阅读说明：本技术 一种飞翼无人机大过载稳盘机动控制方法 (Large-overload disc-stabilizing maneuvering control method for flying-wing unmanned aerial vehicle ) 是由 唐瑞卿 陈伟 刘宇佳 崔庆梁 张延荣 于 2020-05-22 设计创作，主要内容包括：本发明公开一种飞翼无人机大过载稳盘机动控制方法,包括稳盘机动控制逻辑及发动机表速闭环控制模态、高度保持控制模态、滚转角控制模态；所述方法应用于飞翼布局无人机上,提供稳定盘旋机动过程中各控制通道的自动控制方法。本发明可通过调用滚转角控制模态实现无人机坡度的建立,调用高度保持控制模态实现定高飞行,调用发动机表速闭环控制模态实现定速飞行,从而完成无人机稳定盘旋机动动作。本发明可通过对发动机、操纵面进行合理的自动控制,实现飞翼布局无人机的稳定盘旋机动飞行,实现无人机飞行方向的快速改变。(The invention discloses a large-overload disk stabilizing maneuvering control method for a flying wing unmanned aerial vehicle, which comprises disk stabilizing maneuvering control logic, an engine meter speed closed-loop control mode, a height keeping control mode and a roll angle control mode; the method is applied to the flying wing layout unmanned aerial vehicle, and provides an automatic control method for each control channel in the stable hovering maneuvering process. According to the invention, the gradient of the unmanned aerial vehicle can be established by calling a roll angle control mode, the constant-height flight is realized by calling a height maintaining control mode, and the constant-speed flight is realized by calling an engine meter speed closed-loop control mode, so that the stable hovering maneuvering action of the unmanned aerial vehicle is completed. The invention can realize the stable hovering maneuvering flight of the flying wing layout unmanned aerial vehicle by reasonably and automatically controlling the engine and the control surface, and realize the rapid change of the flight direction of the unmanned aerial vehicle.)

1. A large-overload disk stabilizing maneuvering control method for a flying wing unmanned aerial vehicle is characterized by comprising a disk stabilizing maneuvering control logic, an engine meter speed closed-loop control mode, a height keeping control mode and a roll angle control mode;

the dynamic control logic of the disc stabilizing machine is as follows:

establishing stable flat flight before the gradient of a stable disc, longitudinally calling a height keeping mode, and taking a height control target as the current height; a roll angle keeping mode is transversely called; the engine calls a meter speed closed-loop control mode, and the control target is the current meter speed;

and (3) a stable disc maneuvering stage: a height keeping mode is called longitudinally, and the height control target is the height when the stable disk is moved; a roll angle keeping mode is transversely called, and a roll angle control target is a preset value; the engine calls a meter speed closed-loop control mode, and the meter speed target is the meter speed when entering a stable disk maneuver;

in the disc stabilizing ending stage, a height keeping mode is called longitudinally, and the height control target is the height when the disc stabilizing ending stage is entered; a roll angle keeping mode is transversely called; and calling a meter speed closed-loop control mode by the engine, wherein the control target is the meter speed at the stage of entering.

2. The large-overload stable-disk maneuvering control method for the flying-wing unmanned aerial vehicle according to claim 1, characterized in that the meter speed closed-loop control mode of the engine realizes the control of the meter speed through an automatic throttle, a proportional plus integral control structure is adopted, and pitch angle rate signals are introduced for compensation.

3. The large-overload stable-disk maneuvering control method for flying-wing unmanned aerial vehicle according to claim 2, characterized in that the meter speed closed-loop control mode of the engine realizes the control of the meter speed through an automatic throttle, adopts a proportional plus integral control structure, and introduces pitch angle and pitch angle rate signals for compensation to give the airspeed

in the formula (I), the compound is shown in the specification,_Tis the opening degree of the accelerator of the engine,V_IASrespectively a given value of the gauge speed and a measured value of the gauge speed,

4. The large overload stable disk maneuvering control method for flying wing unmanned aerial vehicle according to claim 1, characterized in that the height is kept in the control mode, and the control mode keeps the vertical speed as an inner loop to control and keep the height.

5. The large overload stabilizing disc maneuvering control method for flying wing unmanned aerial vehicle according to claim 4, characterized in that the altitude keeping control mode keeps vertical speed as an inner loop to control and keep the altitude, the input signals of the altitude keeping control mode comprise altitude instructions and current altitude, lifting rate, pitch angle rate, attack angle and vertical angular speed, and the output is equivalent elevator deflection;

△α＝(α-α₀)+q

in the formula (I), the compound is shown in the specification,for equivalent elevator yaw, q is pitch angle rate, q is_gFor a given pitch rate, θ is the pitch angle, θ_gFor given pitch angle, △ A_ZFor vertical acceleration, α for angle of attack, α₀As the value of the angle of attack protection,

6. The method as claimed in claim 1, wherein the roll angle control mode is proportional plus integral control, and the roll angle is roll angle

7. The method as claimed in claim 6, wherein the roll angle control mode is proportional plus integral control, and the roll angle is roll angle

in the formula (I), the compound is shown in the specification,_ais equivalent aileron deflection, phi_gIs a roll angle given value, phi is the roll angle, p is the roll angle rate,for each controller gain.

8. The large-overload disk stabilizing maneuvering control method for the flying wing unmanned aerial vehicle according to claim 1, characterized in that the disk stabilizing maneuvering control logic is specifically:

the first stage is as follows: firstly, converting the current state into a level flight state, namely, longitudinally calling a height control mode, wherein a control target is the height before the level flight state is converted; the engine controls and calls an airspeed control mode, and the control target is the airspeed before the control target is converted into a flat flight state; a roll angle control mode is transversely called, and the control target is 0 degree;

and a second stage: establishing a roll slope, and after the flight height of the aircraft enters a tolerance band with a given height of +/-30 m and the roll angle enters a tolerance band with a value of +/-5 degrees of 0 degrees for 2s-5s, establishing the roll slope_gThe setting can be carried out according to the actual situation, the height control mode is longitudinally called in the stage, and the control target is consistent with the first stage; the engine controls and calls an airspeed control mode, and a control target is consistent with the first stage; the roll angle is transversely called for control, and the control target is phi_g；

And a third stage: after the action of circling for one circle is finished, the airplane is leveled and exits from maneuvering, namely the height control mode is longitudinally called, and the control target is the height before the airplane is converted into the level flight state; the engine controls and calls an airspeed control mode, and the control target is the airspeed before the control target is converted into a flat flight state; a roll angle control mode is transversely called, and the control target is 0 degree; the maneuver is exited as the roll angle enters the + -5 deg. tolerance band 2s-5 s.

The technical field is as follows:

the invention relates to the technical field of aviation flight control, in particular to maneuvering flight control of a flying-wing unmanned aerial vehicle.

Background art:

the unmanned aerial vehicle has the characteristics of small volume, flexibility, simplicity and convenience in operation, low use cost, high efficiency, long endurance time and the like. The system can be accompanied by combat troops and independently execute various combat missions such as reconnaissance, monitoring, fire attack, interference and the like in a self-organizing system, thereby greatly reducing casualties caused by warfare and being one of the favored weaponry of various military and national disputes in the world at present.

The flying wing layout unmanned aerial vehicle has the defects that the flying wing layout unmanned aerial vehicle is poor in longitudinal and heading maneuvering performance of the unmanned aerial vehicle, and a control surface needs to be reasonably manipulated to generate enough maneuvering torque. The elevon is an operation surface capable of simultaneously realizing pitching and rolling of an airplane and has functions of two operation surfaces of an elevator and an aileron. The left and right elevon can function as a rudder if the left and right elevon are deflected in a linkage manner, and can function as an aileron if the left and right elevon are deflected in a reverse direction. The course control of the flying wing layout unmanned aerial vehicle is provided by the resistance rudder, the course static stability of the flying wing layout unmanned aerial vehicle is low, so that the requirement can be met by a small yawing moment, and the large moment arm enables the flying wing layout unmanned aerial vehicle to be provided with a sufficient yawing moment by the resistance rudder completely.

The manoeuvre of the aircraft is in fact a refinement and a summary of the specific flight trajectory that the pilot steers the aircraft. The manoeuvre of the aircraft reflects on the one hand the manoeuvrability of the aircraft and on the other hand some rules of manual manoeuvres. The implementation and related research of the maneuvering action control of the flying wing layout unmanned aerial vehicle are not retrieved temporarily. The motorized control of the drone may be used to: 1) avoiding missiles; 2) and (5) fighting in the air. The maneuvering function greatly improves the operational capacity of the unmanned aerial vehicle, and the unmanned aerial vehicle develops towards the direction of an air combat unmanned aerial vehicle. The basic process of the large-gradient stable hovering maneuver is to establish a rolling gradient in a horizontal plane and continuously turn a flight angle of not less than 360 degrees, and the directional maneuverability of the airplane is reflected emphatically.

The invention fills the blank of the technology, realizes the large-gradient stable hovering maneuver by designing a specific logic and calling a conventional flight control law mode, and improves the operational capability and the use scene of the unmanned aerial vehicle.

The invention content is as follows:

the main objects of the present invention are: firstly, a control method for stabilizing the hover maneuver of the flying wing unmanned plane under the condition of large overload is provided; secondly, the problem of realization of the large-overload stable-disk maneuvering action of the flying wing unmanned aerial vehicle is solved.

The technical scheme of the invention is as follows:

the large-overload disk stabilizing maneuvering control method of the flying wing unmanned aerial vehicle is characterized by comprising disk stabilizing maneuvering control logic, an engine meter speed closed-loop control mode, a height keeping control mode and a roll angle control mode;

the dynamic control logic of the disc stabilizing machine is as follows:

establishing stable flat flight before the gradient of a stable disc, longitudinally calling a height keeping mode, and taking a height control target as the current height; a roll angle keeping mode is transversely called; the engine calls a meter speed closed-loop control mode, and the control target is the current meter speed;

and (3) a stable disc maneuvering stage: a height keeping mode is called longitudinally, and the height control target is the height when the stable disk is moved; a roll angle keeping mode is transversely called, and a roll angle control target is a preset value; the engine calls a meter speed closed-loop control mode, and the meter speed target is the meter speed when entering a stable disk maneuver;

in the disc stabilizing ending stage, a height keeping mode is called longitudinally, and the height control target is the height when the disc stabilizing ending stage is entered; a roll angle keeping mode is transversely called; and calling a meter speed closed-loop control mode by the engine, wherein the control target is the meter speed at the stage of entering.

The engine meter speed closed-loop control mode realizes meter speed control through an automatic accelerator, adopts a proportional plus integral control structure, and introduces pitch angle and pitch angle rate signals for compensation.

The meter speed closed-loop control mode of the engine realizes meter speed control through an automatic accelerator, adopts a proportional plus integral control structure, introduces pitch angle and pitch angle rate signals for compensation, and gives airspeedFor a control target, a proportional integral control mode is adopted to realize the control of the meter speed;

in the formula (I), the compound is shown in the specification,_Tis the opening degree of the accelerator of the engine,

V_IASrespectively a given value of the gauge speed and a measured value of the gauge speed,

is the feed forward quantity of the engine throttle, Ax is the forward acceleration,is the controller gain.

The height is kept as a control mode, and the control mode is kept as an inner loop at a vertical speed to control and keep the height.

The height keeping control mode keeps the vertical speed as an inner loop to control and keep the height, the input signals of the height keeping control mode comprise a height instruction, the current height, the lifting rate, the pitch angle rate, the attack angle and the vertical angular speed, and the output is equivalent elevator deflection;

△α＝(α-α₀)+q

in the formula (I), the compound is shown in the specification,for equivalent elevator yaw, q is pitch angle rate, q is_gFor a given pitch rate, θ is the pitch angle, θ_gFor given pitch angle, △ A_ZFor vertical acceleration, α for angle of attack, α₀As the value of the angle of attack protection,in order to protect the terms of the angle of attack,

for overload protection term, θ_refAs is the amount of pitch angle feed forward,for the given lifting speed, the lifting speed is given,

is a controller gain.

The roll angle control mode adopts a control mode of proportional plus integral to control the roll angleFor lateral side master control of the outer loop, roll rate (ROR) is introduced to increase lateral damping, and yaw rate is the inner loop.

The roll angle control mode adopts a control mode of proportional plus integral to control the roll angle

For the lateral side main control outer loop, roll angular rate (ROR) is introduced to increase lateral damping, and yaw angular rate is an inner loop and tracks a given roll angular target valueThe attitude control of left rolling, wing leveling and right rolling of the flying wing unmanned plane is realized;

in the formula (I), the compound is shown in the specification,_ais equivalent aileron deflection, phi_gIs a roll angle given value, phi is the roll angle, p is the roll angle rate,

for each controller gain.

The dynamic control logic of the disc stabilizing machine is as follows:

the first stage is as follows: firstly, converting the current state into a level flight state, namely, longitudinally calling a height control mode, wherein a control target is the height before the level flight state is converted; the engine controls and calls an airspeed control mode, and the control target is the airspeed before the control target is converted into a flat flight state; a roll angle control mode is transversely called, and the control target is 0 degree;

and a second stage: establishing a roll slope, and after the flight height of the aircraft enters a tolerance band with a given height of +/-30 m and the roll angle enters a tolerance band with a value of +/-5 degrees of 0 degrees for 2s-5s, establishing the roll slope_gThe setting can be carried out according to the actual situation, the height control mode is longitudinally called in the stage, and the control target is consistent with the first stage; the engine controls and calls an airspeed control mode, and a control target is consistent with the first stage; the roll angle is transversely called for control, and the control target is phi_g；

And a third stage: after the action of circling for one circle is finished, the airplane is leveled and exits from maneuvering, namely the height control mode is longitudinally called, and the control target is the height before the airplane is converted into the level flight state; the engine controls and calls an airspeed control mode, and the control target is the airspeed before the control target is converted into a flat flight state; a roll angle control mode is transversely called, and the control target is 0 degree; the maneuver is exited as the roll angle enters the + -5 deg. tolerance band 2s-5 s.

The invention has the advantages that:

the control logic of the disk stabilizing maneuvering is clear and simple, and the control law mode can follow the control law mode of normal flight, so that the design work is simplified; an infrared sensor is additionally arranged on the unmanned aerial vehicle capable of realizing motor control, so that the function of automatic bullet avoidance can be realized; because the flight control computer has a full-automatic execution function, the function can be expanded to automatic driving by a human machine, automatic bullet avoidance and the like.

Description of the drawings:

FIG. 1 is a flow chart of the control logic for the steady disc maneuver of the present invention;

FIG. 2 is a table speed control mode block diagram of the engine of the present invention;

FIG. 3 is a block diagram of the height maintenance control modality of the present invention;

FIG. 4 is a roll angle control modality block diagram of the present invention;

FIG. 5 is a block diagram of a heading stability augmentation control modality of the present invention.

The specific implementation method comprises the following steps:

the invention will be further explained with reference to the drawings.