Flight quality evaluation method for high maneuvering performance of agile maneuvering unmanned aerial vehicle

Abstract

The invention belongs to the field of flight control, and particularly relates to a flight quality evaluation method for high maneuvering characteristics of an agile maneuvering unmanned aerial vehicle. The method comprises the following steps: determining a flight quality evaluation architecture of the agile maneuvering unmanned aerial vehicle; determining a flight quality objective evaluation index set of the agile maneuvering unmanned aerial vehicle; determining a flight quality evaluation process of the agile maneuvering unmanned aerial vehicle; determining a flight quality evaluation grade of the agile maneuvering unmanned aerial vehicle; and based on the flight quality evaluation architecture, the flight quality objective evaluation index set, the flight quality evaluation process and the flight quality evaluation level, realizing flight quality evaluation of the agile maneuvering unmanned aerial vehicle. According to the method, multiple evaluation indexes for evaluating the maneuvering characteristics of the agile maneuvering unmanned aerial vehicle are designed, evaluation results of various flight quality indexes are accurately and quantitatively output, and support is provided for control law optimization of the agile maneuvering unmanned aerial vehicle.

Description

Technical Field

[0001] This application belongs to the field of flight control, and specifically relates to a method for evaluating the flight quality of agile and maneuverable unmanned aerial vehicles with high maneuverability. Background Technology

[0002] In the field of flight control design, the commonly used flight quality assessment criteria are GJB185-86 "Flight Quality Specifications for Fixed-Wing Manned Aircraft" issued by the Ministry of Aviation Industry in November 1986 in conjunction with the Air Force and Navy, and GJB-2874-97 "Flight Quality of Aircraft with Fly-by-Wire Control Systems" approved and issued by the Commission of Science, Technology and Industry for National Defense on May 23, 1997. Both of these national standards are for the flight quality assessment of manned aircraft. However, research on flight quality specifications for unmanned aerial vehicles (UAVs) has lagged behind, and there is no authoritative assessment standard for UAV flight quality, relying heavily on the flight quality specifications for manned aircraft.

[0003] Currently, with the rapid development of UAV equipment technology, research on highly maneuverable UAVs for air-to-air missions has become a hot topic in equipment technology development. Traditional flight quality assessment methods cannot evaluate the maneuverability of agile and maneuverable UAVs in performing special missions, and there is no systematic approach to optimizing their flight quality. There is an urgent need to conduct research on the flight quality assessment of agile and maneuverable UAVs to provide a theoretical basis for the optimization design of flight control laws and the assessment of flight quality for highly maneuverable UAVs.

[0004] Therefore, there is an urgent need for a technical solution to overcome or mitigate at least one of the aforementioned defects in the existing technology. Summary of the Invention

[0005] The purpose of this application is to provide a method for evaluating the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs) with high maneuverability, in order to solve at least one problem existing in the prior art.

[0006] The technical solution of this application is:

[0007] A method for evaluating the flight quality of agile, maneuverable unmanned aerial vehicles (UAVs) with high maneuverability includes:

[0008] Determine the flight quality assessment framework for agile and maneuverable unmanned aerial vehicles;

[0009] Determine the set of objective evaluation indicators for the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs);

[0010] Establish a flight quality assessment process for agile and maneuverable unmanned aerial vehicles (UAVs);

[0011] Determine the flight quality assessment level of agile and maneuverable unmanned aerial vehicles;

[0012] Flight quality assessment of agile and maneuverable UAVs is achieved based on the flight quality assessment architecture, the objective flight quality assessment index set, the flight quality assessment process, and the flight quality assessment level.

[0013] In at least one embodiment of this application, the flight quality assessment architecture includes:

[0014] Transient agility assessment, including axial transient agility assessment, longitudinal transient agility assessment, and lateral transient agility assessment, is used to measure the aircraft's ability to respond quickly and execute control inputs in a transient state;

[0015] Functional agility assessment, including axial functional agility assessment and longitudinal functional agility assessment, is used to measure the aircraft's ability to maintain maneuverability and perform diverse maneuvers over extended periods of time in specific missions.

[0016] The high maneuverability assessment includes an assessment of overload enhancement capability, a direct lift generation capability, and an axial acceleration generation capability. The high maneuverability assessment is used to measure the impact of high maneuverability control on the overload and axial acceleration capabilities of the UAV.

[0017] In at least one embodiment of this application, the set of objective flight quality evaluation indicators for transient agility assessment includes:

[0018] Axial transient agility index set, including power surge parameter POP and power dissipation parameter PLP;

[0019] The power surge parameter POP is:

[0020] ;

[0021] The power dissipation parameter PLP is:

[0022] ;

[0023] Among them, (SEP) max The maximum residual power per unit weight (SEP) min The minimum unit weight of remaining power, Δt is the time required to complete the process;

[0024] The longitudinal transient agility index set includes the maximum normal overload time, the time to unload to zero overload, the maximum normal overload rate, and the maximum pitch rate.

[0025] The set of lateral transient agility metrics includes the time required to intercept 90 degrees, the lateral agility scale LA, and the torsional agility scale TA.

[0026] The lateral agility metric LA is:

[0027] ;

[0028] The torsional agility metric TA is:

[0029] ;

[0030] Among them, t RC,90 It takes time to capture 90 degrees.

[0031] In at least one embodiment of this application, the set of objective flight quality evaluation indicators for functional agility assessment includes:

[0032] Axial functional agility index set, including task cycle time (CCT), dynamic rapid turning parameters, and relative energy state parameters;

[0033] The task cycle time (CCT) is:

[0034] ;

[0035] Where t1 is the time from the initial velocity to the maximum overload, t 21 t is the time t takes to decelerate from maximum overload to maximum lift coefficient. 22 t3 is the time to hover at the maximum lift coefficient to the target turning angle, t4 is the overload recovery time, and t4 is the time to increase from the low speed to the initial speed.

[0036] A set of indicators for vertical functional agility, including pointing margin.

[0037] In at least one embodiment of this application, the set of objective flight quality evaluation indicators for high maneuverability assessment includes:

[0038] The high mobility assessment index set includes parameters for overload lifting capacity, direct lift generation capacity, and axial acceleration generation capacity.

[0039] The overload lifting capacity parameters are:

[0040] ;

[0041] Where, n x For the longitudinal overload component, n y For the lateral overload component, n z For the axial overload component, F T For orbit control force, F GK Where α is engine thrust, D is drag, L is lift, W is gravity, α is angle of attack, β is sideslip angle, φ is installation angle, and μ is velocity roll angle.

[0042] The axial acceleration generation capability parameter is:

[0043] ;

[0044] in, γ is the axial acceleration, g is the gravitational acceleration, and γ is the trajectory inclination angle.

[0045] In at least one embodiment of this application, a flight quality assessment process for agile maneuvering unmanned aerial vehicles is determined, including:

[0046] The set of objective evaluation indicators for flight quality to be tested is determined based on the mission scenario and mission requirements.

[0047] Simulation conditions are designed to ensure that the simulation conditions cover all objective evaluation indicators of flight quality to be tested.

[0048] Flight simulations under high-maneuverability control laws were conducted to quantitatively calculate various objective evaluation indicators of flight quality; flight simulations under conventional control laws were also conducted to quantitatively calculate various objective evaluation indicators of flight quality; the calculation results of the indicators were compared and analyzed to optimize and iterate the high-maneuverability control laws.

[0049] Obtain the high-maneuverability control laws for different tasks and fill in the objective evaluation form.

[0050] In at least one embodiment of this application, determining the flight quality assessment level of an agile maneuvering UAV includes:

[0051] The evaluation indicators for determining the flight quality assessment level of agile and maneuverable UAVs include: maximum overload time, maximum normal overload rate, and time required to acquire 90 degrees.

[0052] Define flight quality assessment levels and corresponding flight quality assessment standards;

[0053] Based on the flight quality assessment specifications, the objective criteria for flight quality of agile maneuvering UAVs in agile maneuvering and cruise states are determined.

[0054] The invention has at least the following beneficial technical effects:

[0055] This application presents a flight quality assessment method for agile and maneuverable unmanned aerial vehicles (UAVs) with high maneuverability. Addressing the flight quality assessment needs of UAVs with high maneuverability, it establishes a flight quality assessment system for agile and maneuverable UAVs designed for specific missions. This system primarily includes the architecture of the flight quality assessment system for agile and maneuverable UAVs, the calculation of the objective flight quality assessment index set, and the flight quality assessment process. This application overcomes the limitations of traditional flight quality assessment methods by designing multiple assessment indicators for evaluating the maneuverability performance of agile and maneuverable UAVs from the perspectives of agility index set and flight mission, specifically for the specific missions performed by the UAVs. It accurately and quantitatively outputs the assessment results of each flight quality index, providing support for the optimization of control laws for agile and maneuverable UAVs. This method solves the problem that traditional flight quality assessment systems are not applicable to highly maneuverable and agile UAVs, representing a significant breakthrough in flight quality assessment methods for highly maneuverable UAVs for specific missions. Attached Figure Description

[0056] Figure 1 This is a flowchart of the flight quality assessment of an agile maneuvering unmanned aerial vehicle according to one embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0058] The following is in conjunction with the appendix Figure 1 This application will be described in further detail.

[0059] This application provides a method for evaluating the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs) with high maneuverability, including the following steps:

[0060] Determine the flight quality assessment framework for agile and maneuverable unmanned aerial vehicles;

[0061] Determine the set of objective evaluation indicators for the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs);

[0062] Establish a flight quality assessment process for agile and maneuverable unmanned aerial vehicles (UAVs);

[0063] Determine the flight quality assessment level of agile and maneuverable unmanned aerial vehicles;

[0064] Flight quality assessment of agile and maneuverable UAVs is achieved based on a flight quality assessment framework, a set of objective flight quality assessment indicators, a flight quality assessment process, and flight quality assessment levels.

[0065] The flight quality assessment method for the high maneuverability of agile maneuvering unmanned aerial vehicles (UAVs) in this application first constructs a flight quality assessment framework for agile maneuvering UAVs, including various flight quality assessment functions and their corresponding applicability. Specifically:

[0066] Transient agility assessment, including axial transient agility assessment, longitudinal transient agility assessment, and lateral transient agility assessment, is used to measure the aircraft's ability to respond quickly to and execute control inputs in a transient state. It is applicable to flight quality assessment of conventional control laws and high-maneuverability control laws.

[0067] Functional agility assessment, including axial functional agility assessment and longitudinal functional agility assessment, is used to measure the aircraft's ability to maintain maneuverability and perform diverse maneuvers over extended periods in special missions. It is applicable to flight quality assessments of conventional control laws and high-maneuverability control laws.

[0068] High maneuverability assessment includes assessment of overload enhancement capability, direct lift generation capability, and axial acceleration generation capability. High maneuverability assessment is used to measure the impact of high maneuverability control on the overload and axial acceleration capabilities of UAVs.

[0069] The flight quality assessment method for the high maneuverability of agile maneuvering unmanned aerial vehicles (UAVs) in this application determines a set of objective flight quality assessment indicators for agile maneuvering UAVs based on a flight quality assessment framework, which mainly includes:

[0070] A set of objective flight quality evaluation indicators for transient agility assessment:

[0071] (a) Axial transient agility index set, including power surge parameter POP and power dissipation parameter PLP;

[0072] The Power Boost parameter POP is the ratio of the unit remaining power increment of the aircraft from the minimum thrust / maximum drag state to the maximum thrust / minimum drag state to the time required to complete this process.

[0073] That is, the power surge parameter POP is:

[0074] ;

[0075] When an agile, maneuverable drone with gravity W flies at an altitude of H and a speed of V, the formula for calculating residual power per unit weight (SEP) is as follows:

[0076] ;

[0077] Where T is the thrust;

[0078] The power dissipation parameter PLP is the ratio of the increment of unit residual power to the time required to complete the process during the transition of the aircraft from the maximum power / minimum drag state to the minimum power / maximum drag state. Its expression is similar to that of POP.

[0079] The power dissipation parameter PLP is:

[0080] ;

[0081] Among them, (SEP) max The maximum residual power per unit weight (SEP) min Δt represents the remaining power per unit weight at the minimum, and Δt represents the time required to complete the process.

[0082] The parameters POP and PLP reflect the aircraft's acceleration and deceleration capabilities, as well as the energy accumulation during horizontal target engagement and the energy loss during target evasion. Furthermore, they reflect factors influencing these capabilities. For example, the engine's rapid response to throttle and rail control force activation switches is an important supplement to the performance indicators of agile and maneuverable UAVs.

[0083] (b) A set of longitudinal transient agility metrics, including time to maximum normal overload, time to zero overload, maximum normal overload rate, and maximum pitch rate;

[0084] Longitudinal (pitch) agility reflects the ability of an agile maneuvering UAV to rapidly change its pitch attitude during state transitions, that is, the ability to quickly gain and lose overload (angle of attack). The main metrics for measuring longitudinal agility are as follows:

[0085] Maximum normal overload time Unload to zero overload time The maximum normal overload time reflects the drone's ability to change attitude quickly, while the time to unload to zero overload reflects the drone's ability to recover attitude quickly. Both are measures of the drone's ability to quickly point its nose and hit the target first.

[0086] Positive / Negative Maximum Normal Overload Rate and : Maximum normal overload time and unload to zero overload time It does not depend entirely on the maximum and minimum overload rates, but also on the maximum overload that the drone can achieve in a given state. Therefore, loading and unloading times cannot be used to compare the pitch agility of the same drone in different flight states or two drones.

[0087] Maximum pitch rate, including the maximum pitch rate when performing pitching and swooping maneuvers with the horizontal stabilizer at its maximum authority. , Maximum pitch rate reflects the drone's ability to change its nose direction and can be used to compare the agility of different aircraft, thus becoming the most useful metric for longitudinal agility. However, it cannot characterize the characteristics of the drone throughout the entire maneuvering process.

[0088] (c) The set of lateral transient agility indicators, including the time required to intercept 90 degrees, the lateral agility scale LA, and the torsional agility scale TA;

[0089] Lateral agility primarily reflects how quickly an aircraft can rotate its maneuver plane and measures its ability to achieve rapid rolls while maintaining an angle of attack or under overload conditions. The main metrics for measuring lateral transient agility include:

[0090] It takes time to intercept a 90-degree angle. RC,90 The drone can intercept 90° in the shortest time by using roll control;

[0091] The lateral agility metric LA is:

[0092] ;

[0093] The torsional agility metric TA is:

[0094] ;

[0095] Among them, t RC,90 It takes time to capture 90 degrees.

[0096] The set of objective flight quality assessment indicators for functional agility evaluation:

[0097] (a) Axial functional agility index set, including mission cycle time (CCT), dynamic rapid turning parameters, and relative energy state parameters;

[0098] The mission cycle time (CCT) refers to the time taken for the drone to perform an overloaded turn, enter the mission, and then unload and accelerate back to its original speed throughout the entire cycle.

[0099] The task cycle time (CCT) is:

[0100] ;

[0101] Where t1 is the time from the initial velocity to the maximum overload, t 21 t is the time t takes to decelerate from maximum overload to maximum lift coefficient. 22 t3 is the time to hover at the maximum lift coefficient to the target turning angle, t4 is the overload recovery time, and t4 is the time to increase from the low speed to the initial speed.

[0102] Steps 1 and 3 require the drone to have a fast roll response, which means it must have fast angular acceleration and fast loading-unloading speed, which means it must have high pitch agility and good lift characteristics.

[0103] Step 2 requires the drone to have a high peak hovering angular velocity and a slow decay rate;

[0104] Step 4 requires that the drone experience minimal speed loss and accelerate quickly.

[0105] While the duration of maneuvering is an important measure of mission effectiveness, understanding the aircraft's energy status at every instant during maneuvering is equally important for the pilot. Dynamic rapid turns are one such measure of instantaneous aircraft energy status.

[0106] The calculation method for the dynamic fast turn parameter DST is as follows:

[0107] Calculate the acceleration at each point on the maximum overload limit line and the maximum lift coefficient limit line of the mission cycle time, and plot the curve of turning rate versus deceleration rate.

[0108] Calculate the acceleration at each point along the level flight acceleration line at the bottom of the mission cycle time, and then draw the curve of acceleration versus corresponding airspeed.

[0109] The main purpose of proposing DST is to correct the shortcomings of the concept of energy mobility, which are manifested in two aspects:

[0110] Energy maneuverability analysis is limited to a specific point within the flight envelope determined by flight altitude, weight, configuration, and power plant;

[0111] Energy maneuver analysis is a steady state quantity under dynamic conditions.

[0112] Dynamic rate turn (DRC) is the process of capturing an aircraft's dynamic maneuverability and providing pilots and engineers with the information they can quickly use to evaluate the aircraft's maneuverability in a mission. It manifests in three aspects:

[0113] In close-range missions, it initiates maneuvers first, meaning it has the ability to quickly point towards the target;

[0114] It has the ability to maintain a high turning rate for extended periods to complete defensive or multiple strikes;

[0115] Rapidly accelerate to regain lost energy to escape a mission or gain speed to pursue a target.

[0116] The relative energy state parameter refers to the ratio of the aircraft's speed after completing a 180° horizontal turn to its corner speed.

[0117] To ensure the aircraft has the capability for multiple strikes with high turn rates during missions, the speed of the aircraft after completing a horizontal turn should be as close as possible to the corner speed, i.e., V / Vc should be close to 1, where Vc is the corner speed and V is the airspeed when the aircraft has turned through a certain yaw angle.

[0118] Angular velocity is the turning angular velocity that reaches its maximum at a certain speed; exceeding or falling below this speed will cause the angular velocity to decrease. Therefore, UAVs should typically begin hovering at the angular velocity, which not only results in a high initial angular velocity but also a brief period of angular velocity increase. However, this increase is short-lived; the decay phase is the main stage of the hovering process. Therefore, reducing the rate of angular velocity decay becomes the focus of research.

[0119] (b) A set of longitudinal functional agility indicators, including pointing margin PM;

[0120] Pointing margin (PM) refers to the angle between the line connecting the pointing of our aircraft's nose and the target when our aircraft is pointing at the target at the instant we are simultaneously performing a horizontal turn or vertical pull-up maneuver with the same overload. In other words, it indicates how much the target needs to rotate to point at our aircraft after we have begun the maneuver.

[0121] Objective evaluation index set of flight quality for high maneuverability assessment:

[0122] (a) A set of high mobility assessment indicators, including overload lifting capability parameters, direct lift generation capability parameters, and axial acceleration generation capability parameters;

[0123] Define the overload enhancement metric as the overload during the task;

[0124] In the track coordinate system, the projection of the center of mass motion onto the track coordinate system is:

[0125] ;

[0126] Overload n definition:

[0127] ;

[0128] Where N is the resultant force of aerodynamic force and thrust;

[0129] The overload boost capability parameter is the component of the overload along the track axis:

[0130] ;

[0131] Where, n x For the longitudinal overload component, n y For the lateral overload component, n z For the axial overload component, F T For orbit control force, F GKWhere α is engine thrust, D is drag, L is lift, W is gravity, α is angle of attack, β is sideslip angle, φ is installation angle, and μ is velocity roll angle.

[0132] For parameters related to direct lift generation capability:

[0133] High-maneuverability control can directly provide lift to UAVs without time lag. This differs from conventional control strategies, which alter the aircraft's pitch moment by manipulating the elevators, causing changes in the angle of attack and thus altering lift, resulting in significant phase lag.

[0134] Offensive and defensive missions require flight control systems to have rapid response to track angles and altitudes, and the ability to analyze the step characteristics of internal and external loops. Therefore, the direct lift generation capability is determined by the overload increment provided by the high-maneuverability engine.

[0135] From the projection of the center of mass motion equations onto the track coordinate system and the components of the overload along the track axis, we can obtain:

[0136] The axial acceleration generation capability parameter is:

[0137] ;

[0138] in, γ is the axial acceleration, g is the gravitational acceleration, and γ is the trajectory inclination angle.

[0139] The axial acceleration generation capacity can be derived from the overload lifting capacity.

[0140] This application discloses a flight quality assessment method for the high maneuverability of agile and maneuverable unmanned aerial vehicles (UAVs), which defines the flight quality assessment process for agile and maneuverable UAVs, such as... Figure 1 As shown, it includes:

[0141] The set of objective evaluation indicators for flight quality to be tested is determined based on the mission scenario and mission requirements.

[0142] Simulation conditions are designed to ensure that the simulation conditions cover all objective evaluation indicators of flight quality to be tested.

[0143] Flight simulations under high-maneuverability control laws are performed to quantitatively calculate objective evaluation indicators of various flight qualities; flight simulations under conventional control laws are also performed to quantitatively calculate objective evaluation indicators of various flight qualities; the calculation results are compared and analyzed to optimize and iterate the high-maneuverability control law; through iterative optimization, the control law design requirements are met.

[0144] Obtain the high-maneuverability control laws for different tasks and fill in the objective evaluation form.

[0145] By repeating the steps described above in the flight quality assessment process, high-maneuverability control laws for different flight missions can be obtained.

[0146] The flight quality assessment method for the high maneuverability of agile maneuvering unmanned aerial vehicles (UAVs) disclosed in this application determines the flight quality assessment level of the agile maneuvering UAV, including:

[0147] The evaluation indicators for determining the flight quality assessment level of agile and maneuverable UAVs include: maximum overload time, maximum normal overload rate, and time required to acquire 90 degrees.

[0148] Define flight quality assessment levels and corresponding flight quality assessment standards;

[0149] Based on the flight quality assessment specifications, the objective criteria for flight quality of agile maneuvering UAVs in agile maneuvering and cruise states are determined.

[0150] To meet the quantitative requirements for flight quality assessment of agile and maneuverable UAVs, three indicators were selected for flight quality assessment level analysis: maximum overload time, maximum normal overload rate, and time required to intercept 90 degrees.

[0151] The flight quality assessment specifications for agile maneuvering UAVs in agile maneuvering and cruise states are defined as follows:

[0152] Level 1: Flight quality is clearly suitable for the mission flight phase;

[0153] Level 2: The flight quality is suitable for completing the mission's flight phase, but the effectiveness of completing the mission is reduced.

[0154] Level 3: Flight quality meets aircraft safety requirements, but mission completion is ineffective.

[0155] Using the aforementioned flight quality assessment standard definition method, the objective criteria for flight quality of agile maneuvering UAVs in agile maneuvering and cruise states are determined, and the specific quantitative indicators are shown in the table below:

[0156] Table 1

[0157]

[0158] The flight quality evaluation method for the high maneuverability performance of the agile maneuvering UAV disclosed in this application applies the aforementioned objective evaluation index set for the flight quality of agile maneuvering UAVs to evaluate and analyze various indices of the control law of a certain high maneuverability UAV. The evaluation results are shown in Table 2. The values ​​of various evaluation indices for the basic maneuverability, high maneuverability control, and control optimization of the high maneuverability UAV are calculated and analyzed respectively. The evaluation results show that, except for the pointing margin, the high maneuverability control significantly improves all evaluation indices compared to the basic maneuverability control; and for the optimized control law design, all evaluation indices of the agile maneuverability control are improved.

[0159] Table 2

[0160]

[0161] This evaluation example demonstrates that the theoretical basis of this evaluation method is correct for the control of highly maneuverable UAVs, and it can provide quantitative evaluation results of flight quality, which is of guiding significance for the optimization design of control laws for highly maneuverable UAVs oriented towards control tasks.

[0162] The flight quality assessment method for the high maneuverability of agile and maneuverable unmanned aerial vehicles (UAVs) proposed in this application addresses the flight quality assessment needs of UAVs. It establishes a reasonable, complete, and effective flight quality assessment system for agile and maneuverable UAVs, which can quantitatively provide assessment values ​​for the maneuverability of high-maneuverability UAVs. Furthermore, it designs flight quality level assessment standards for agile and maneuverable UAVs, providing a basis for the design and optimization of maneuver control laws for high-maneuverability UAVs.

[0163] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for evaluating the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs) with high maneuverability, characterized in that, include: Determine the flight quality assessment framework for agile and maneuverable unmanned aerial vehicles; Determine the set of objective evaluation indicators for the flight quality of agile and maneuverable unmanned aerial vehicles (UAVs); Establish a flight quality assessment process for agile and maneuverable unmanned aerial vehicles (UAVs); Determine the flight quality assessment level of agile and maneuverable unmanned aerial vehicles; Flight quality assessment of agile and maneuverable UAVs is achieved based on the flight quality assessment architecture, the objective flight quality assessment index set, the flight quality assessment process, and the flight quality assessment level.

2. The flight quality evaluation method for the high maneuverability of agile and maneuverable unmanned aerial vehicles according to claim 1, characterized in that, The flight quality assessment framework includes: Transient agility assessment, including axial transient agility assessment, longitudinal transient agility assessment, and lateral transient agility assessment, is used to measure the aircraft's ability to respond quickly and execute control inputs in a transient state; Functional agility assessment, including axial functional agility assessment and longitudinal functional agility assessment, is used to measure the aircraft's ability to maintain maneuverability and perform diverse maneuvers over extended periods of time in specific missions. The high maneuverability assessment includes an assessment of overload enhancement capability, a direct lift generation capability, and an axial acceleration generation capability. The high maneuverability assessment is used to measure the impact of high maneuverability control on the overload and axial acceleration capabilities of the UAV.

3. The flight quality evaluation method for the high maneuverability of agile and maneuverable unmanned aerial vehicles according to claim 2, characterized in that, The set of objective flight quality evaluation indicators for transient agility assessment includes: Axial transient agility index set, including power surge parameter POP and power dissipation parameter PLP; The power surge parameter POP is: ； The power dissipation parameter PLP is: ； Among them, (SEP) max The maximum residual power per unit weight (SEP) min The minimum unit weight of remaining power, Δt is the time required to complete the process; The longitudinal transient agility index set includes the maximum normal overload time, the time to unload to zero overload, the maximum normal overload rate, and the maximum pitch rate. The set of lateral transient agility metrics includes the time required to intercept 90 degrees, the lateral agility scale LA, and the torsional agility scale TA. The lateral agility metric LA is: ； The torsional agility metric TA is: ； Among them, t RC,90 It takes time to capture 90 degrees.

4. The flight quality evaluation method for the high maneuverability of agile and maneuverable unmanned aerial vehicles according to claim 3, characterized in that, The set of objective flight quality evaluation indicators for the functional agility assessment includes: Axial functional agility index set, including task cycle time (CCT), dynamic rapid turning parameters, and relative energy state parameters; The task cycle time (CCT) is: ； Where t1 is the time from the initial velocity to the maximum overload, t 21 t is the time t takes to decelerate from maximum overload to maximum lift coefficient. 22 t3 is the time to hover at the maximum lift coefficient to the target turning angle, t4 is the overload recovery time, and t4 is the time to increase from the low speed to the initial speed. A set of indicators for vertical functional agility, including pointing margin.

5. The flight quality evaluation method for the high maneuverability of agile and maneuverable unmanned aerial vehicles according to claim 4, characterized in that, The set of objective flight quality assessment indicators for the high maneuverability assessment includes: The high mobility assessment index set includes parameters for overload lifting capacity, direct lift generation capacity, and axial acceleration generation capacity. The overload lifting capacity parameters are: ； Where, n x For the longitudinal overload component, n y For the lateral overload component, n z For the axial overload component, F T For orbit control force, F GK Where α is engine thrust, D is drag, L is lift, W is gravity, α is angle of attack, β is sideslip angle, φ is installation angle, and μ is velocity roll angle. The axial acceleration generation capability parameter is: ； in, γ is the axial acceleration, g is the gravitational acceleration, and γ is the trajectory inclination angle.

6. The flight quality evaluation method for the high maneuverability of agile and maneuverable unmanned aerial vehicles according to claim 5, characterized in that, Establish a flight quality assessment process for agile and maneuverable unmanned aerial vehicles, including: The set of objective evaluation indicators for flight quality to be tested is determined based on the mission scenario and mission requirements. Simulation conditions are designed to ensure that the simulation conditions cover all objective evaluation indexes of flight quality to be tested. Flight simulations under high-maneuverability control laws were conducted to quantitatively calculate objective evaluation indicators of various flight qualities; flight simulations under conventional control laws were also conducted to quantitatively calculate objective evaluation indicators of various flight qualities; the calculation results of the indicators were compared and analyzed to optimize and iterate the high-maneuverability control laws. Obtain the high-maneuverability control laws for different tasks and fill in the objective evaluation form.

7. The flight quality evaluation method for the high maneuverability performance of agile and maneuverable unmanned aerial vehicles according to claim 6, characterized in that, Determine the flight quality assessment level of agile and maneuverable unmanned aerial vehicles, including: The evaluation indicators for determining the flight quality assessment level of agile and maneuverable UAVs include: maximum overload time, maximum normal overload rate, and time required to acquire 90 degrees. Define flight quality assessment levels and corresponding flight quality assessment standards; Based on the flight quality assessment specifications, the objective criteria for flight quality of agile maneuvering UAVs in agile maneuvering and cruise states are determined.

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