Guided flight control method for oil-driven unmanned helicopter

Abstract

The invention discloses an oil-driven unmanned helicopter guided flight control method. An unmanned helicopter flight control system is in real-time communication with guide equipment; the unmanned helicopter flight control system receives a guide instruction sent by the guide equipment in real time, and completes the adjustment of a flight path according to the guide instruction; and meanwhile, the unmanned helicopter flight control system sends the pose information of the unmanned helicopter to the guide equipment for resolving a new guide instruction of the guide equipment. A course angle and vertical speed control mode is adopted, guided flight is carried out in the vertical direction and the horizontal direction, the flight path of the platform can be controlled in a three-dimensional space, and a guided flight task can be better completed.

Description

Technical Field

[0001] The invention relates to the field of unmanned helicopter flight control, and in particular to a guided flight control method for an oil-powered unmanned helicopter. Background Art

[0002] When an unmanned helicopter performs a reconnaissance mission in a mission area, it uses guidance equipment to search for ground targets. After the guidance equipment confirms the target, it searches, locks, and tracks the target, and calculates the target's position information in real time. In order to realize the ability of the unmanned helicopter to accurately fly to the target to perform the mission, a guided flight method is needed to control the flight of the unmanned helicopter. Oil-powered unmanned helicopters have a large payload, long endurance, and a large adjustable range of flight speed. They can simulate flights for missions with different track inclinations and are suitable for long-duration, long-distance guided flights. Traditional oil-powered unmanned helicopters use the method of planning the route before flight and adjusting the route in real time during flight to achieve moving target guided flight. This method is complicated to operate, and the target tracking is delayed, and cannot meet the requirements of real-time moving target tracking and guidance flight. Summary of the invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the background technology, the present invention discloses a method for guiding flight control of an oil-powered unmanned helicopter. In this method, the frame pitch angle output by the guidance device is converted into a vertical speed control instruction of the unmanned helicopter, and the frame yaw angle instruction is converted into a heading offset adjustment instruction of the unmanned helicopter, so as to adjust the flight track of the unmanned helicopter and fly in the direction of the guidance device.

[0004] Technical solution: The oil-powered unmanned helicopter guided flight control method disclosed in the present invention comprises the following steps: the unmanned helicopter flight control system communicates with the guidance device in real time; the unmanned helicopter flight control system receives the guidance instructions sent by the guidance device in real time, and adjusts the flight trajectory according to the guidance instructions; at the same time, the unmanned helicopter flight control system sends its own position information to the guidance device for solving the new guidance instructions of the guidance device.

[0005] Further, the method specifically includes the following steps:

[0006] S1. The unmanned helicopter flight control system receives the guidance information sent by the guidance device in real time and calculates the frame pitch angle and frame yaw angle;

[0007] S2, converting the received frame pitch angle command into the unmanned helicopter vertical speed control command, and converting the frame yaw angle command into the unmanned helicopter heading offset adjustment command;

[0008] S3, connect the converted flight state control command to the controller of the vertical and heading channels, calculate the control amount, output the corresponding channel control steering amount, and adjust the flight trajectory of the unmanned helicopter;

[0009] S4. During the flight, the unmanned helicopter flight control system sends the platform posture information to the guidance device in real time. The guidance device combines the target information to perform new guidance and solution and sends it to the platform flight control system to complete the subsequent flight trajectory adjustment.

[0010] Furthermore, in S1, the rationality of the received frame pitch angle and frame yaw angle is judged, and the range of the frame pitch angle and the frame yaw angle is limited.

[0011] Furthermore, in S2

[0012] v z =tan(θ)*v x

[0013] Among them, v z is the vertical speed control command, θ is the frame pitch angle, v x is the forward flight speed;

[0014] ψ sp =ψ helisp +Δψ

[0015] Among them, ψ sp is the heading angle command of the unmanned helicopter, ψ helisp is the current unmanned helicopter heading instruction, Δψ is the frame yaw angle, and as the flight track is adjusted, the frame yaw angle eventually tends to zero, and the unmanned helicopter will maintain the current heading.

[0016] Furthermore, in S2, the converted vertical speed command is limited and protected in combination with the vertical control capability of the unmanned helicopter at the mission speed; the heading deviation rate is limited to limit excessive rolling attitude during heading adjustment.

[0017] v z =saturation(v z_in , v z_low , v z_high )

[0018] Δψ=saturation(Δψ in , Δψ low , Δψ high )

[0019] Among them, V z is the vertical speed control command, V z_in is the calculated vertical speed value of the guided flight, V z_low is the minimum value of the vertical speed control command, V z_high is the maximum value of the vertical speed control command; Δψ is the frame yaw angle, Δψ in is the calculated value of the frame yaw angle of the guided flight, Δψ low is the minimum value of the frame yaw angle, Δψhigh is the maximum value of the frame yaw angle; Saturation is the limiting function, which adjusts the calculated value of the guided flight to the control setting value that meets the platform requirements.

[0020] Furthermore, in S3, rate limiting is performed on the commands connected to the vertical and heading channel controllers to avoid sudden jumps in the control steering amount caused by sudden changes in the commands.

[0021] Beneficial effects: Compared with the prior art, the advantages of the present invention are: it adopts heading angle and vertical speed control methods to guide flight from both vertical and horizontal aspects, can control the flight trajectory of the platform in three-dimensional space, and better complete the guided flight mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a guided flight control method system for a petrol-powered unmanned helicopter;

[0023] Figure 2 This is the flight control schematic diagram for the oil-powered unmanned helicopter;

[0024] Figure 3 This is a comparison graph of the pitch angle and flight track angle of the frame in Example 1;

[0025] Figure 4 This is a comparison curve of the frame yaw angle and direction setting values ​​of Example 1;

[0026] Figure 5 This is a graph comparing the pitch angle of the frame and the flight track angle of Example 2;

[0027] Figure 6 This is a comparison graph of the frame yaw angle and direction setting values ​​for Example 2. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] The system schematic diagram of the application of the oil-powered unmanned helicopter guidance flight control method of the present invention is as follows Figure 1 As shown. The ground control station completes the control of the unmanned helicopter and the guidance equipment. The unmanned helicopter flight control system receives the guidance command information sent by the guidance equipment in real time and adjusts the flight trajectory according to the guidance command. At the same time, the flight control system sends the platform posture information to the guidance equipment in real time for solving the frame angle of the guidance equipment and completing the next flight trajectory adjustment.

[0030] like Figure 2 As shown, the method comprises the following steps:

[0031] (1) Guidance device command reception and processing: The unmanned helicopter flight control system receives the guidance information sent by the guidance device in real time, analyzes the data output by the guidance device according to the data transmission protocol, and calculates the frame pitch angle and frame yaw angle.

[0032] (2) Frame angle processing: The rationality of the received frame angle is judged. According to the characteristics of the platform and the guidance equipment, it is determined whether the value of the frame angle exceeds the normal range. The frame pitch angle and frame yaw angle range are limited. According to the maximum and minimum values ​​of the platform control setting value, the setting values ​​of each channel of the guidance flight calculation are limited.

[0033] (3) Control command conversion: The frame pitch angle is used to indicate the vertical track adjustment of the unmanned helicopter; the frame yaw angle is used to indicate the heading adjustment of the unmanned helicopter. The received frame pitch angle command is converted into the vertical speed control command of the unmanned helicopter.

[0034] v z =tan(θ)*v x

[0035] Among them, v z is the vertical speed control command, θ is the frame pitch angle, v x Forward flight speed.

[0036] The frame yaw angle command is converted into the unmanned helicopter heading offset adjustment command.

[0037] ψ sp =ψ helisp +Δψ

[0038] Among them, ψ sp is the heading angle command of the unmanned helicopter, ψ helisp is the current unmanned helicopter heading instruction, and Δψ is the frame yaw angle. As the flight track is adjusted, the frame yaw angle eventually tends to zero, and the unmanned helicopter will maintain the current heading.

[0039] (4) The converted vertical speed command is limited and protected in combination with the vertical control capability of the unmanned helicopter at the mission speed; the heading deviation rate is limited to avoid excessive rolling attitude when the heading is adjusted.

[0040] v z =saturation(v z_in , v z_low , v z_high )

[0041] Δψ=saturation(Δψ ni , Δψ low , Δψ high )

[0042] Among them, V z is the vertical speed control command, V z_in is the calculated vertical speed value of the guided flight, V z_low is the minimum value of the vertical speed control command, V z_high is the maximum value of the vertical speed control command; Δψ is the frame yaw angle, Δψ in is the calculated value of the frame yaw angle of the guided flight, Δψ low is the minimum value of the frame yaw angle, Δψ high is the maximum value of the frame yaw angle; Saturation is the limiting function, which adjusts the calculated value of the guided flight to the control setting value that meets the platform requirements.

[0043] (5) Flight trajectory adjustment: The converted flight state control command is connected to the controller of the vertical and heading channels to solve the control quantity. According to the characteristics of the platform, the frame angle input by the guidance device is used according to the formula in this patent to calculate the control quantity of each channel of the UAV, output the corresponding channel control steering quantity, and adjust the flight trajectory of the unmanned helicopter. Among them, the command connected to the vertical and heading channel controller is rate-limited to avoid sudden jumps in the control steering quantity caused by sudden changes in the command.

[0044] (6) Platform position information is sent to the guidance device: During the flight, the unmanned helicopter flight control system sends the platform position information to the guidance device in real time.

[0045] (7) The guidance equipment combines the observed target information and the unmanned helicopter's position information to calculate new guidance information and send it to the platform flight control system to complete the subsequent flight trajectory adjustment.

[0046] In the close-range guided flight simulation, the forward flight speed of the oil-powered unmanned helicopter is 10m / s. Figure 3 Describes the comparison curve between the flight track inclination angle and the pitch angle of the guidance equipment frame of the oil-powered unmanned helicopter; Figure 4 This is a comparison curve between the flight heading setting value of the oil-powered unmanned helicopter and the yaw angle of the guidance device frame. During the flight, the flight control receives the angle information of the guidance device frame, controls the unmanned helicopter to complete the adjustment of the flight trajectory to follow the changes in the frame pitch angle and frame yaw angle, and realizes the guidance following the flight trajectory adjustment. With medium-distance guidance flight simulation, Figure 5 , Figure 6 The flight trajectory of the oil-powered unmanned helicopter and the comparison curve of the frame angle change of the guidance device in this scenario are described respectively. This patent uses two sets of guided flight data to verify the method, and compares the flight data of the unmanned helicopter and the frame angle data output by the guidance device to verify the effectiveness of this method. It can be obtained from the example data that the pitch angle and heading angle have the same trend, with a maximum deviation of 3°. This method can perform the guided flight mission well.

Claims

1. A method for controlling the guided flight of an oil-powered unmanned helicopter, characterized in that: The unmanned helicopter flight control system communicates with the guidance device in real time; the unmanned helicopter flight control system receives the guidance instructions sent by the guidance device in real time, and adjusts the flight trajectory according to the guidance instructions; at the same time, the unmanned helicopter flight control system sends its own position information to the guidance device for the guidance device to solve the new guidance instructions.

2. The method for controlling the oil-powered unmanned helicopter guided flight according to claim 1, characterized in that: The specific steps include: S1. The unmanned helicopter flight control system receives the guidance information sent by the guidance device in real time and calculates the frame pitch angle and frame yaw angle; S2, converting the received frame pitch angle command into the unmanned helicopter vertical speed control command, and converting the frame yaw angle command into the unmanned helicopter heading offset adjustment command; S3, connect the converted flight state control command to the controller of the vertical and heading channels, calculate the control amount, output the corresponding channel control steering amount, and adjust the flight trajectory of the unmanned helicopter; S4. During the flight, the unmanned helicopter flight control system sends the platform posture information to the guidance device in real time. The guidance device combines the target information to perform new guidance and solution and sends it to the platform flight control system to complete the subsequent flight trajectory adjustment.

3. The method for controlling the guided flight of an oil-powered unmanned helicopter according to claim 2, characterized in that: In S1, the rationality of the received frame pitch angle and frame yaw angle is judged, and the range of the frame pitch angle and frame yaw angle is limited.

4. The method for controlling the guided flight of an oil-powered unmanned helicopter according to claim 2, characterized in that: S2 v z =tan(θ)*v x Among them, v z is the vertical speed control command, θ is the frame pitch angle, v x is the forward flight speed; ψ sp =ψ helisp +Dψ Among them, ψ sp is the heading angle command of the unmanned helicopter, ψ helisp is the current unmanned helicopter heading instruction, Δψ is the frame yaw angle, and as the flight track is adjusted, the frame yaw angle eventually tends to zero, and the unmanned helicopter will maintain the current heading.

5. The method for controlling the guided flight of an oil-powered unmanned helicopter according to claim 2, characterized in that: In S2, the vertical speed command is limited and protected by combining the vertical control capability of the unmanned helicopter at the mission speed; the heading deviation rate is limited to prevent excessive rolling attitude during heading adjustment.

6. The method for controlling the guided flight of an oil-powered unmanned helicopter according to claim 5, characterized in that: v z =saturation(v z_in ,v z_low ,v z_high ); Δψ=saturation(Δψ in ,Dp low ,Dp high )。 Among them, V z is the vertical speed control command, V z_in is the calculated vertical speed value of the guided flight, V z_low is the minimum value of the vertical speed control command, V z_high is the maximum value of the vertical speed control command; △ψ is the frame yaw angle, △ψ in is the calculated value of the frame yaw angle of the guided flight, △ψ low is the minimum value of the frame yaw angle, △ψ high is the maximum value of the frame yaw angle; Saturation is the limiting function, which adjusts the calculated value of the guided flight to the control setting value that meets the platform requirements.

7. The method for controlling the guided flight of an oil-powered unmanned helicopter according to claim 2, characterized in that: In S3, the rate limiting process is performed on the commands connected to the vertical and heading channel controllers to avoid sudden jumps in the control rudder caused by sudden changes in commands.

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