Large-attack-angle coordinated turning control method and system for double-flying-wing unmanned aerial vehicle of electric power system

Abstract

The invention discloses a high-attack-angle coordinated turning control method for a double-flying-wing unmanned aerial vehicle of an electric power system. The control method comprises the following steps: S1, acquiring state parameters of an aircraft; s2, the aircraft state parameters are input into a coordinated turning controller, and an expected accelerator and an expected attitude angle are obtained; s3, inputting the attitude angle of the aircraft and the expected attitude angle into an attitude angle control loop to obtain attitude control parameters; s4, the attitude control parameters and the expected accelerator are subjected to control distribution, and final target control parameters are obtained; and S5, controlling the aircraft to execute coordinated turning based on the target control parameter. The design not only can adapt to large-angle-of-attack turning control of hovering and cruising switching, but also can effectively avoid turning falling.

Description

Technical Field

[0001] The present invention relates to a high-angle-of-attack coordinated turning control method and system for a double-wing UAV in an electric power system, and is particularly suitable for controlling coordinated turning during high-angle-of-attack flight. Background Art

[0002] Coordinated turning control of an aircraft is an important part of the aircraft control method. Coordinated turning refers to the aircraft continuously changing its flight direction in the horizontal plane and ensuring that the sideslip angle is zero. That is, the aircraft's lateral acceleration is always perpendicular to the direction of velocity, while maintaining a turning motion without losing flight altitude.

[0003] Existing aircraft use propeller differentials to control pitch and yaw, and rudders to control pitch and roll. The rudders are also affected by propeller slipstream. The aircraft is designed with eight propellers to maximize the area of slipstream, ensuring sufficient rudder control at various speeds and at both high and low angles of attack. However, since the aircraft switches from hovering to cruising during flight, its attitude angle varies greatly. The aircraft has a transition corridor across all angles of attack, necessitating high-angle-of-attack flight. Conventional coordinated turning control methods are no longer applicable in this situation, and a new control approach is needed.

[0004] A conventional coordinated turn uses roll control to generate lateral force from the wing's lift, and yaw control to adjust the nose's direction to achieve zero sideslip. The lateral force generated by roll is always perpendicular to the velocity, providing centripetal acceleration. Pitch control compensates for the lift, maintaining a constant altitude during the coordinated turn. Conventional coordinated turn controllers are designed for fixed-wing aircraft operating at low angles of attack.

[0005] For this new tandem-wing distributed propulsion cantilever vertical take-off and landing drone, the pitch angle of the aircraft changes from 0 to 90 degrees during the transition process, and it can maintain constant speed flight at a high angle of attack. In this case, the aircraft's lift will be provided by both propeller thrust and wing lift. When compensating for the aircraft's lift, it is necessary to consider the combined effects of throttle output and elevator deflection. At the same time, the aircraft's roll axis is not parallel to the direction of speed, and roll control alone cannot generate the required centripetal force. Therefore, when flying at a high angle of attack, the aircraft will have an excessively large turning radius and severe altitude loss problems. Summary of the Invention

[0006] The purpose of the present invention is to overcome the problem that the existing control methods in the prior art cannot adapt to the high angle of attack turning control of hovering and cruise switching, and provide a high angle of attack coordinated turning control method and system for electric system-oriented double-wing UAV that can adapt to hovering and cruise switching.

[0007] To achieve the above objectives, the technical solution of the present invention is:

[0008] In a first aspect, the present invention provides a high-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system. The control method is based on the structure of a double-wing UAV in an electric power system, including two pairs of front and rear flying wings, each of which is provided with two propellers, and a rudder is provided behind each flying wing; the rudder is used to achieve high-angle-of-attack coordinated turning by adjusting the rudder angle to cooperate with the propeller slipstream; the control method comprises the following steps:

[0009] Get the status parameters of the aircraft;

[0010] Input the aircraft state parameters into the coordinated turning controller to obtain the desired throttle and desired attitude angle;

[0011] Inputting the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters;

[0012] The attitude control parameters and the desired throttle are controlled and distributed to obtain the final target control parameters;

[0013] The aircraft is controlled to perform a coordinated turn based on the target control parameters.

[0014] The state parameters of the aircraft include the expected speed v, the expected turning radius R and the attitude angle, which includes the pitch angle θ, the roll angle Yaw angle ψ, calculate the velocity direction angle based on the attitude angle The formula is:

[0015]

[0016] Such as the yaw angle ψ and the velocity direction angle If they are inconsistent, it is determined to be a high angle of attack turn condition, and the step of inputting the aircraft state parameters into the coordinated turn controller is entered to obtain the desired throttle and desired attitude angle.

[0017] The aircraft state parameters are input into the coordinated turning controller to obtain the desired throttle and desired attitude angle, and the lift deflection angle required by the aircraft is calculated.

[0018]

[0019] Among them, v is the desired speed, R is the desired turning radius, a is the desired centripetal acceleration, and g is the acceleration due to gravity. The total lift generated by the aircraft is The equivalent mass of the aircraft is The expected velocity v and the equivalent mass Input to the longitudinal control module, and perform table lookup to obtain the desired throttle u of the aircraft thro and desired angle of attack

[0020] According to the direction of speed lift deflection angle Desired angle of attack Calculate the rotation matrix of the desired attitude of the aircraft

[0021] According to the rotation matrix Get the velocity direction lift deflection angle Desired angle of attack The relationship between the desired attitude angle of the aircraft is calculated based on the relationship:

[0022]

[0023] in, is the desired yaw angle; is the desired pitch angle; is the desired roll angle.

[0024] In the step of inputting the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters, the attitude angle control loop includes: an outer loop attitude angle control loop and an inner loop angular velocity control loop;

[0025] The outer ring attitude angle control loop calculates the attitude angle control amount and the coordinated turning attitude angular velocity according to the aircraft attitude angle and the desired attitude angle;

[0026] The inner angular velocity control loop calculates the attitude angular velocity error according to the attitude angular control amount, the coordinated turning attitude angular velocity and the attitude angular velocity actually measured, calculates the attitude control parameter according to the attitude angular velocity error and outputs it.

[0027] In the outer attitude angle control loop, the attitude angle error is first calculated based on the desired attitude angle:

[0028] Yaw angle error Pitch angle error Roll angle error

[0029] Based on the attitude angle error and the PID control algorithm, the attitude angle control amount is calculated:

[0030] Yaw angle control amount:

[0031] Pitch angle control amount:

[0032] Roll angle control amount:

[0033] Among them, K pψ 、k iψ , K dψ They are the proportional, integral and differential coefficients of the outer loop yaw angle PID controller, K pθ , K iθ , K dθ are the proportional, integral and differential coefficients of the outer loop pitch angle PID controller respectively, are the proportional, integral and differential coefficients of the outer loop roll angle PID controller respectively;

[0034] The angular velocity of the three-axis body is compensated according to the lift deflection angle to obtain the coordinated turning attitude angular velocity:

[0035]

[0036] Among them, p, q, and r are the roll, pitch, and yaw angular velocities of the coordinated turn, respectively.

[0037] Inner angular velocity control loop: The calculation formula for attitude angular velocity error is:

[0038] Yaw rate error

[0039] Pitch rate error

[0040] Roll angular velocity error

[0041] Among them, ω ψ 、ω θ 、 are the current yaw, pitch, and roll angular velocities actually measured;

[0042] The formula for calculating the attitude control parameters based on the attitude angular velocity error is:

[0043] Yaw angular velocity attitude control parameters

[0044] Pitch angular velocity attitude control parameters

[0045] Roll angular velocity attitude control parameters

[0046] Among them, K pωψ , K iωψ , K dωψ are the proportional, integral and differential coefficients of the inner loop yaw rate PID controller, K pωθ、k iωθ , K dωθ are the proportional, integral and differential coefficients of the inner loop pitch angular velocity PID controller respectively, are the proportional, integral and differential coefficients of the inner loop roll angular velocity PID controller respectively.

[0047] In the step of controlling and allocating the attitude control parameter and the desired throttle to obtain the final target control parameter, the attitude control parameter u θout 、 u ψout and the desired throttle u thro Perform control allocation to obtain the final target control parameters:

[0048] u motor1 =u thro +K θm ·u θout +u ψout ,u motor2 =u thro +K θm ·u θout +u ψout ,

[0049] u motor3 =y thro +K θm ·u θout -u ψout ,u motor4 =u thro +K θm ·u θout -u ψout ,

[0050] u motor5 =u thro -K θm ·u θout -u ψout ,u motor6 =u thro -K θm ·u θout -u ψout ,

[0051] u motor7 =u thro -K θm ·u θout +u ψout ,u motor8 =u thro -K θm ·u θout +u φout ,

[0052]

[0053] Among them, u motor1 、u motor2 、u motor3 、u motor4 、u motor5 、u motor6 、u motor7 、u motor8 Respectively represent the speed control parameters of propellers 1-8; u servo1 、u servo2 、u servo3 、u servo4 Respectively represent the flip angle control parameters of rudder surfaces 1-4; K θm , K θs They are the proportional coefficients of propeller and rudder for pitch control respectively.

[0054] In a second aspect, the present invention provides a high-angle-of-attack coordinated turning control system for a two-wing UAV in an electric power system. The system is used to execute the aforementioned high-angle-of-attack coordinated turning control method for a two-wing UAV in an electric power system, and specifically includes: a state parameter acquisition module, a flight control module, an attitude control module, a control distribution module, and an execution module;

[0055] State parameter acquisition module, used to obtain the state parameters of the aircraft;

[0056] The flight control module is used to input the aircraft state parameters into the coordinated turn controller to obtain the desired throttle and desired attitude angle;

[0057] The attitude control module is used to input the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters;

[0058] The control distribution module is used to distribute the attitude control parameters and the desired throttle to obtain the final target control parameters;

[0059] The execution module is used to control the aircraft to perform a coordinated turn based on the target control parameters.

[0060] In the state parameter acquisition module, the state parameters of the aircraft include: expected speed v, expected turning radius R and attitude angle, the attitude angle includes: pitch angle θ, roll angle Yaw angle ψ, calculate the velocity direction angle based on the attitude angle The formula is:

[0061]

[0062] Such as the yaw angle ψ and the velocity direction angle If they are inconsistent, it is determined to be a high angle of attack turn condition.

[0063] In the flight control module, the aircraft state parameters are input into the coordinated turning controller to calculate the lift deflection angle required by the aircraft.

[0064]

[0065] Among them, v is the desired speed, R is the desired turning radius, a is the desired centripetal acceleration, and g is the acceleration due to gravity. The total lift generated by the aircraft is The equivalent mass of the aircraft is The expected velocity v and the equivalent mass Input to the longitudinal control module, and perform table lookup to obtain the desired throttle u of the aircraft thro and desired angle of attack

[0066] According to the direction of speed lift deflection angle Desired angle of attack Calculate the rotation matrix of the desired attitude of the aircraft

[0067] According to the rotation matrix Get the velocity direction lift deflection angle Desired angle of attack The relationship between the desired attitude angle of the aircraft is calculated based on the relationship:

[0068]

[0069] in, is the desired yaw angle; is the desired pitch angle; is the desired roll angle.

[0070] In the attitude control module, the aircraft attitude angle and the desired attitude angle are input into an attitude angle control loop, and the attitude angle control loop includes: an outer loop attitude angle control loop and an inner loop angular velocity control loop;

[0071] The outer ring attitude angle control loop calculates the attitude angle control amount and the coordinated turning attitude angular velocity according to the aircraft attitude angle and the desired attitude angle;

[0072] The inner angular velocity control loop calculates the attitude angular velocity error according to the attitude angular control amount, the coordinated turning attitude angular velocity and the attitude angular velocity actually measured, calculates the attitude control parameter according to the attitude angular velocity error and outputs it.

[0073] In the outer attitude angle control loop, the attitude angle error is first calculated based on the desired attitude angle:

[0074] Yaw angle error Pitch angle error Roll angle error

[0075] Based on the attitude angle error and the PID control algorithm, the attitude angle control amount is calculated:

[0076] Yaw angle control amount:

[0077] Pitch angle control amount:

[0078] Roll angle control amount:

[0079] Among them, K pψ , K iψ , K dψ They are the proportional, integral and differential coefficients of the outer loop yaw angle PID controller, K pθ , K iθ , K dθ are the proportional, integral and differential coefficients of the outer loop pitch angle PID controller respectively, are the proportional, integral and differential coefficients of the outer loop roll angle PID controller respectively;

[0080] The angular velocity of the three-axis body is compensated according to the lift deflection angle to obtain the coordinated turning attitude angular velocity:

[0081]

[0082] Among them, p, q, and r are the roll, pitch, and yaw angular velocities of the coordinated turn, respectively.

[0083] Inner angular velocity control loop: The calculation formula for attitude angular velocity error is:

[0084] Yaw rate error

[0085] Pitch rate error

[0086] Roll angular velocity error

[0087] Among them, ω ψ 、ω θ 、 are the current yaw, pitch, and roll angular velocities actually measured;

[0088] The formula for calculating the attitude control parameters based on the attitude angular velocity error is:

[0089] Yaw angular velocity attitude control parameters

[0090] Pitch angular velocity attitude control parameters

[0091] Roll angular velocity attitude control parameters

[0092] Among them, K pωψ , K iωψ , K dωψ are the proportional, integral and differential coefficients of the inner loop yaw rate PID controller, K pωθ , K iωθ , K dωθ are the proportional, integral and differential coefficients of the inner loop pitch angular velocity PID controller respectively, are the proportional, integral and differential coefficients of the inner loop roll angular velocity PID controller respectively.

[0093] In the control allocation module, the obtained attitude control parameter u θout 、 u ψout and the desired throttle u thro Perform control allocation and obtain the formula for the final target control parameters:

[0094] u motor1 =u thro +K θm ·u θout +u ψout ,u motor2 =u thro +K θm ·u θout +u ψout ,

[0095] u motor3 =u thro +K θm ·u θout -u ψout ,u motor4 =u thro +K θm ·u θout -u ψout ,

[0096] u motor5 =u thro -K θm ·u θout -u ψout ,u motor6 =u thro -K θm ·u θout -u ψout ,

[0097] u motor7 =u thro -K θm ·u θout +u φout ,u motor8 =u thro -K θm ·u θout +u ψout ,

[0098]

[0099] Among them, u motor1 、u motor2 、u motor3 、u motor4 、u motor5 、u motor6 、u motor7 、u motor8 Respectively represent the speed control parameters of propellers 1-8; u servo1 、u servo2 、u servo3 、u servo4 Respectively represent the flip angle control parameters of rudder surfaces 1-4; K θm , K θs They are the proportional coefficients of propeller and rudder for pitch control respectively.

[0100] In a third aspect, the present invention provides a high-angle-of-attack coordinated turning control device for a double-wing UAV in an electric power system, comprising a memory and a processor, wherein the memory is configured to store computer program code and transmit the computer program code to the processor;

[0101] The processor is used to execute the aforementioned large angle of attack coordinated turning control method for a double-wing UAV for an electric power system according to the instructions in the computer program code.

[0102] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the aforementioned method for controlling large angles of attack coordinated turns of a double-wing UAV for a power system.

[0103] Compared with the prior art, the present invention has the following beneficial effects:

[0104] 1. In a high-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system, a new coordinate system representation method is proposed to solve the problems of coordinated turning and loss of altitude during turning when the aircraft is flying at a high angle of attack. When the aircraft is flying at a high angle of attack, in order to provide a suitable centripetal acceleration, a suitable aircraft attitude angle must be calculated based on the flight speed and turning radius; in order to achieve zero sideslip flight, a suitable body angular velocity must be obtained; in order to solve the problem of loss of altitude during turning, it is necessary to calculate a suitable throttle control amount and a pitch angle control amount to compensate for the lift of the UAV, so that the aircraft can achieve zero sideslip coordinated turning flight at different angles of attack.

[0105] 2. In the high-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system according to the present invention, an attitude angle control loop provides a desired attitude angle corresponding to a desired centripetal acceleration, so that the aircraft flies along a desired turning radius; the rotation matrix of the desired attitude compensates the heading control of the aircraft, so that the aircraft can achieve coordinated turning flight with zero sideslip; and the longitudinal control module compensates the longitudinal controller of the aircraft, so that the aircraft maintains a constant altitude during the coordinated turning flight.

[0106] 3. The present invention provides a high-angle-of-attack coordinated turning control system for a twin-wing UAV for an electric power system, comprising: a state parameter acquisition module, a flight control module, an attitude control module, a control allocation module, and an execution module. This system is configured to implement the steps of the high-angle-of-attack coordinated turning control method for a twin-wing UAV for an electric power system as provided in any of the aforementioned technical solutions. Therefore, this system also incorporates all the beneficial effects of the high-angle-of-attack coordinated turning control method for a twin-wing UAV for an electric power system as provided in any of the aforementioned technical solutions, and will not be further elaborated upon here.

[0107] 4. A device for controlling high-angle-of-attack coordinated turns of a twin-wing unmanned aerial vehicle (UAV) for an electric power system according to the present invention includes a processor and a memory. The memory is configured to store computer program code and transmit the computer program code to the processor. The processor is configured to execute the high-angle-of-attack coordinated turn control method for a twin-wing unmanned aerial vehicle (UAV) for an electric power system according to any of the aforementioned technical solutions according to the instructions in the computer program code. Therefore, this device also includes all the beneficial effects of the high-angle-of-attack coordinated turn control method for a twin-wing unmanned aerial vehicle (UAV) for an electric power system provided in any of the aforementioned technical solutions, and no further description is given here.

[0108] 5. The present invention relates to a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the steps of the high-angle-of-attack coordinated turning control method for a two-wing unmanned aerial vehicle (UAV) in an electric power system as provided in any of the aforementioned technical solutions. Therefore, this computer program product also includes all the beneficial effects of the high-angle-of-attack coordinated turning control method for a two-wing unmanned aerial vehicle (UAV) in an electric power system as provided in any of the aforementioned technical solutions, and will not be further elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] Figure 1 It is a flow chart of the method of the present invention.

[0110] Figure 2 It is a structural schematic diagram of the double-wing UAV with a power system according to the present invention.

[0111] Figure 3 It is a system module diagram of the present invention.

[0112] Figure 4 It is a schematic diagram of the equipment of the present invention.

[0113] Figure 5 Schematic diagram of the longitudinal control module in Example 1.

[0114] Figure 6 Schematic diagram of the rotation matrix of the desired posture in Example 1.

[0115] Figure 7 Schematic diagram of the attitude angle control loop in Example 1.

[0116] Figure 8 Schematic diagram of the path tracking simulation results of the coordinated turning control loop in Example 1.

[0117] Figure 9 Schematic diagram of the altitude maintenance simulation results of the coordinated turning control loop in Example 1. DETAILED DESCRIPTION

[0118] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0119] Example 1:

[0120] See also Figures 1 to 2 A high angle of attack coordinated turning control method for a double-wing UAV in an electric power system is provided, characterized by:

[0121] The control method is based on a double-wing UAV structure with an electric power system, comprising two pairs of front and rear wings, each of which is provided with two propellers, and a rudder disposed behind each wing; the rudder is used to achieve high angle of attack coordinated turns by adjusting the rudder angle to cooperate with the propeller slipstream; the control method comprises the following steps:

[0122] S1 obtains the state parameters of the aircraft including: expected speed v, expected turning radius R and attitude angle, attitude angle includes: pitch angle θ, roll angle Yaw angle ψ, calculate the velocity direction angle based on the attitude angle

[0123] Calculate velocity direction angle

[0124]

[0125] Such as the yaw angle ψ and the velocity direction angle If they are inconsistent, it is determined to be a high angle of attack turn condition and enter S2.

[0126] S2 inputs the aircraft state parameters into the coordinated turning controller to obtain the desired throttle and desired attitude angle;

[0127] See also Figure 5 , input the aircraft state parameters into the coordinated turning controller to calculate the lift deflection angle required by the aircraft

[0128]

[0129] Among them, v is the desired speed, R is the desired turning radius, a is the desired centripetal acceleration, and g is the acceleration due to gravity. The total lift generated by the aircraft is The equivalent mass of the aircraft is The expected velocity v and the equivalent mass Input to the longitudinal control module, and perform table lookup to obtain the desired throttle u of the aircraft thro and desired angle of attack

[0130] See also Figure 6 , according to the direction of velocity lift deflection angle Desired angle of attack Calculate the rotation matrix of the desired attitude of the aircraft

[0131]

[0132] According to the rotation matrix Get the velocity direction lift deflection angle Desired angle of attack The relationship between the desired attitude angle of the aircraft is calculated based on the relationship:

[0133]

[0134] in, is the desired yaw angle; is the desired pitch angle; is the desired roll angle.

[0135] See also Figure 7 , S3 inputs the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain the attitude control parameters;

[0136] Inputting the aircraft attitude angle and the desired attitude angle into an attitude angle control loop, wherein the attitude angle control loop comprises an outer attitude angle control loop and an inner angular velocity control loop;

[0137] The outer ring attitude angle control loop calculates the attitude angle control amount and the coordinated turning attitude angular velocity according to the aircraft attitude angle and the desired attitude angle;

[0138] The inner angular velocity control loop calculates the attitude angular velocity error according to the attitude angular control amount, the coordinated turning attitude angular velocity and the attitude angular velocity actually measured, calculates the attitude control parameter according to the attitude angular velocity error and outputs it.

[0139] In the outer attitude angle control loop, the attitude angle error is first calculated based on the desired attitude angle:

[0140] Yaw angle error Pitch angle error Roll angle error

[0141] Based on the attitude angle error and the PID control algorithm, the attitude angle control amount is calculated:

[0142] Yaw angle control amount:

[0143] Pitch angle control amount:

[0144] Roll angle control amount:

[0145] Among them, K pψ 、k iψ , K dψ They are the proportional, integral and differential coefficients of the outer loop yaw angle PID controller, K pθ , K iθ , K dθ are the proportional, integral and differential coefficients of the outer loop pitch angle PID controller respectively, are the proportional, integral and differential coefficients of the outer loop roll angle PID controller respectively;

[0146] The angular velocity of the three-axis body is compensated according to the lift deflection angle to obtain the coordinated turning attitude angular velocity:

[0147]

[0148] Among them, p, q, and r are the roll, pitch, and yaw angular velocities of the coordinated turn, respectively.

[0149] Inner angular velocity control loop: The calculation formula for attitude angular velocity error is:

[0150] Yaw rate error

[0151] Pitch rate error

[0152] Roll angular velocity error

[0153] Among them, ω ψ 、ω θ 、 are the current yaw, pitch, and roll angular velocities actually measured;

[0154] The formula for calculating the attitude control parameters based on the attitude angular velocity error is:

[0155] Yaw angular velocity attitude control parameters

[0156] Pitch angular velocity attitude control parameters

[0157] Roll angular velocity attitude control parameters

[0158] Among them, K pωψ , K iωψ , K dωψ are the proportional, integral and differential coefficients of the inner loop yaw rate PID controller, K pωθ , K iωθ , K dωθ are the proportional, integral and differential coefficients of the inner loop pitch angular velocity PID controller respectively, are the proportional, integral and differential coefficients of the inner loop roll angular velocity PID controller respectively.

[0159] S4 distributes the attitude control parameters and the desired throttle to obtain the final target control parameters;

[0160] The obtained attitude control parameter u θout 、 u ψout and the desired throttle u thro Perform control allocation and obtain the formula for the final target control parameters:

[0161] u motor1 =u thro +K θm ·u θout +u ψout ,u motor2 =u thro +K θm ·u θout +u ψout

[0162] umotor3 =u thro +K θm ·u θout -u ψout ,u motor4 =u thro +K θm ·u θout -u ψout

[0163] u motor5 =u thro -K θm ·u θout -u ψout ,u motor6 =u thro -K θm ·u θout -u ψout

[0164] u motor7 =u thro -K θm ·u θout +u ψout ,u motor8 =u thro -K θm ·u θout +u ψout

[0165]

[0166] Among them, u motor1 、u motor2 、u motor3 、u motor4 、u motor5 、u motor6 、u motor7 、u motor8 Respectively represent the speed control parameters of propellers 1-8; u servo1 、u servo2 、u servo3 、u servo4 Respectively represent the flip angle control parameters of the rudder surfaces 1-4, see Figure 2 ;K θm , K θs They are the proportional coefficients of propeller and rudder for pitch control respectively.

[0167] S5 controls the aircraft to perform a coordinated turn based on the target control parameters.

[0168] In order to achieve coordinated turning control of an aircraft, an embodiment of the present application provides a method for controlling coordinated turning of an aircraft. The method is applied to Simulink simulation software in the MATLAB control system. Simulink is a visual simulation tool in MATLAB. Simulink is a block diagram environment for multi-domain simulation and model-based design. It supports system design, simulation, automatic code generation, and continuous testing and verification of embedded systems. Simulink provides a graphical editor, a customizable block library, and a solver, which can perform dynamic system modeling and simulation. Figure 8 、 Figure 9 The path tracking simulation results of the coordinated turning control loop and the altitude holding simulation results of the coordinated turning control loop show that the present application can better perform the high angle of attack turning control of hovering and cruise switching.

[0169] Example 2:

[0170] See also Figure 3 A high-angle-of-attack coordinated turning control system for a double-wing UAV in an electric power system is provided. The system is used to execute the aforementioned high-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system. The system specifically includes: a state parameter acquisition module, a flight control module, an attitude control module, a control allocation module, and an execution module.

[0171] The state parameter acquisition module is used to obtain the state parameters of the aircraft, including: expected speed v, expected turning radius R and attitude angle, attitude angle includes: pitch angle θ, roll angle Yaw angle ψ, calculate the velocity direction angle based on the attitude angle

[0172] The flight control module is used to input the aircraft state parameters into the coordinated turn controller to obtain the desired throttle and desired attitude angle;

[0173] The attitude control module is used to input the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters;

[0174] The control distribution module is used to distribute the attitude control parameters and the desired throttle to obtain the final target control parameters;

[0175] The execution module is used to control the aircraft to perform a coordinated turn based on the target control parameters.

[0176] Example 3:

[0177] See also Figure 4 、 oneA device for controlling high-angle-of-attack coordinated turns of a double-wing unmanned aerial vehicle (UAV) for an electric power system includes a memory and a processor. The memory is used to store computer program code and transmit the computer program code to the processor. The processor is used to execute the aforementioned method for controlling high-angle-of-attack coordinated turns of a double-wing unmanned aerial vehicle (UAV) for an electric power system according to instructions in the computer program code.

[0178] Example 4:

[0179] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the aforementioned large-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system.

Claims

1. A high-angle-of-attack coordinated turning control method for a twin-wing UAV in an electric power system, characterized by: The control method is based on a double-wing UAV structure with an electric power system, comprising two pairs of front and rear wings, each of which is provided with two propellers, and a rudder disposed behind each wing; the rudder is used to achieve high angle of attack coordinated turns by adjusting the rudder angle to cooperate with the propeller slipstream; the control method comprises the following steps: Get the status parameters of the aircraft; Input the aircraft state parameters into the coordinated turning controller to obtain the desired throttle and desired attitude angle; Inputting the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters; The attitude control parameters and the desired throttle are controlled and distributed to obtain the final target control parameters; The aircraft is controlled to perform a coordinated turn based on the target control parameters.

2. The method for controlling high angle of attack coordinated turns of a double-wing UAV for an electric power system according to claim 1, characterized in that: The state parameters of the aircraft include the expected speed v, the expected turning radius R and the attitude angle, which includes the pitch angle θ, the roll angle Yaw angle ψ, calculate the velocity direction angle based on the attitude angle The formula is: Such as the yaw angle ψ and the velocity direction angle If they are inconsistent, it is determined to be a high angle of attack turn condition, and the step of inputting the aircraft state parameters into the coordinated turn controller is entered to obtain the desired throttle and desired attitude angle.

3. The high angle of attack coordinated turning control method for a twin-wing UAV for an electric power system according to claim 1, characterized in that: The aircraft state parameters are input into the coordinated turning controller to obtain the desired throttle and desired attitude angle, and the lift deflection angle required by the aircraft is calculated. Among them, v is the desired speed, R is the desired turning radius, a is the desired centripetal acceleration, and g is the acceleration due to gravity. The total lift generated by the aircraft is The equivalent mass of the aircraft is The expected velocity v and the equivalent mass Input to the longitudinal control module, and perform table lookup to obtain the desired throttle u of the aircraft thro and desired angle of attack According to the direction of speed lift deflection angle Desired angle of attack Calculate the rotation matrix of the desired attitude of the aircraft According to the rotation matrix Get the velocity direction lift deflection angle Desired angle of attack The relationship between the desired attitude angle of the aircraft is calculated based on the relationship: in, is the desired yaw angle; is the desired pitch angle; is the desired roll angle.

4. The method for controlling high angle of attack coordinated turns of a double-wing UAV for an electric power system according to claim 1, characterized in that: In the step of inputting the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters, the attitude angle control loop includes: an outer loop attitude angle control loop and an inner loop angular velocity control loop; The outer ring attitude angle control loop calculates the attitude angle control amount and the coordinated turning attitude angular velocity according to the aircraft attitude angle and the desired attitude angle; The inner angular velocity control loop calculates the attitude angular velocity error according to the attitude angular control amount, the coordinated turning attitude angular velocity and the attitude angular velocity actually measured, calculates the attitude control parameter according to the attitude angular velocity error and outputs it.

5. The method for controlling high angle of attack coordinated turns of a double-wing UAV for an electric power system according to claim 4, characterized in that: In the outer attitude angle control loop, the attitude angle error is first calculated based on the desired attitude angle: Yaw angle error Pitch angle error Roll angle error Based on the attitude angle error and the PID control algorithm, the attitude angle control amount is calculated: Yaw angle control amount: Pitch angle control amount: Roll angle control amount: Among them, K pψ , K iψ , K dψ They are the proportional, integral and differential coefficients of the outer loop yaw angle PID controller, K pθ , K iθ , K dθ are the proportional, integral and differential coefficients of the outer loop pitch angle PID controller respectively, are the proportional, integral and differential coefficients of the outer loop roll angle PID controller respectively; The angular velocity of the three-axis body is compensated according to the lift deflection angle to obtain the coordinated turning attitude angular velocity: Among them, p, q, and r are the roll, pitch, and yaw angular velocities of the coordinated turn, respectively.

6. The method for controlling high angle of attack coordinated turns of a double-wing UAV for an electric power system according to claim 4, characterized in that: Inner angular velocity control loop: The calculation formula for attitude angular velocity error is: Yaw rate error Pitch rate error Roll angular velocity error Among them, ω ψ 、ω θ 、 are the current yaw, pitch, and roll angular velocities actually measured; The formula for calculating the attitude control parameters based on the attitude angular velocity error is: Yaw angular velocity attitude control parameters Pitch angular velocity attitude control parameters Roll angular velocity attitude control parameters Among them, K pωψ , K iωψ , K dωψ are the proportional, integral and differential coefficients of the inner loop yaw rate PID controller, K pωθ , K iωθ , K dωθ are the proportional, integral and differential coefficients of the inner loop pitch angular velocity PID controller respectively, are the proportional, integral and differential coefficients of the inner loop roll angular velocity PID controller respectively.

7. The method for controlling high angle of attack coordinated turns of a twin-wing UAV for an electric power system according to claim 1, characterized in that: In the step of controlling and distributing the attitude control parameters and the desired throttle to obtain the final target control parameters, The obtained attitude control parameter u θout 、 u ψout and the desired throttle u thro Perform control allocation and obtain the formula for the final target control parameters: in motor1 =in thro +K θm ·in θout +in ψout ,in motor2 =in thro +K θm ·in θout +in ψout in motor3 =in thro +K θm ·in θout -in ψout ,in motor4 =in thro +K θm ·in θout -in ψout in motor5 =in thro -K θm ·in θout -in ψout ,in motor6 =in thro -K θm ·in θout -in ψout in motor7 =in thro -K θm ·in θout +in ψout ,in motor8 =in thro -K θm ·in θout +in ψout Among them, u motor1 、u motor2 、u motor3 、u motor4 、u motor5 、u motor6 、u motor7 、u motor8 Respectively represent the speed control parameters of propellers 1-8; u servo1 、u servo2 、u servo3 、u servo4 Respectively represent the flip angle control parameters of rudder surfaces 1-4; K θm , K θs They are the proportional coefficients of propeller and rudder for pitch control respectively.

8. A high angle of attack coordinated turning control system for a double-wing UAV in an electric power system, characterized in that: The system is used to execute the high-angle-of-attack coordinated turning control method for a double-wing UAV in an electric power system according to any one of claims 1 to 7, specifically comprising: a state parameter acquisition module, a flight control module, an attitude control module, a control distribution module, and an execution module; State parameter acquisition module, used to obtain the state parameters of the aircraft; The flight control module is used to input the aircraft state parameters into the coordinated turn controller to obtain the desired throttle and desired attitude angle; The attitude control module is used to input the aircraft attitude angle and the desired attitude angle into the attitude angle control loop to obtain attitude control parameters; The control distribution module is used to distribute the attitude control parameters and the desired throttle to obtain the final target control parameters; The execution module is used to control the aircraft to perform a coordinated turn based on the target control parameters.

9. A high angle of attack coordinated turning control device for a double-wing UAV in an electric power system, characterized in that: comprising a memory and a processor, wherein the memory is configured to store computer program code and transmit the computer program code to the processor; The processor is configured to execute the high-angle-of-attack coordinated turning control method for a double-wing UAV for an electric power system according to instructions in the computer program code as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the high-angle-of-attack coordinated turning control method for a double-wing UAV for an electric power system as described in any one of claims 1 to 7.

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