Unmanned aerial vehicle taxiing deviation correction method

Abstract

The invention provides an unmanned aerial vehicle taxiing deviation correction method. The method comprises the steps of obtaining an uncompensated front wheel deflection instruction current beat value of an unmanned aerial vehicle; an uncompensated front wheel deflection instruction forward beat value of the unmanned aerial vehicle is obtained, and a front wheel microfiltration output forward beat value is obtained; obtaining a front wheel microfiltration output current beat value based on the uncompensated front wheel deflection instruction current beat value, the uncompensated front wheel deflection instruction front beat value and the front wheel microfiltration output front beat value; acquiring a front wheel deflection gap of the unmanned aerial vehicle; based on the front wheel deflection gap, the front wheel microfiltration output forward beat value and the front wheel microfiltration output current beat value, obtaining a front wheel deflection compensation amount current beat value of the unmanned aerial vehicle; and obtaining the front wheel deflection instruction current beat value of the unmanned aerial vehicle based on the uncompensated front wheel deflection instruction current beat value and the front wheel deflection compensation amount current beat value. The method can solve the problem that the unmanned aerial vehicle performs the oscillation of the skating deviation correction control due to the existence of the front wheel deflection gap of the unmanned aerial vehicle, thereby reducing the skating deviation correction performance of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method for correcting the sliding of an unmanned aerial vehicle. Background Art

[0002] Abbreviated as "UAV", it is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. It can be operated completely or intermittently autonomously by an onboard computer. UAVs can be divided into taxiing takeoff, rail takeoff, vertical takeoff, etc. according to the take-off method. Among them, when the UAV is taxiing, side offset control is required to make the UAV taxi stably along the runway.

[0003] At present, most UAVs adopt a three-point landing gear configuration, and generally correct the deviation by deflecting the front wheel and rudder at the same time. However, since the front wheel steering servo of the UAV itself has a gap and the transmission mechanism between the front wheel steering servo output shaft and the front wheel also has a gap, these gaps constitute the front wheel deflection gap of the UAV. The existence of the front wheel deflection gap causes oscillation of the UAV's rolling correction control, thereby reducing the UAV's rolling correction performance. Summary of the invention

[0004] The embodiment of the present application provides a method for correcting the rolling of a UAV, which can solve the problem that the UAV's rolling correction control may oscillate due to the existence of a deflection gap in the UAV's front wheels, thereby reducing the UAV's rolling correction performance.

[0005] In a first aspect, an embodiment of the present application provides a method for correcting the sliding of a drone, comprising:

[0006] Obtaining the uncompensated front wheel deflection command beat value of the UAV;

[0007] Obtaining an uncompensated front wheel deflection command pre-beat value and a front wheel micro-filter output pre-beat value of the UAV;

[0008] Based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, a front wheel micro-filter output actual beat value is obtained;

[0009] Obtaining the front wheel deflection clearance of the UAV;

[0010] Based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value, a front wheel deflection compensation amount actual beat value of the UAV is obtained;

[0011] The front wheel deflection instruction beat value of the UAV is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value.

[0012] In some embodiments, obtaining the uncompensated front wheel deflection instruction beat value of the drone includes:

[0013] Obtaining the roll correction instruction value of the UAV;

[0014] Based on the sliding correction instruction beat value and the uncompensated front wheel deflection formula , obtaining the beat value of the uncompensated front wheel deflection instruction;

[0015] in, is the uncompensated front wheel deflection command value at time kT, is the value of the rolling correction instruction at time kT, is the front wheel steering coefficient.

[0016] In some embodiments, obtaining the roll correction instruction value of the UAV includes:

[0017] Collecting the lateral deviation distance, lateral deviation speed, yaw angle and yaw angular speed of the UAV;

[0018] Based on the side deviation distance, the side deviation speed, the yaw angle, the yaw angle speed and the rolling correction formula , obtain the beat value of the taxiing correction instruction;

[0019] in, is the value of the rolling correction instruction at time kT, is the lateral deviation at time kT, is the lateral velocity at time kT, is the yaw angle at time kT, is the yaw angular velocity at time kT, is the side deviation coefficient, is the side slip velocity coefficient, is the yaw angle coefficient, is the yaw rate coefficient.

[0020] In some embodiments, the front wheel micro-filter output actual beat value is obtained based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, specifically:

[0021] Based on the uncompensated front wheel deflection command actual beat value, the uncompensated front wheel deflection command pre-beat value, the front wheel micro-filter output pre-beat value and the micro-filter output formula , obtain the front wheel micro-filter output beat value;

[0022] in, is the uncompensated front wheel deflection command value at time kT, is the uncompensated front wheel deflection command lead value at time (k-1)T, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the sampling period, is the filter time constant.

[0023] In some embodiments, the UAV taxiing correction method further includes:

[0024] The uncompensated front wheel deflection instruction beat value, the front wheel deflection compensation amount beat value and the front wheel micro-filter output beat value are recorded.

[0025] In some embodiments, obtaining the front wheel deflection clearance of the drone includes:

[0026] Obtaining the servo clearance of the front wheel steering servo of the UAV;

[0027] Obtaining the transmission clearance between the output shaft of the UAV front wheel steering servo and the front wheel;

[0028] The front wheel deflection clearance is obtained based on the steering gear's own clearance and the transmission clearance.

[0029] In some embodiments, obtaining the front wheel deflection compensation amount actual beat value of the UAV based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value includes:

[0030] Obtaining a front wheel deflection compensation value of the UAV;

[0031] Based on the front wheel deflection compensation amount front beat value, the front wheel deflection gap, the front wheel micro-filter output front beat value, the front wheel micro-filter output real beat value and the front wheel deflection compensation amount formula , obtain the front wheel deflection compensation value;

[0032] in, is the front wheel deflection clearance, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the front wheel deflection compensation value at (k-1)T, is the value of the front wheel deflection compensation at time kT.

[0033] In some embodiments, the front wheel deflection instruction beat value of the drone is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value, specifically:

[0034] Based on the uncompensated front wheel deflection command beat value and the front wheel deflection compensation beat value, the front wheel deflection command formula is used. , obtain the beat value of the front wheel deflection instruction;

[0035] in, is the uncompensated front wheel deflection command value at time kT, The beat value of the front wheel deflection command, It is the value of the front wheel deflection compensation.

[0036] In some embodiments, the UAV taxiing correction method further includes:

[0037] Based on the running correction instruction beat value and rudder deflection formula , get the beat value of the rudder deflection command;

[0038] in, is the beat value of the rudder deflection command at time kT, is the beat value of the rolling correction instruction at time kT.

[0039] In some embodiments, the UAV taxiing correction method further includes:

[0040] Outputting the front wheel deflection instruction value to the front wheel steering servo;

[0041] The rudder deflection command beat value is output to the rudder actuator.

[0042] Compared with the prior art, the advantages of the embodiments of the present application are that, by obtaining the uncompensated front wheel deflection instruction beat value of the drone; obtaining the uncompensated front wheel deflection instruction front beat value and the front wheel micro-filter output front beat value of the drone; obtaining the front wheel micro-filter output beat value based on the uncompensated front wheel deflection instruction beat value, the uncompensated front wheel deflection instruction front beat value and the front wheel micro-filter output front beat value; obtaining the front wheel deflection clearance of the drone; based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output beat value, The beat value of the front wheel deflection compensation of the UAV is obtained; the beat value of the front wheel deflection instruction of the UAV is obtained based on the beat value of the uncompensated front wheel deflection instruction and the beat value of the front wheel deflection compensation, so that the UAV can take into account the influence of the front wheel deflection gap when performing rolling correction, and make targeted adjustments to the front wheel deflection gap, which can solve the problem of oscillation of the UAV's rolling correction control caused by the existence of the UAV's front wheel deflection gap, thereby reducing the UAV's rolling correction performance and improving the UAV's rolling correction performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0044] Figure 1 is a flow chart of a method for correcting the sliding of a UAV provided by an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of a UAV taxiing correction control law provided by an embodiment of the present invention;

[0046] Figure 3 It is a simulation diagram of a sliding correction step response without a front wheel deflection gap provided by an embodiment of the present invention;

[0047] Figure 4 It is a simulation diagram of the sliding correction step response when there is a front wheel deflection gap / no compensation measures provided by an embodiment of the present invention;

[0048] Figure 5 It is a simulation diagram of the sliding correction step response when there is a front wheel deflection gap / compensation measures provided by an embodiment of the present invention;

[0049] Figure 6 is a schematic diagram of a front wheel steering command compensation unit provided by an embodiment of the present invention;

[0050] Figure 7 It is a schematic diagram of a UAV taxiing correction system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described below in conjunction with the accompanying drawings.

[0052] Drones are A general term for unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. Based on the platform configuration, they are divided into fixed-wing UAVs, rotary-wing UAVs, unmanned airships, paraglider UAVs, flapping-wing UAVs, etc. Compared with manned aircraft, UAVs have the advantages of low environmental requirements and low manufacturing and use costs.

[0053] According to the launch and recovery methods, wheeled take-off and landing UAVs are a large category of UAVs. This type of UAV uses wheeled taxiing to complete launch (take-off) and recovery (landing). During the taxiing process, lateral deviation control must be performed to ensure that the UAV can taxi stably along the runway, and the lateral deviation from the runway centerline must be kept within an allowable range. Currently, most UAVs use a front three-point landing gear configuration, which generally corrects the deviation by simultaneously deflecting the front wheels and rudder, thereby achieving the stable and precise taxiing required above.

[0054] The front landing gear of the UAV has an outer tube and a piston rod. The upper part of the outer tube is installed on the UAV body, the upper part of the piston rod is installed in the outer tube, the lower part of the piston rod is connected to the wheel fork, and the other end of the wheel fork is connected to the front wheel. The front wheel steering servo is installed on the outer tube, and the output shaft of the front wheel steering servo drives the wheel fork to rotate through the transmission mechanism, and the wheel fork drives the front wheel to deflect. Since the front wheel steering servo itself has a gap, the transmission mechanism between the output shaft of the front wheel steering servo and the front wheel also has a gap. The superposition of these gaps forms a total gap between the front wheel steering servo and the front wheel, which is called the front wheel deflection gap. In the taxiing of the UAV, the steering angle range of the front wheel is not large. The front wheel deflection is generally limited to the order of ±8° during low-speed taxiing and the order of ±3° during high-speed taxiing. The front wheel deflection gap generally ranges from 0.5° to 1.5°. Therefore, the front wheel deflection gap cannot be ignored relative to the front wheel deflection range. The existence of the front wheel deflection gap causes the oscillation of the UAV's taxiing correction control, thereby reducing the taxiing correction performance of the UAV.

[0055] First, as Figure 1 , Figure 2 As shown, in order to solve the above technical problems, the embodiment of the present application provides a method for correcting the sliding of a drone, comprising:

[0056] S101: Obtaining the uncompensated front wheel deflection instruction value of the UAV;

[0057] In some embodiments, obtaining the uncompensated front wheel deflection instruction beat value of the drone includes:

[0058] Obtaining the roll correction instruction value of the UAV;

[0059] Based on the sliding correction instruction beat value and the uncompensated front wheel deflection formula , obtaining the beat value of the uncompensated front wheel deflection instruction;

[0060] in, is the uncompensated front wheel deflection command value at time kT, is the value of the rolling correction instruction at time kT, is the front wheel steering coefficient.

[0061] It should be noted that the beat value of the rolling correction instruction is usually the correction instruction output by the UAV when the front wheel deflection gap is not taken into account. The rolling correction of the UAV is usually achieved by deflecting the front wheel and rudder (that is, the rolling correction control of the UAV is allocated to the front wheel and rudder), and the deflection instruction of the front wheel and the deflection instruction of the rudder are usually obtained based on the rolling correction instruction beat value. After obtaining the uncompensated front wheel deflection instruction beat value, targeted compensation and adjustment can be performed on it, wherein the uncompensated front wheel deflection instruction beat value is the uncompensated front wheel deflection instruction value at time kT. The "current beat value" in the embodiment of the present application refers to the instruction value at time kT, and the "front beat value" refers to the instruction value at time (k-1)T.

[0062] In some embodiments, obtaining the roll correction instruction value of the UAV includes:

[0063] Collecting the lateral deviation distance, lateral deviation speed, yaw angle and yaw angular speed of the UAV;

[0064] Based on the side deviation distance, the side deviation speed, the yaw angle, the yaw angle speed and the rolling correction formula , obtain the beat value of the taxiing correction instruction;

[0065] in, is the value of the rolling correction instruction at time kT, is the lateral deviation at time kT, is the lateral velocity at time kT, is the yaw angle at time kT, is the yaw angular velocity at time kT, is the side deviation coefficient, is the side slip velocity coefficient, is the yaw angle coefficient, is the yaw rate coefficient.

[0066] It should be noted that if Figure 2 As shown in the figure It means that the input signal "a" is multiplied by the coefficient Then the output signal "b" (for signals without a name, the corresponding arrow indicates a certain signal), " indicates the superposition of the signal, "-" indicates the inversion of the signal, and the side deviation is collected , the side slip speed , the yaw angle , the yaw angular velocity , and after multiplying it by the corresponding coefficient, superimposing it, taking the inverse and summing it, the roll correction instruction value is obtained, wherein the side deviation distance and the side deviation speed are calculated by the flight control software of the UAV according to the position of the UAV (latitude and longitude, the latitude and longitude are obtained by the navigation system output), the ground speed (the ground speed component in the northeast direction, output by the navigation system) and the flight route; the yaw angle and the yaw angular velocity are directly output by the airborne inertial navigation equipment, and the side deviation distance, the side deviation speed, the yaw angle, and the yaw angular velocity can also be measured and calculated by other methods, and the embodiments of the present application do not make specific limitations on this.

[0067] S102: Obtaining an uncompensated front wheel deflection command pre-beat value and a front wheel micro-filter output pre-beat value of the UAV;

[0068] It should be noted that the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value are obtained by recording the calculation results of the previous cycle.

[0069] S103: obtaining a front wheel micro-filter output actual beat value based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value;

[0070] In some embodiments, the front wheel micro-filter output actual beat value is obtained based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, specifically:

[0071] Based on the uncompensated front wheel deflection command actual beat value, the uncompensated front wheel deflection command pre-beat value, the front wheel micro-filter output pre-beat value and the micro-filter output formula , obtain the front wheel micro-filter output beat value;

[0072] in, is the uncompensated front wheel deflection command value at time kT, is the uncompensated front wheel deflection command lead value at time (k-1)T, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the sampling period, is the filter time constant.

[0073] It should be noted that if Figure 2 , Figure 6 As shown, the front wheel micro-filter output beat value can be calculated by the "signal micro-filter and filtering module in the front wheel steering command compensation unit", and the front wheel deflection compensation amount beat value can be calculated by the "compensation amount calculation module in the front wheel steering command compensation unit".

[0074] It should be noted that the transmission relationship between the front wheel micro-filter output signal and the uncompensated front wheel deflection command signal is expressed by a transfer function, which is converted into a computer-implementable recursive formula (i.e., micro-filter output formula) through bilinear transformation. The front wheel micro-filter output beat value is calculated according to the uncompensated front wheel deflection command beat value, the uncompensated front wheel deflection command front beat value, and the front wheel micro-filter output front beat value through this formula. Among them, the sampling period can be determined according to the speed of the UAV motion characteristics, and the value range is usually 0.05s~0.02s. k starts from 1 and increases by 1 after each cycle until the taxiing correction task is completed.

[0075] It should be noted that the "signal differentiation and filtering module" consists of "s" and " " is formed in series, "s" is the differential link, Differentiate the signal and get The rate of change of the signal is due to The signal is inevitably mixed with high-frequency noise components, so the differential The rate of change has a larger high-frequency noise component, which affects the calculation of the compensation amount. "For the differential Filter the rate of change to remove The high-frequency noise component in the rate of change. After "signal differentiation and filtering" processing, a relatively smooth signal can be obtained. The rate of change signal, that is, the beat value of the front wheel microfilter output , which makes it easier to calculate the compensation amount accurately.

[0076] In some embodiments, the UAV taxiing correction method further includes:

[0077] The uncompensated front wheel deflection instruction beat value, the front wheel deflection compensation amount beat value and the front wheel micro-filter output beat value are recorded.

[0078] It should be noted that, since the solution of the embodiment of the present application is to perform calculations in an iterative manner, by recording the front wheel deflection compensation amount, the value of the current beat , record the uncompensated front wheel deflection command value And the front wheel micro-filter output beat value , which can facilitate the calculation of the next cycle, wherein the current beat value is the value at the current moment (kT moment).

[0079] S104: Obtaining the front wheel deflection clearance of the UAV;

[0080] In some embodiments, obtaining the front wheel deflection clearance of the drone includes:

[0081] Obtaining the servo clearance of the front wheel steering servo of the UAV;

[0082] Obtaining the transmission clearance between the output shaft of the UAV front wheel steering servo and the front wheel;

[0083] The front wheel deflection clearance is obtained based on the steering gear's own clearance and the transmission clearance.

[0084] It should be noted that the front wheel deflection clearance is usually the superposition of the servo's own clearance and the transmission clearance. If other clearances exist, the front wheel deflection clearance may also include other clearances, and the embodiment of the present application does not specifically limit this.

[0085] S105: Obtaining a front wheel deflection compensation amount actual beat value of the UAV based on the front wheel deflection clearance, the front wheel micro-filter output front beat value, and the front wheel micro-filter output actual beat value;

[0086] In some embodiments, obtaining the front wheel deflection compensation amount actual beat value of the UAV based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value includes:

[0087] Obtaining a front wheel deflection compensation value of the UAV;

[0088] Based on the front wheel deflection compensation amount front beat value, the front wheel deflection gap, the front wheel micro-filter output front beat value, the front wheel micro-filter output real beat value and the front wheel deflection compensation amount formula , obtain the front wheel deflection compensation value;

[0089] in, is the front wheel deflection clearance, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the front wheel deflection compensation value at (k-1)T, is the value of the front wheel deflection compensation at time kT.

[0090] It should be noted that the control of the UAV belongs to the computer control system, which is carried out discretely, that is, it operates according to the sampling period T. In the first time period T (such as 0.02 seconds), the relevant signals are first collected, and then the instructions are calculated according to the given formula, and then the instructions are output. This process takes no more than T (the specification requires no more than 0.8T), and then waits for the next cycle. When the next cycle comes, the above work is repeated, and the control of the UAV is achieved repeatedly.

[0091] It should be noted that When >0, it indicates At this beat moment (i.e., within this cycle or this sampling cycle), it changes positively. Since the front wheel deflection clearance is , the gap on one side is , in order to make the actual deflection of the front wheel reach the required ,exist Add compensation amount based on / 2 (i.e. the front wheel deflection compensation value The value is / 2), forming the final front wheel deflection command beat value, outputting the front wheel deflection command beat value to the front wheel steering servo, and the front wheel steering servo immediately and quickly deflects to eliminate the unilateral gap first. / 2, during this process, the actual deflection of the front wheel remains unchanged, and the front wheel steering servo deflection eliminates the unilateral gap / 2, the front wheel begins to deflect, and finally the actual deflection of the front wheel reaches the required , correct the UAV; <0, indicating At this beat moment (i.e., within this cycle or this sampling cycle), it changes negatively in order to eliminate the front wheel deflection gap. The impact on the correction, the front wheel deflection compensation is - / 2 (i.e. the front wheel deflection compensation value The value is - / 2).

[0092] It should be noted that in =0, and >0, this indicates that the previous beat (or previous cycle) was >0, it has been Compensated / 2, due to the timing of this shot =0, that is, the current shot time Does not change, so the current beat keeps the compensation amount of the previous beat / 2 remains unchanged; =0, and <0, this indicates that the previous beat (or previous cycle) is <0, it has been Compensated - / 2, due to the timing of this shot =0, that is, the current shot time Does not change, so the current beat keeps the compensation amount of the previous beat - / 2 remains unchanged; =0, and = 0, this indicates The time of the shot and the time of the previous shot The compensation amount at this moment remains unchanged, and the compensation amount at the previous moment is kept at the previous value of the front wheel deflection compensation amount (i.e. ).

[0093] It should be noted that, in order to eliminate the influence of the front wheel deflection clearance on the correction, the most direct and effective method is to eliminate the mechanical clearance between the front wheel steering servo and the front wheel during parts manufacturing and installation. However, this method will significantly increase the manufacturing cost, and it is impossible to completely eliminate the clearance in engineering. The method of this patent takes advantage of the fact that the response of the front wheel steering servo is faster than the side deviation movement of the UAV during taxiing, and superimposes the compensation amount on the taxiing correction command to achieve the purpose of equivalently eliminating the front wheel deflection clearance. The corresponding compensation amount is added according to the change rate, which can be considered as adding a "shim" between the front wheel steering servo and the front wheel. The position of the "shim" is changed according to the corresponding situation to eliminate the front wheel deflection gap. This method has no additional cost and achieves the same correction control performance as without the front wheel deflection gap.

[0094] S106: Obtaining a front wheel deflection instruction beat value of the UAV based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value;

[0095] In some embodiments, the front wheel deflection instruction beat value of the drone is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value, specifically:

[0096] Based on the uncompensated front wheel deflection command beat value and the front wheel deflection compensation beat value, the front wheel deflection command formula is used. , obtain the beat value of the front wheel deflection instruction;

[0097] in, is the uncompensated front wheel deflection command value at time kT, The beat value of the front wheel deflection command, It is the value of the front wheel deflection compensation.

[0098] In some embodiments, the UAV taxiing correction method further includes:

[0099] Based on the running correction instruction beat value and rudder deflection formula , get the beat value of the rudder deflection command;

[0100] in, is the beat value of the rudder deflection command at time kT, is the beat value of the rolling correction instruction at time kT.

[0101] In some embodiments, the UAV taxiing correction method further includes:

[0102] Outputting the front wheel deflection instruction value to the front wheel steering servo;

[0103] The rudder deflection command beat value is output to the rudder actuator.

[0104] It should be noted that if Figure 2 As shown, after obtaining the front wheel deflection compensation value Then, compare it with the uncompensated front wheel deflection command beat value The front wheel deflection command value can be obtained by superposition. By outputting the beat value of the front wheel deflection instruction to the front wheel steering servo and the beat value of the rudder deflection instruction to the steering servo, the front wheel and the rudder can be controlled to deflect according to the corresponding instructions, so that the UAV can be corrected and controlled by the front wheel and the rudder.

[0105] It should be noted that the front wheel deflection instruction for the UAV taxiing correction considering the front wheel deflection clearance 、The calculation method of the rudder deflection command is as follows:

[0106] 1) Let k = 1, , ;

[0107] 2) Collect the side deviation distance of the UAV at kT , Sideways speed , yaw angle , yaw angular velocity ;

[0108] 3) Calculate the value of the running correction instruction at time kT , rudder deflection command beat value ;

[0109] 4) Calculate the uncompensated front wheel deflection command value at time kT ,Record The original value ;

[0110] 5) According to Calculate the output value of "signal differentiation and filtering" at time kT ,Record The original value ;

[0111] 6) According to Calculate the front wheel deflection compensation value at time kT ,Record The original value ;

[0112] 7) According to Calculate the front wheel deflection command value at time kT ;

[0113] 8) k=k+1, , , ;

[0114] 9) Output rudder deflection command and front wheel deflection command to each steering gear;

[0115] 10) Go to “Step 2)”.

[0116] According to the above steps, first enter the calculation of the rolling correction control law from "step 1)", and then run in a loop from "step 2)" to "step 10)", collect relevant signals according to the cycle T, calculate the rolling correction command, rudder deflection command, front wheel deflection compensation, and front wheel deflection command, output the rudder deflection command and the front wheel deflection command to each steering gear, and realize the rolling correction of the UAV when there is a front wheel deflection gap.

[0117] It should be noted that the side deviation coefficient , the side slip velocity coefficient , the yaw angle coefficient , the yaw rate coefficient and the front wheel steering coefficient They can be collectively referred to as roll-off correction control law parameters. Usually, the roll-off correction control law parameters are preliminarily determined through roll-off correction simulation or engineering experience, and then actual roll-off correction tests are carried out to adjust the parameters. Finally, the roll-off correction control law parameters that meet the performance requirements are determined, so that the roll-off correction of the UAV meets the performance requirements. Among them, the roll-off correction performance requirements generally include the roll-off correction step response rise time, overshoot, and steady-state error. Generally, the roll-off correction step response rise time is required to be 5s~12s, the overshoot is less than 5%, and the steady-state error is less than 2%.

[0118] For a certain UAV, the mathematical model of its taxiing dynamics and kinematics is established. Figure 1 The information topology architecture is used to construct a taxiing digital simulation system. The front wheel deflection clearance is set to 0. Through the taxiing digital simulation, the taxiing correction control law with good taxiing performance is obtained as follows: =3.3, =6, =2, =1.5, =0.3, the corresponding sliding correction step response simulation results are as follows Figure 3As shown in the figure, the side deviation step response curves at low speed (10m / s), medium speed (25m / s), and high speed (40m / s), as well as the corresponding yaw angle and front wheel deviation angle are drawn. Figure 3 It can be seen that the sliding correction response is smooth and rapid, and there is no steady-state error, which has a good sliding correction performance. On the basis of the above, a 1.2° front wheel deflection gap is added, and the sliding correction control law parameters remain unchanged. The corresponding sliding correction step response simulation results are as follows: Figure 4 As shown by Figure 4 It can be seen that the deviation correction control has obvious oscillations, and repeated adjustments of the control law parameters cannot eliminate the oscillations.

[0119] It should be noted that, when using the UAV run-away deviation correction method provided in the embodiment of the present application, the front wheel deflection instruction beat value is calculated according to the run-away deviation correction control law parameters. , the rudder deflection command beat value Carry out the sliding correction step response simulation, the simulation results are as follows Figure 5 shown; contrast Figure 3 , Figure 4 , Figure 5 According to the simulation results, after adopting the calculation method of the embodiment of the present application, the smooth, fast and effective control of the UAV's taxiing correction when there is a front wheel deflection gap can be achieved, and the oscillation of the taxiing correction control caused by the front wheel deflection gap can be avoided. The taxiing correction control can achieve the control effect when there is no front wheel deflection gap, which will relax the requirements on the UAV's front wheel deflection gap and can reduce the manufacturing cost and ground maintenance cost of the UAV.

[0120] In summary, the advantages of the embodiments of the present application are that, by obtaining the uncompensated front wheel deflection command beat value of the UAV; obtaining the uncompensated front wheel deflection command front beat value and the front wheel micro-filter output front beat value of the UAV; obtaining the front wheel micro-filter output beat value based on the uncompensated front wheel deflection command beat value, the uncompensated front wheel deflection command front beat value and the front wheel micro-filter output front beat value; obtaining the front wheel deflection clearance of the UAV; obtaining the front wheel micro-filter output front beat value based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output beat value. The front wheel deflection compensation value of the UAV is obtained; the front wheel deflection command value of the UAV is obtained based on the uncompensated front wheel deflection command value and the front wheel deflection compensation value, so that the UAV can take into account the influence of the front wheel deflection gap when performing rolling correction, and make targeted adjustments to the front wheel deflection gap, which can solve the problem of oscillation of the UAV's rolling correction control caused by the existence of the UAV's front wheel deflection gap, thereby reducing the UAV's rolling correction performance and improving the UAV's rolling correction performance.

[0121] Second, as Figure 7As shown, the embodiment of the present application provides a UAV taxiing correction system, comprising:

[0122] The acquisition module 710 is used to acquire the uncompensated front wheel deflection instruction real beat value of the UAV; acquire the uncompensated front wheel deflection instruction front beat value and the front wheel micro-filter output front beat value of the UAV; and acquire the front wheel deflection clearance of the UAV;

[0123] A processing module 720 is configured to obtain a front wheel micro-filter output actual beat value based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction front beat value and the front wheel micro-filter output front beat value;

[0124] The calculation module 730 is used to obtain the front wheel deflection compensation value of the UAV based on the front wheel deflection gap, the front wheel micro-filter output front beat value and the front wheel micro-filter output current beat value; and obtain the front wheel deflection command current beat value of the UAV based on the uncompensated front wheel deflection command current beat value and the front wheel deflection compensation value current beat value.

[0125] In some embodiments, obtaining the uncompensated front wheel deflection instruction beat value of the drone includes:

[0126] Obtaining the roll correction instruction value of the UAV;

[0127] Based on the sliding correction instruction beat value and the uncompensated front wheel deflection formula , obtaining the beat value of the uncompensated front wheel deflection instruction;

[0128] in, is the uncompensated front wheel deflection command value at time kT, is the value of the rolling correction instruction at time kT, is the front wheel steering coefficient.

[0129] In some embodiments, obtaining the roll correction instruction value of the UAV includes:

[0130] Collecting the lateral deviation distance, lateral deviation speed, yaw angle and yaw angular speed of the UAV;

[0131] Based on the side deviation distance, the side deviation speed, the yaw angle, the yaw angle speed and the rolling correction formula , obtain the beat value of the taxiing correction instruction;

[0132] in, is the value of the rolling correction instruction at time kT, is the lateral deviation at time kT, is the lateral velocity at time kT, is the yaw angle at time kT, is the yaw angular velocity at time kT, is the side deviation coefficient, is the side slip velocity coefficient, is the yaw angle coefficient, is the yaw rate coefficient.

[0133] In some embodiments, the front wheel micro-filter output actual beat value is obtained based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, specifically:

[0134] Based on the uncompensated front wheel deflection command actual beat value, the uncompensated front wheel deflection command pre-beat value, the front wheel micro-filter output pre-beat value and the micro-filter output formula , obtain the front wheel micro-filter output beat value;

[0135] in, is the uncompensated front wheel deflection command value at time kT, is the uncompensated front wheel deflection command lead value at time (k-1)T, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the sampling period, is the filter time constant.

[0136] In some embodiments, the calculation module 730 is further configured to:

[0137] The uncompensated front wheel deflection instruction beat value, the front wheel deflection compensation amount beat value and the front wheel micro-filter output beat value are recorded.

[0138] In some embodiments, obtaining the front wheel deflection clearance of the drone includes:

[0139] Obtaining the servo clearance of the front wheel steering servo of the UAV;

[0140] Obtaining the transmission clearance between the output shaft of the UAV front wheel steering servo and the front wheel;

[0141] The front wheel deflection clearance is obtained based on the steering gear's own clearance and the transmission clearance.

[0142] In some embodiments, obtaining the front wheel deflection compensation amount actual beat value of the UAV based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value includes:

[0143] Obtaining a front wheel deflection compensation value of the UAV;

[0144] Based on the front wheel deflection compensation amount front beat value, the front wheel deflection gap, the front wheel micro-filter output front beat value, the front wheel micro-filter output real beat value and the front wheel deflection compensation amount formula , obtain the front wheel deflection compensation value;

[0145] in, is the front wheel deflection clearance, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the front wheel deflection compensation value at (k-1)T, is the value of the front wheel deflection compensation at time kT.

[0146] In some embodiments, the front wheel deflection instruction beat value of the drone is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value, specifically:

[0147] Based on the uncompensated front wheel deflection command beat value and the front wheel deflection compensation beat value, the front wheel deflection command formula is used. , obtain the beat value of the front wheel deflection instruction;

[0148] in, is the uncompensated front wheel deflection command value at time kT, The beat value of the front wheel deflection command, It is the value of the front wheel deflection compensation.

[0149] In some embodiments, the calculation module 730 is further configured to:

[0150] Based on the running correction instruction beat value and rudder deflection formula , get the beat value of the rudder deflection command;

[0151] in, is the beat value of the rudder deflection command at time kT, is the beat value of the rolling correction instruction at time kT.

[0152] In some embodiments, the calculation module 730 is further configured to:

[0153] Outputting the front wheel deflection instruction value to the front wheel steering servo;

[0154] The rudder deflection command beat value is output to the rudder actuator.

[0155] In a third aspect, an embodiment of the present application provides an electronic device, including a UAV taxiing correction system as described in any one of the second aspects.

[0156] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and / or computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0157] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0159] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for correcting the sliding of an unmanned aerial vehicle, characterized in that: include: Obtaining the uncompensated front wheel deflection command beat value of the UAV; Obtaining an uncompensated front wheel deflection command pre-beat value and a front wheel micro-filter output pre-beat value of the UAV; Based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, a front wheel micro-filter output actual beat value is obtained; Obtaining the front wheel deflection clearance of the UAV; Based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value, a front wheel deflection compensation amount actual beat value of the UAV is obtained; The front wheel deflection instruction beat value of the UAV is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value.

2. The method for correcting the sliding of an unmanned aerial vehicle according to claim 1, characterized in that: The step of obtaining the uncompensated front wheel deflection instruction beat value of the drone includes: Obtaining the roll correction instruction value of the UAV; Based on the sliding correction instruction beat value and the uncompensated front wheel deflection formula , obtaining the beat value of the uncompensated front wheel deflection instruction; in, is the uncompensated front wheel deflection command value at time kT, is the value of the running correction instruction at time kT, is the front wheel steering coefficient.

3. The method for correcting the sliding of an unmanned aerial vehicle according to claim 2, characterized in that: The step of obtaining the roll correction instruction value of the UAV includes: Collecting the lateral deviation distance, lateral deviation speed, yaw angle and yaw angular speed of the UAV; Based on the side deviation distance, the side deviation speed, the yaw angle, the yaw angle speed and the rolling correction formula , obtain the beat value of the taxiing correction instruction; in, is the value of the running correction instruction at time kT, is the lateral deviation at time kT, is the lateral velocity at time kT, is the yaw angle at time kT, is the yaw angular velocity at time kT, is the side deviation coefficient, is the side slip velocity coefficient, is the yaw angle coefficient, is the yaw rate coefficient.

4. The method for correcting the sliding of an unmanned aerial vehicle according to claim 1, characterized in that: The front wheel micro-filter output actual beat value is obtained based on the uncompensated front wheel deflection instruction actual beat value, the uncompensated front wheel deflection instruction pre-beat value and the front wheel micro-filter output pre-beat value, specifically: Based on the uncompensated front wheel deflection command actual beat value, the uncompensated front wheel deflection command pre-beat value, the front wheel micro-filter output pre-beat value and the micro-filter output formula , obtain the front wheel micro-filter output beat value; in, is the uncompensated front wheel deflection command value at time kT, is the uncompensated front wheel deflection command lead value at time (k-1)T, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the sampling period, is the filter time constant.

5. The method for correcting the sliding of an unmanned aerial vehicle according to claim 4, characterized in that: Also includes: The uncompensated front wheel deflection instruction beat value, the front wheel deflection compensation amount beat value and the front wheel micro-filter output beat value are recorded.

6. The method for correcting the sliding of an unmanned aerial vehicle according to claim 1, characterized in that: The obtaining of the front wheel deflection clearance of the UAV comprises: Obtaining the servo clearance of the front wheel steering servo of the UAV; Obtaining the transmission clearance between the output shaft of the UAV front wheel steering servo and the front wheel; The front wheel deflection clearance is obtained based on the steering gear's own clearance and the transmission clearance.

7. The method for correcting the sliding of an unmanned aerial vehicle according to claim 1, characterized in that: The method of obtaining the front wheel deflection compensation amount actual beat value of the UAV based on the front wheel deflection clearance, the front wheel micro-filter output front beat value and the front wheel micro-filter output actual beat value comprises: Obtaining a front wheel deflection compensation value of the UAV; Based on the front wheel deflection compensation amount front beat value, the front wheel deflection gap, the front wheel micro-filter output front beat value, the front wheel micro-filter output real beat value and the front wheel deflection compensation amount formula , obtain the front wheel deflection compensation value; in, is the front wheel deflection clearance, is the front wheel micro-filter output value at time kT, is the front wheel micro-filter output pre-beat value at time (k-1)T, is the front wheel deflection compensation value at (k-1)T, is the value of the front wheel deflection compensation at time kT.

8. The method for correcting the sliding of an unmanned aerial vehicle according to claim 1, characterized in that: The front wheel deflection instruction beat value of the UAV is obtained based on the uncompensated front wheel deflection instruction beat value and the front wheel deflection compensation amount beat value, specifically: Based on the uncompensated front wheel deflection command beat value and the front wheel deflection compensation beat value, the front wheel deflection command formula is used. , obtain the beat value of the front wheel deflection instruction; in, is the uncompensated front wheel deflection command value at time kT, is the beat value of the front wheel deflection command, It is the value of the front wheel deflection compensation.

9. The method for correcting the sliding of an unmanned aerial vehicle according to any one of claims 1 to 8, characterized in that: Also includes: Based on the running correction instruction beat value and rudder deflection formula , get the beat value of the rudder deflection command; in, is the beat value of the rudder deflection command at time kT, is the beat value of the rolling correction instruction at time kT.

10. The method for correcting the sliding of an unmanned aerial vehicle according to claim 9, characterized in that: Also includes: Outputting the front wheel deflection instruction value to the front wheel steering servo; The rudder deflection command beat value is output to the rudder actuator.

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