A method, system, device and medium for unmanned aerial vehicle single engine failure control

Abstract

This invention relates to the field of flight control technology, specifically to a method, system, device, and medium for controlling single-engine failure in unmanned aerial vehicles (UAVs). The method includes: single-engine failure control during the UAV takeoff phase, which involves aborting takeoff, shutting down the other engine, using the brakes, and employing the rudder and nose wheel for corrective control; single-engine failure control during the UAV's cruising phase, which involves using an automatic lateral heading compensation controller and the flight control system to compensate for the additional yaw torque caused by the single engine, bringing the aircraft to a balanced state and adjusting the UAV's course to the designed emergency route for recovery; and single-engine failure control during the UAV landing phase, which involves maintaining the aircraft's balance using the automatic lateral heading compensation controller before landing, immediately shutting down the other engine after touchdown, and using the rudder and nose wheel for corrective control to track the ground path. This invention ensures the flight safety of UAVs and improves their emergency response capabilities in the event of a single-engine failure.

Description

Technical Field

[0001] This invention relates to the field of flight control technology, specifically to a method, system, device, and medium for controlling single-engine failure of an unmanned aerial vehicle (UAV). Background Technology

[0002] A twin-engine drone is an unmanned aerial vehicle equipped with two engines. These drones have a large payload capacity and can quickly and accurately deliver supplies to their destinations in various complex terrains and harsh environments, making them suitable for various logistics and transportation tasks. Their long range also allows them to perform long-distance missions. They possess advantages such as large payload capacity, long range, and strong adaptability. However, twin-engine drones may experience engine failure due to engine malfunctions, fuel system failures, electrical system failures, external factors (such as lightning strikes, bird strikes, and severe weather), or human error, resulting in the failure of only one engine. Single-engine failure is a safety hazard for twin-engine drones. When a single engine fails, the thrust generated by the two engines becomes unbalanced, severely affecting flight stability and safety.

[0003] Most existing single-engine failure control technologies for UAVs only address situations where one engine fails in the air, lacking a full-process analysis of the mission profile. Furthermore, directly using rudder compensation in the air constitutes open-loop control, which cannot completely offset the asymmetric thrust effect caused by a single-engine failure in the air, thus affecting the aircraft's lateral stability and causing a certain degree of economic loss.

[0004] Therefore, there is a need to provide a method, system, device, and medium for controlling single-engine failure of unmanned aerial vehicles (UAVs) to solve the above problems. Summary of the Invention

[0005] This invention provides a method, system, device, and medium for controlling single-engine failure of unmanned aerial vehicles (UAVs). It addresses the problem that existing open-loop control methods, which directly use rudder compensation in the air, cannot completely offset the asymmetric thrust caused by single-engine failure in the air, thus affecting flight safety. This invention ensures the lateral stability of the aircraft and facilitates successful recovery.

[0006] The present invention provides a method for controlling single-shot failure of a UAV, which adopts the following technical solution, including:

[0007] Single-engine failure control during the takeoff phase, single-engine failure control during the cruise phase, and single-engine failure control during the landing phase of the UAV;

[0008] Among them, single-engine failure control during the takeoff phase of the UAV includes: aborting takeoff, shutting down the other engine, using the brakes, and using the rudder and front wheel to correct the UAV's trajectory.

[0009] Single-engine failure control during the UAV's aerial cruise phase includes: compensating for the additional yaw moment caused by the single engine through the automatic lateral heading compensation controller and the flight control system, so that the aircraft can reach a balanced state and the UAV's heading can be adjusted to the designed emergency route to complete the recovery.

[0010] Single-engine failure control during the landing phase of an unmanned aerial vehicle (UAV) includes: maintaining the aircraft's balance using an automatic lateral compensator before landing, immediately shutting down the other engine on the other side after touchdown, and using rudder and nose wheel correction control to track the ground path.

[0011] Preferably, when using rudder and front wheel correction control to track the ground path during the takeoff and landing phases, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, the actual ground speed direction heading angle feedback is used as the controlled variable, and the first target heading angle calculated from the predetermined ground heading is used as the target variable to obtain the correction control variables corresponding to the rudder and front wheel.

[0012] Preferably, the expression for the rudder's correction control quantity is:

[0013]

[0014] In the formula, This is the amount of steering correction control for the rudder; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The proportional coefficient for rudder ground speed direction and heading angle control; The differential coefficients for rudder ground speed direction and heading angle control; The proportional coefficient for rudder ground track tracking control; The integral coefficient for rudder ground trajectory tracking control; The first target heading angle; For the planned ground heading; This represents the target value for the lateral distance from the ground. This is the current ground lateral distance feedback value; The time constant of the inertial element in the rudder correction control; It is a complex variable.

[0015] Preferably, the expression for the front wheel correction control quantity is:

[0016]

[0017] in, This is the deviation control value for the front wheels; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The first target heading angle; For the planned ground heading; This is the target value of the lateral distance from the ground. This is the current ground lateral distance feedback value; This is the proportional coefficient for controlling the heading angle in the direction of the front wheel ground speed; The differential coefficient for controlling the heading angle in the direction of the front wheel ground speed; This is the proportional coefficient for front wheel ground trajectory tracking control; The time constant of the inertial element in the front wheel steering control is denoted as .

[0018] Preferably, in the single-engine failure control during the UAV's air cruise phase, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the trajectory tracking control loop as the outer loop, the actual yaw angle feedback as the controlled variable, and the second target heading angle calculated from the predetermined aircraft heading as the target variable to obtain the rudder compensation control variable, and compensates for the yaw torque caused by the failure of one engine according to the compensation control variable.

[0019] Preferably, the expression for the rudder compensation control quantity is:

[0020]

[0021] In the formula, This is the compensation control amount for the rudder; This is the actual yaw angle feedback value; The second target heading angle is calculated based on the predetermined aircraft heading. r This is the actual yaw rate; The proportional coefficient of the automatic compensation control law; The integral coefficient of the automatic compensation control law; For the differential coefficients of the automatic compensation control law; T The time constant of the inertial element in automatic compensation control.

[0022] Preferably, the step of calculating the second target heading angle using the predetermined route is as follows:

[0023]

[0024] In the formula, The second target heading angle is calculated based on the predetermined aircraft heading. The planned flight path; This represents the target value for lateral distance. y This is the current lateral distance feedback value; The proportional coefficient for lateral distance control; This is the integral coefficient for lateral distance control.

[0025] A single-engine failure control system for unmanned aerial vehicles (UAVs) adopts the following technical solution, including: a control module, which is used for single-engine failure control during the UAV takeoff phase, single-engine failure control during the air cruise phase, and single-engine failure control during the landing phase; wherein, single-engine failure control during the UAV takeoff phase includes: aborting takeoff, shutting down the other engine, using the brakes, and using the rudder and nose wheel to correct the UAV's trajectory; single-engine failure control during the UAV air cruise phase includes: compensating for the additional yaw moment caused by the single engine through the automatic lateral heading compensation controller and the flight control system, so that the aircraft reaches a balanced state, and adjusting the UAV's heading to the designed emergency route to complete the recovery; single-engine failure control during the UAV landing phase includes: maintaining the aircraft's balance using the automatic lateral heading compensation controller before landing, immediately shutting down the other engine after touchdown, and using the rudder and nose wheel to correct the trajectory and track the ground path.

[0026] An electronic device employs the following technical solution, including a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the steps of the single-engine failure control method for unmanned aerial vehicles (UAVs) described in this invention.

[0027] A storage medium employs the following technical solution: a computer program is stored thereon, which, when run, is used to execute the steps of the single-engine failure control method for unmanned aerial vehicles (UAVs) described in this invention.

[0028] The beneficial effects of this invention are:

[0029] During takeoff, by aborting takeoff and shutting down the other engine, using brakes, and employing rudder and nose wheel correction control, the system prevents the drone from rolling over or overrunning the runway laterally, avoiding damage to the drone and extending its service life. During the cruise phase, the automatic lateral compensator and flight control system work together to compensate for the additional yaw torque from the single engine, bringing the aircraft to a balanced state and adjusting the drone's heading to the designed emergency route for recovery. This prevents large yaw and roll due to thrust asymmetry, improving the drone's safety in the air. In the air, it prevents the sideslip angle from continuously increasing due to thrust asymmetry, deteriorating lift-drag characteristics, and causing the aircraft to stall, thus avoiding more serious flight accidents. During landing, the automatic lateral compensator maintains the aircraft's balance before landing. After touchdown, it immediately shuts down the other engine and uses rudder and nose wheel correction control to track the ground trajectory, preventing landing failure due to lateral imbalance and mitigating aircraft loss to some extent. For drones performing specific tasks, this invention helps ensure that the drone can still complete the task even in the event of a single engine failure, thereby improving the drone's mission completion rate. In summary, this invention ensures flight safety throughout the entire process of drone mission execution and improves the drone's emergency response capability in the event of a single engine failure. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a flowchart of a single-shot failure control method for unmanned aerial vehicles (UAVs) according to the present invention;

[0032] Figure 2 This is a schematic diagram of the steering correction controller of the rudder in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the front wheel steering control system in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the transverse heading automatic compensation controller in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the lateral distance curve obtained by the single-shot failure control method of the present invention when a single shot fails in the air.

[0036] Figure 6This is a schematic diagram of the yaw angle curve obtained by the single-engine failure control method of the present invention during a single-engine failure in the air.

[0037] Figure 7 This is a schematic diagram of the roll angle curve obtained by the single-shot failure control method of the present invention when a single shot fails in the air. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] An embodiment of the single-shot failure control method for unmanned aerial vehicles (UAVs) of the present invention is as follows: Figure 1 As shown, this includes: single-engine failure control during the UAV takeoff phase, single-engine failure control during the cruise phase, and single-engine failure control during the landing phase. The single-engine failure control during takeoff includes: aborting takeoff, shutting down the other engine, using the brakes, and employing rudder and nose wheel correction control to control the UAV's trajectory. The single-engine failure control during the cruise phase includes: compensating for the additional yaw moment caused by the single engine through the automatic lateral heading compensation controller and the flight control system, bringing the aircraft to a balanced state, and adjusting the UAV's heading to the designed emergency route for recovery. The single-engine failure control during landing includes: maintaining the aircraft's balance using the automatic lateral heading compensation controller before landing, immediately shutting down the other engine after touchdown, and using rudder and nose wheel correction control to track the ground trajectory.

[0040] For example, the structure of the rudder correction controller is as follows: Figure 2 As shown, the structure of the front wheel steering controller is as follows: Figure 3 As shown, during the takeoff and landing phases, when using rudder and nose wheel correction control to track the ground path, the ground speed direction heading angle control loop is used as the inner loop, and the ground track tracking control loop is used as the outer loop, with the actual ground speed direction heading angle feedback value. As the controlled variable, the first target heading angle is calculated based on the predetermined ground heading. As the target quantity, obtain the steering correction control quantity corresponding to the rudder and the front wheels.

[0041] The expression for the rudder's correction control quantity is:

[0042]

[0043] In the formula, This is the amount of steering correction control for the rudder; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The proportional coefficient for rudder ground speed direction and heading angle control; The differential coefficients for rudder ground speed direction and heading angle control; The proportional coefficient for rudder ground track tracking control; The integral coefficient for rudder ground trajectory tracking control; The first target heading angle; For the planned ground heading; This represents the target value for the lateral distance from the ground. This is the current ground lateral distance feedback value; The time constant of the inertial element in the rudder correction control; It is a complex variable.

[0044] The expression for the front wheel's correction control quantity is:

[0045]

[0046] in, This is the deviation control value for the front wheels; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The first target heading angle; For the planned ground heading; This is the target value of the lateral distance from the ground. This is the current ground lateral distance feedback value; This is the proportional coefficient for controlling the heading angle in the direction of the front wheel ground speed; The differential coefficient for controlling the heading angle in the direction of the front wheel ground speed; This is the proportional coefficient for front wheel ground trajectory tracking control; The time constant of the inertial element in the front wheel steering control is denoted as .

[0047] For example, the structure of the lateral automatic compensation controller is as follows: Figure 4 As shown, in the single-engine failure control during the UAV's air cruise phase, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the trajectory tracking control loop as the outer loop, the actual yaw angle feedback as the controlled variable, and the second target heading angle calculated from the predetermined aircraft heading as the target variable to obtain the rudder compensation control variable. Based on the compensation control variable, the yaw torque caused by the failure of one engine is compensated.

[0048] The expression for the rudder's compensation control quantity is:

[0049]

[0050] In the formula, This is the compensation control amount for the rudder; This is the actual yaw angle feedback value; The second target heading angle is calculated based on the predetermined aircraft heading. r This is the actual yaw rate; The proportional coefficient of the automatic compensation control law; The integral coefficient of the automatic compensation control law; For the differential coefficients of the automatic compensation control law; T The time constant of the inertial element in automatic compensation control.

[0051] The steps for calculating the second target heading angle using the predetermined route are as follows:

[0052]

[0053] In the formula, The second target heading angle is calculated based on the predetermined aircraft heading. The planned flight path; This represents the target value for lateral distance. y This is the current lateral distance feedback value; The proportional coefficient for lateral distance control; This is the integral coefficient for lateral distance control.

[0054] A single-engine failure control system for unmanned aerial vehicles (UAVs) includes: a control module for single-engine failure control during takeoff, during flight, and during landing; wherein, single-engine failure control during takeoff includes: aborting takeoff, shutting down the other engine, using brakes, and employing rudder and nose wheel correction control for UAV; single-engine failure control during flight includes: compensating for the additional yaw moment caused by the single engine through a lateral automatic compensation controller and a flight control system, bringing the aircraft to a balanced state, and adjusting the UAV's heading to the designed emergency route for recovery; single-engine failure control during landing includes: maintaining the aircraft's balance using the lateral automatic compensation controller before landing, immediately shutting down the other engine after touchdown, and employing rudder and nose wheel correction control to track the ground path.

[0055] An electronic device includes a processor, a memory, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the steps of the single-engine failure control method for unmanned aerial vehicles (UAVs) described in this invention.

[0056] A storage medium storing a computer program thereon, which, when run, performs the steps of the single-engine failure control method for unmanned aerial vehicles (UAVs) according to the present invention.

[0057] To facilitate understanding of the technical solution of the present invention, the physical quantities and parameters involved in the present invention are described in Table 1, wherein each parameter can be obtained through simulation and debugging.

[0058]

[0059] To verify the effectiveness of the automatic compensation controller in this invention, the following simulation experiment was conducted. The simulation tool used was Matlab software, and the relevant parameters of a certain type of twin-engine UAV dynamic model were used in the simulation analysis.

[0060] The simulation experiment assumes that a single engine failure occurs while the UAV is cruising at an altitude of 5000m. At this point, the automatic lateral compensation controller intervenes, with a lateral distance command of 3000m, to maintain lateral stability and initiate an emergency flight path for recovery. The simulation results are shown in the curves below. Figures 5 to 7 As shown. Among them, Figure 5 The figure shows the lateral distance curve obtained by the single-engine failure control method described in this invention when a single engine fails in the air. As can be seen from the figure, the lateral distance reaches a steady state at 150s with a lateral distance deviation of 0m, indicating that the UAV can successfully enter the emergency flight path under this control law. Figure 6 The figure shows the yaw angle curve obtained by the single-engine failure control method described in this invention when a single engine fails in the air. As can be seen from the figure, a steady state is reached at 150s, and the yaw angle eventually stabilizes at 0.8°. Figure 7 The figure shows the roll angle curve obtained by the single-engine failure control method described in this invention during in-flight single-engine failure. As can be seen from the figure, a steady state is reached at 150s, and the roll angle eventually stabilizes at 0.7°. Combined with... Figure 6 and Figure 7 It can be seen that when a single engine fails in the air, connecting to the automatic compensation controller can keep the aircraft stable in the lateral direction, prevent it from rolling over, and allow the UAV to smoothly enter the emergency route.

[0061] Simulation experiments show that the single-engine failure control method of the present invention can enable the UAV to maintain lateral stability when a single engine fails, ensuring that the UAV does not roll over and can successfully enter the emergency route to complete the recovery.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling single-engine failure of an unmanned aerial vehicle (UAV), characterized in that, include: Single-engine failure control during the takeoff phase, single-engine failure control during the cruise phase, and single-engine failure control during the landing phase of the drone. Among them, single-engine failure control during the takeoff phase of the UAV includes: aborting takeoff, shutting down the other engine, using the brakes, and using the rudder and front wheel to correct the UAV's trajectory. Single-engine failure control during the UAV's aerial cruise phase includes: compensating for the additional yaw moment caused by the single engine through the automatic lateral heading compensation controller and the flight control system, so that the aircraft can reach a balanced state and the UAV's heading can be adjusted to the designed emergency route to complete the recovery. Single-engine failure control during the UAV landing phase includes: maintaining aircraft balance using the lateral automatic compensation controller before landing, immediately shutting down the other engine after touchdown, and using rudder and nose wheel correction control to track the ground path. Specifically, during the takeoff and landing phases, when using rudder and nose wheel correction control to track the ground path, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, the actual ground speed direction heading angle feedback is used as the controlled variable, and the first target heading angle calculated from the predetermined ground heading is used as the target variable to obtain the correction control quantities corresponding to the rudder and nose wheel. In the single-engine failure control during the UAV's air cruise phase, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the track tracking control loop as the outer loop, the actual yaw angle feedback is used as the controlled variable, and the second target heading angle calculated from the predetermined aircraft heading is used as the target variable to obtain the rudder compensation control quantity. The compensation control quantity is used to compensate for the yaw moment caused by the failure of one engine.

2. The method for controlling single-engine failure of a UAV according to claim 1, characterized in that, The expression for the rudder's correction control quantity is: In the formula, This is the steering control value for the rudder; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The proportional coefficient for rudder ground speed direction and heading angle control; The differential coefficients for rudder ground speed direction and heading angle control; The proportional coefficient for rudder ground track tracking control; The integral coefficient for rudder ground trajectory tracking control; The first target heading angle; For the predetermined ground heading; This represents the target value for the lateral distance from the ground. This is the current ground lateral distance feedback value; The time constant of the inertial element in the rudder correction control; It is a complex variable.

3. The method for controlling single-engine failure of a UAV according to claim 1, characterized in that, The expression for the front wheel correction control quantity is: in, This is the deviation control value for the front wheels; This is the actual ground speed direction heading angle feedback value; The angular rate of heading in the direction of ground speed; The first target heading angle; For the predetermined ground heading; This is the target value of the lateral distance from the ground. This is the current ground lateral distance feedback value; This is the proportional coefficient for controlling the heading angle in the direction of the front wheel ground speed; The differential coefficient for controlling the heading angle in the direction of the front wheel ground speed; This is the proportional coefficient for front wheel ground trajectory tracking control; The time constant is the inertial element of the front wheel correction control.

4. The method for controlling single-engine failure of a UAV according to claim 1, characterized in that, The expression for the rudder's compensation control quantity is: In the formula, This is the compensation control amount for the rudder; This is the actual yaw angle feedback value; The second target heading angle is calculated based on the predetermined aircraft heading. r This is the actual yaw rate; The proportional coefficient of the automatic compensation control law; The integral coefficient of the automatic compensation control law; For the differential coefficients of the automatic compensation control law; T The time constant of the inertial element in automatic compensation control.

5. The method for controlling single-shot failure of an unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The steps to calculate the second target heading angle using the predetermined route are as follows: In the formula, The second target heading angle is calculated based on the predetermined aircraft heading. The planned flight path; This represents the target value for lateral distance. y This is the current lateral distance feedback value; The proportional coefficient for lateral distance control; This is the integral coefficient for lateral distance control.

6. A single-shot failure control system for unmanned aerial vehicles (UAVs), characterized in that, include: The control module is used for single-engine failure control during the UAV's takeoff, cruise, and landing phases. Takeoff single-engine failure control includes: aborting takeoff, shutting down the other engine, using the brakes, and employing rudder and nose wheel correction control. Cruise single-engine failure control includes: compensating for the additional yaw moment caused by the single engine through a lateral automatic compensation controller and the flight control system, bringing the aircraft to a balanced state, and adjusting the UAV's course to the designed emergency route for recovery. Landing single-engine failure control includes: maintaining aircraft balance using the lateral automatic compensation controller before landing, immediately shutting down the other engine after touchdown, and employing rudder and nose wheel correction control. The system tracks the ground path. During takeoff and landing, when using rudder and nose wheel correction control to track the ground path, the ground speed direction heading angle control loop is used as the inner loop, the ground track tracking control loop is used as the outer loop, the actual ground speed direction heading angle feedback is used as the controlled variable, and the first target heading angle calculated from the predetermined ground heading is used as the target variable to obtain the correction control quantities corresponding to the rudder and nose wheel. In the single-engine failure control during the UAV's air cruise phase, the lateral heading automatic compensation controller uses the yaw angle control loop as the inner loop, the track tracking control loop as the outer loop, the actual yaw angle feedback is used as the controlled variable, and the second target heading angle calculated from the predetermined aircraft heading is used as the target variable to obtain the rudder compensation control quantity. The compensation control quantity is used to compensate for the yaw moment caused by the failure of one engine.

7. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the steps of the method according to any one of claims 1-5.

8. A storage medium, characterized in that, It contains a computer program that, when run, performs the steps of the method described in any one of claims 1-5.

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