parameter, V X is the longitudinal velocity, V Xg is the longitudinal speed command, C X is the rapid control value of the longitudinal position, C Xkeep C is the output of the previous row retained when the absolute value of the longitudinal position deviation is less than 0.2m XN , K KX Quickly adjust the control parameter gain for the longitudinal position, K XN Control gain for fast control of longitudinal position.

7. A method for controlling the rapid adjustment and maintenance of the position of a shipborne unmanned helicopter according to claim 5, characterized in that: The solution expression of the lateral position fast control law is as follows: Δδ Y =K φ (φ-φ g )+K p P+K Y (YY g )+K VY (V Y -V Yg )+C Y C Y =C Ykeep +C YN C YN =K KY *K YN *(Y-Y g ) Among them, Δδ Y is the solution result of the lateral channel control law; K φ is the roll angle control parameter, φ is the roll angle, φ g is the roll angle command, K p is the roll angle rate control quantity, P is the roll angle rate, K Y is the lateral position control parameter, Y is the lateral position, Y g is the lateral position instruction, K VY is the lateral speed control parameter, V Y is the lateral velocity, V Yg is the lateral speed command, C Y is the lateral position rapid control value, C Ykeep C is the output of the previous row that is retained when the absolute value of the lateral position deviation is less than 0.2m YN , K KY Rapidly adjust the control parameter gain for lateral position, K YN Control gain for fast control of lateral position.

8. A shipborne unmanned helicopter, characterized in that: The shipborne unmanned helicopter uses the method as described in any one of claims 2-7 to quickly adjust and maintain the position of the helicopter.

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